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MRPT · Nov 8, 2020 · 4ed5748 · 4ed5748
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diff --git a/doc/source/app_2d-slam-demo.rst b/doc/source/app_2d-slam-demo.rst
@@ -0,0 +1,5 @@
+.. app_2d-slam-demo:
+
+====================================================
+Application: 2d-slam-demo
+====================================================
diff --git a/doc/source/app_DifOdometry-Camera.rst b/doc/source/app_DifOdometry-Camera.rst
@@ -0,0 +1,5 @@
+.. app_DifOdometry-Camera:
+
+====================================================
+Application: DifOdometry-Camera
+====================================================
diff --git a/doc/source/app_DifOdometry-Datasets.rst b/doc/source/app_DifOdometry-Datasets.rst
@@ -0,0 +1,5 @@
+.. app_DifOdometry-Datasets:
+
+====================================================
+Application: DifOdometry-Datasets
+====================================================
diff --git a/doc/source/app_RawLogViewer.rst b/doc/source/app_RawLogViewer.rst
@@ -0,0 +1,7 @@
+.. app_RawLogViewer:
+
+====================================================
+Application: RawLogViewer
+====================================================
+
+xxx
diff --git a/doc/source/app_ReactiveNav3D-Demo.rst b/doc/source/app_ReactiveNav3D-Demo.rst
@@ -0,0 +1,5 @@
+.. app_ReactiveNav3D-Demo:
+
+====================================================
+Application: ReactiveNav3D-Demo
+====================================================
diff --git a/doc/source/app_ReactiveNavigationDemo.rst b/doc/source/app_ReactiveNavigationDemo.rst
@@ -0,0 +1,5 @@
+.. app_ReactiveNavigationDemo:
+
+====================================================
+Application: ReactiveNavigationDemo
+====================================================
diff --git a/doc/source/app_SceneViewer3D.rst b/doc/source/app_SceneViewer3D.rst
@@ -0,0 +1,5 @@
+.. app_SceneViewer3D:
+
+====================================================
+Application: SceneViewer3D
+====================================================
diff --git a/doc/source/app_camera-calib.rst b/doc/source/app_camera-calib.rst
@@ -0,0 +1,5 @@
+.. app_camera-calib:
+
+====================================================
+Application: camera-calib
+====================================================
diff --git a/doc/source/app_carmen2simplemap.rst b/doc/source/app_carmen2simplemap.rst
@@ -0,0 +1,5 @@
+.. app_carmen2simplemap:
+
+====================================================
+Application: carmen2simplemap
+====================================================
diff --git a/doc/source/app_features-matching.rst b/doc/source/app_features-matching.rst
@@ -0,0 +1,5 @@
+.. app_features-matching:
+
+====================================================
+Application: features-matching
+====================================================
diff --git a/doc/source/app_gps2rawlog.rst b/doc/source/app_gps2rawlog.rst
@@ -0,0 +1,5 @@
+.. app_gps2rawlog:
+
+====================================================
+Application: gps2rawlog
+====================================================
diff --git a/doc/source/app_graph-slam.rst b/doc/source/app_graph-slam.rst
@@ -0,0 +1,5 @@
+.. app_graph-slam:
+
+====================================================
+Application: graph-slam
+====================================================
diff --git a/doc/source/app_graphslam-engine.rst b/doc/source/app_graphslam-engine.rst
@@ -0,0 +1,5 @@
+.. app_graphslam-engine:
+
+====================================================
+Application: graphslam-engine
+====================================================
diff --git a/doc/source/app_grid-matching.rst b/doc/source/app_grid-matching.rst
@@ -0,0 +1,5 @@
+.. app_grid-matching:
+
+====================================================
+Application: grid-matching
+====================================================
diff --git a/doc/source/app_holonomic-navigator-demo.rst b/doc/source/app_holonomic-navigator-demo.rst
@@ -0,0 +1,5 @@
+.. app_holonomic-navigator-demo:
+
+====================================================
+Application: holonomic-navigator-demo
+====================================================
diff --git a/doc/source/app_icp-slam-live.rst b/doc/source/app_icp-slam-live.rst
@@ -0,0 +1,5 @@
+.. app_icp-slam-live:
+
+====================================================
+Application: icp-slam-live
+====================================================
diff --git a/doc/source/app_image2gridmap.rst b/doc/source/app_image2gridmap.rst
@@ -0,0 +1,5 @@
+.. app_image2gridmap:
+
+====================================================
+Application: image2gridmap
+====================================================
diff --git a/doc/source/app_kf-slam.rst b/doc/source/app_kf-slam.rst
@@ -0,0 +1,5 @@
+.. app_kf-slam:
+
+====================================================
+Application: kf-slam
+====================================================
diff --git a/doc/source/app_kinect-3d-slam.rst b/doc/source/app_kinect-3d-slam.rst
@@ -0,0 +1,5 @@
+.. app_kinect-3d-slam:
+
+====================================================
+Application: kinect-3d-slam
+====================================================
diff --git a/doc/source/app_kinect-3d-view.rst b/doc/source/app_kinect-3d-view.rst
@@ -0,0 +1,5 @@
+.. app_kinect-3d-view:
+
+====================================================
+Application: kinect-3d-view
+====================================================
diff --git a/doc/source/app_kinect-stereo-calib.rst b/doc/source/app_kinect-stereo-calib.rst
@@ -0,0 +1,5 @@
+.. app_kinect-stereo-calib:
+
+====================================================
+Application: kinect-stereo-calib
+====================================================
diff --git a/doc/source/app_map-partition.rst b/doc/source/app_map-partition.rst
@@ -0,0 +1,5 @@
+.. app_map-partition:
+
+====================================================
+Application: map-partition
+====================================================
diff --git a/doc/source/app_navlog-viewer.rst b/doc/source/app_navlog-viewer.rst
@@ -0,0 +1,5 @@
+.. app_navlog-viewer:
+
+====================================================
+Application: navlog-viewer
+====================================================
diff --git a/doc/source/app_observations2map.rst b/doc/source/app_observations2map.rst
@@ -0,0 +1,5 @@
+.. app_observations2map:
+
+====================================================
+Application: observations2map
+====================================================
diff --git a/doc/source/app_pf-localization.rst b/doc/source/app_pf-localization.rst
@@ -0,0 +1,5 @@
+.. app_pf-localization:
+
+====================================================
+Application: pf-localization
+====================================================
diff --git a/doc/source/app_ptg-configurator.rst b/doc/source/app_ptg-configurator.rst
@@ -0,0 +1,5 @@
+.. app_ptg-configurator:
+
+====================================================
+Application: ptg-configurator
+====================================================
diff --git a/doc/source/app_rawlog-edit.rst b/doc/source/app_rawlog-edit.rst
@@ -0,0 +1,5 @@
+.. app_rawlog-edit:
+
+====================================================
+Application: rawlog-edit
+====================================================
diff --git a/doc/source/app_rawlog-grabber.rst b/doc/source/app_rawlog-grabber.rst
@@ -0,0 +1,5 @@
+.. app_rawlog-grabber:
+
+====================================================
+Application: rawlog-grabber
+====================================================
diff --git a/doc/source/app_rbpf-slam.rst b/doc/source/app_rbpf-slam.rst
@@ -0,0 +1,5 @@
+.. app_rbpf-slam:
+
+====================================================
+Application: rbpf-slam
+====================================================
diff --git a/doc/source/app_ro-localization.rst b/doc/source/app_ro-localization.rst
@@ -0,0 +1,5 @@
+.. app_ro-localization:
+
+====================================================
+Application: ro-localization
+====================================================
diff --git a/doc/source/app_robotic-arm-kinematics.rst b/doc/source/app_robotic-arm-kinematics.rst
@@ -0,0 +1,5 @@
+.. app_robotic-arm-kinematics:
+
+====================================================
+Application: robotic-arm-kinematics
+====================================================
diff --git a/doc/source/app_simul-landmarks.rst b/doc/source/app_simul-landmarks.rst
@@ -0,0 +1,5 @@
+.. app_simul-landmarks:
+
+====================================================
+Application: simul-landmarks
+====================================================
diff --git a/doc/source/app_srba-slam.rst b/doc/source/app_srba-slam.rst
@@ -0,0 +1,5 @@
+.. app_srba-slam:
+
+====================================================
+Application: srba-slam
+====================================================
diff --git a/doc/source/app_track-video-features.rst b/doc/source/app_track-video-features.rst
@@ -0,0 +1,5 @@
+.. app_track-video-features:
+
+====================================================
+Application: track-video-features
+====================================================
diff --git a/doc/source/app_velodyne-view.rst b/doc/source/app_velodyne-view.rst
@@ -0,0 +1,5 @@
+.. app_velodyne-view:
+
+====================================================
+Application: velodyne-view
+====================================================
diff --git a/doc/source/applications.rst b/doc/source/applications.rst
@@ -10,9 +10,49 @@ also provides many ready-to-use applications:
 .. toctree::
   :maxdepth: 2
 
+  app_2d-slam-demo.rst
+  app_camera-calib.rst
   app_carmen2rawlog.rst
+  app_carmen2rawlog.rst
+  app_carmen2simplemap.rst
+  app_DifOdometry-Camera.rst
+  app_DifOdometry-Datasets.rst
+  app_features-matching.rst
+  app_gps2rawlog.rst
+  app_graph-slam.rst
+  app_graphslam-engine.rst
+  app_grid-matching.rst
   app_GridmapNavSimul.rst
+  app_holonomic-navigator-demo.rst
+  app_icp-slam-live.rst
+  app_icp-slam.rst
   app_icp-slam.rst
+  app_image2gridmap.rst
+  app_kf-slam.rst
+  app_kinect-3d-slam.rst
+  app_kinect-3d-view.rst
+  app_kinect-stereo-calib.rst
+  app_map-partition.rst
+  app_navlog-viewer.rst
+  app_observations2map.rst
+  app_pf-localization.rst
+  app_ptg-configurator.rst
+  app_rawlog-edit.rst
+  app_rawlog-grabber.rst
+  app_RawLogViewer.rst
+  app_rbpf-slam.rst
+  app_ReactiveNav3D-Demo.rst
+  app_ReactiveNavigationDemo.rst
+  app_ro-localization.rst
+  app_robotic-arm-kinematics.rst
+  app_SceneViewer3D.rst
+  app_simul-landmarks.rst
+  app_srba-slam.rst
+  app_track-video-features.rst
+  app_velodyne-view.rst
+
+
+
 
 
 .. index::

diff --git a/doc/source/tutorial-grabbing-3dcamera-dataset.rst b/doc/source/tutorial-grabbing-3dcamera-dataset.rst
@@ -0,0 +1,87 @@
+.. tutorial-grabbing-3dcamera-dataset
+
+===================================================================
+Grabbing your own RGBD camera datasets
+===================================================================
+
+.. contents:: :local:
+
+Preparation
+----------------
+
+You will need MRPT compiled with support for Kinect, OpenNI2, or the driver of your specific camera.
+Either download a Windows precompiled version, install the mrpt-apps Ubuntu package or compile MRPT from sources.
+
+Make sure the camera is properly working by running one of the tests, for example:
+
+  - apps/kinect-3d-view
+  - samples/hwdrivers_openni2_driver_demo
+
+Under GNU/Linux you may need root privileges (executing as “sudo”) to access the camera.
+To avoid that, install 51-kinect.rules into /etc/udev/rules.d/.
+
+Calibrate your Camera!
+
+Make sure you have enough free space in some disk partition with bandwidth enough.
+Prefer native filesystems, that is, e.g. do NOT grab into an NTFS partition from a GNU/Linux OS.
+
+Make sure you have installed or compiled the programs:
+`rawlog-grabber <app_rawlog-grabber.html>`_,
+`rawlog-edit <app_rawlog-edit.html>`_, and
+`RawLogViewer <app_RawLogViewer.html>`_.
+
+Grabbing
+-------------
+
+Prepare a configuration file for `rawlog-grabber <app_rawlog-grabber.html>`_. Start from this template:
+`[MRPT]/share/mrpt/config_files/rawlog-grabber/kinect.ini <https://github.com/MRPT/mrpt/blob/develop/share/mrpt/config_files/rawlog-grabber/kinect.ini>`_.
+
+Notice that with the default configuration, all data and images will be embedded into one big binary file.
+This is done to reduce the OS overhead of creating dozens of small files per second,
+allocate them in the partition tables, etc.
+
+Typically you should disable the option grab_3D_points to reduce the computational load.
+To regenerate 3D point clouds, use `rawlog-edit <app_rawlog-edit.html>`_ or the corresponding
+`C++ APIs <generating_3d_point_clouds_from_rgb_d_observations.html>`_.
+
+Modify the parameter grab_decimation according to the processing power/bandwidth available in your recording computer. Under ideal conditions, grab_decimation=1 will record all frames.
+
+By the way: You could also simultaneously grab any other set of sensors by adding new sections to the configuration file. See the examples.
+
+Execute rawlog-grabber to actually record your dataset, invoking it with your config file as the only argument
+
+.. code-block: bash
+
+   rawlog-grabber <YOUR_CONFIG_FILE>
+
+
+Press ESC to end the recording. A single big `.rawlog <RawlogFormat.html>`_
+file should have been generated with your dataset.
+
+Post-processing
+---------------------
+
+It is normally preferred to strip the rawlog so RGB & depth images are stored
+in a separate directory (“externalize the rawlog“). In this way, the .rawlog file
+can be entirely loaded into your programs or in RawLogViewer without
+needing GBs of RAM, you can inspect the images with any other standard tool, etc.
+
+To do so, execute this command:
+
+.. code-block: bash
+
+   rawlog-edit -i INPUT.rawlog -o OUTPUT.rawlog --externalize
+
+
+Note: MRPT programs expect the external directory with the RGB & depth files to
+be named like: ${RAWLOG_FILENAME}_Images. This will be normally observed when
+using MRPT tools, but take it into account when modifying the file names manually.
+
+Inspect your dataset with `RawLogViewer <app_RawLogViewer.html>`_
+(see the video below) or load it from your program to start with the real work!
+
+.. raw:: html
+
+    <div style="position: relative; padding-bottom: 56.25%; height: 0; overflow: hidden; max-width: 100%; height: auto;">
+        <iframe src="https://www.youtube.com/embed/RZhMZWRplO0" frameborder="0" allowfullscreen style="position: absolute; top: 0; left: 0; width: 100%; height: 100%;"></iframe>
+    </div>