Some of my programs for my research projects

Here is a collection of programs I wrote as a Research Assistant at Stanford Robotics Lab. Check here for more info about the design and description of the software system architecture of our Autonomous Observer project. Please let me know if you have comments or suggestions so I can improve on the programs.

Inventor 3D Animation Program

I wrote this Inventor program as a project to display Stanford Robotics Lab's robots in a virtual 3D environment. This program runs on an SGI workstation. You will need to download MIC library located below to compile this program. Again, let me know if you have comments or suggestions.

[central GIF] [lounge GIF]

Hide-n-seek Program

This is an X-Windows/Motif program which computes the motion of multiple robots required to sweep an area to find any hidden targets. You will need the MIC and PS libraries located below to compile this source code.

[pursuer JPG]

Tracker Program

This is an X-Windows/Motif program which computes the motion of multiple robots required to track a moving target. You will need the MIC and PS libraries located below to compile this source code.

[tracker JPG]

Some Code Snippets

MIC (Motif Interface Code) is a set of C++ code I wrote which interfaces with the X-Windows/Motif API. I have only tested this code on a Solaris, SGI, HP, and Linux system. Please let me know of any problems.

I wrote PS (PostScript) library, which is a simple set of C++ code to 'draw' 2D graphics to a postscript file. It's used to convert geometric primitives into postscript and then included as encapsolated postscript file in a LaTex file. I use this library for quickly converting my geometric algorithm research results into a format more suitable for processing by LaTex. Again, please let me know if you have any problem with the library or suggestions on how to improve the programs.

FrameServer (Channel splitter) for Matrox Meteor RGB card

I wrote this program for our robotics project to grab grayscale images from up to 3 cameras on a Matrox Meteor RGB card. The cameras must be synchronized to a single clock. Then the grayscale images from each camera is feed into Red, Green, or Blue channel of the Meteor RGB input. The program then split the images from different camera and then store in shared memory. Real-time vision programs can read images from shared memory for further processing.

The code is based on the vu4-color program that was part of the Matrox Meteor driver for Linux. Please note that I have only tested this on a Linux system. Let me know if you want to use this program and has problem configuring it to work.

GRIP (Graphical Robot Interface Program)

This program was my early attempt at developing a user interface program to control and to observe the Nomad mobile robots in our lab. The program is a X-Windows/Motif application. I've only tested this program on UNIX platforms including DEC workstation, Linux, SGI, and Solaris.

[central GIF]

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David C Lin / dlin@cs.stanford.edu