Free space aware Voronoi diagram

Quick intro In this article, you will find a method to extract an extended Voronoi Diagram from an image. This method takes in account the topology of the free space to post-process the Voronoi Diagram. The Voronoi diagram is extensively used in all sort of situation: skeletonization, matching, you name it… 😉 The Voronoi diagram […]

ROS Kinetic on Fedora 25

Hello all, installing ROS kinetic proves to be a hassle compared to indigo which was so straight forward and nice. First step for installing kinetic on fedora 25 was to look at this link We will need to use qt5 so let’s have qmake linked to qt5 instead of qt4 using this simlink : sudo […]

G2O optimization

This is going to be a really quick tutorial on how to visualize the results of the sphere optimizatino and the slam2d optimization of G2O. Sphere We first are going to run the sphere optimization. We start by creating the sphere. Running this program will create a sphere.g2o file that hold a sphere object to optimize. […]

g2o tutorial explained

Disclaimer This is a pretty dirty and quick explanation on how the g2o tutorial works. It is not really a tutorial to use g2o per se, but I hope it helped you in getting a first “jump” into g2o and it’s inner working :). How to use G2O Here is the code from the file […]