Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. Libraries include SLAM solutions, 3D(6D) geometry, SE(2)/SE(3) Lie groups, probability density functions (pdfs) over points, landmarks, poses and maps, Bayesian inference (Kalman filters, particle filters), image processing, obstacle avoidance, etc. MRPT also provides GUI apps for Stereo camera calibration, dataset inspection, and much more.
- Download the latest unstable code with:
git clone https://github.com/MRPT/mrpt.git --depth 1 - Ask questions at: this Google group or at stackoverflow (please, use the tag
mrpt!) - Main project website, including sources and Windows installer downloads
- C++ API reference
- ROS packages:
mrpt_navigation,mrpt_slam - Bindings documentation (Python, Matlab)
- Source code for dozens of examples
- Example configuration files for MRPT applications can be found at: MRPT/share/mrpt/config_files
- Some sample datasets are stored in: MRPT/share/mrpt/datasets. A more complete dataset repository is available online.
- How to contribute with your code for new feaures, bug fixes, etc.
Minimum compiler requisites:
- Ubuntu 16.04 default gcc/clang versions, or
- Windows: Visual Studio 2015/2017.
To build in Debian/Ubuntu follow the steps below. See full build docs online for Windows instructions or to learn all the details.
- Install minimum recommended dependencies:
sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev \
libopencv-dev libeigen3-dev libgtest-dev- Install additional dependencies to enable all MRPT features:
sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
libassimp-dev libjpeg-dev libsuitesparse-dev libpcap-dev liboctomap-dev- Build with
cmakeas usual:
mkdir build && cd build
cmake ..
makeMRPT is released under the new BSD license.