The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,
and open source C++ library aimed to help robotics researchers to design and
implement algorithms in the fields of Simultaneous Localization and Mapping
(SLAM), computer vision, and motion planning (obstacle avoidance).
This package provides a set of console and GUI applications for manipulating
datasets, particle filtering localization and SLAM, grabbing data from
robotic sensors, etc.
carmen2rawlog carmen2rawlog is a command-line application to convert CARMEN robotic datasets to the "rawlog" standardized file format. carmen2simplemap carmen2simplemap is a command-line application to convert a CARMEN robotic dataset (with corrected poses already in it) into the "simplemap" file format, which... DifOdometry-Camera This GUI application is designed to perform visual odometry with a handheld RGB-D camera. The method implemented is called "DIFODO" and it is based only on... DifOdometry-Datasets This GUI application is designed to test the performance of DIFODO (visual odometry method) with the datasets of TUM. Only the ground truth and the depth images... features-matching features-matching is a command-line application which takes a pair of images and computes the descriptors selected by the user, next showing the potential... graph-slam graph-slam is a command-line application to visualize pose constraint graphs and execute Graph-SLAM methods on them. grid-matching grid-matching is a command-line application which takes two maps as input and computes a Sum-Of-Gaussians (SOG) density distribution for the 2D transformation... hmt-slam-gui hmt-slam-gui is a GUI application which allows loading, editing and building complex HMT maps for robotics application. holonomic-navigator-demo A GUI program to demonstrate, test and experiment the usage of the mrpt reactivenav library regarding the navigation of holonomic robots, that is, those which... icp-slam icp-slam is a command-line application which processes a rawlog and create a map using scan matching with 2D laser scans. icp-slam-live icp-slam-live is a command-line application which connects to any MRPT-supported LIDAR and creates a map using simple scan matching. kf-slam kf-slam is a command-line application which processes a rawlog and create a map of landmarks using a 6D SLAM algorithm. kinect-3d-slam kinect-3d-slam is a very simple implementation of 3D Simultaneous Localization and Mapping (SLAM) with a live Kinect sensor. It tracks image features and employ... kinect-3d-view kinect-3d-view is a simple example that continuously grabs from a Kinect sensor and displays the 3D point cloud live. It also allows one to switch between the... map-partition map-partition takes an input map and generates a set of sub-maps using recursive spectral bisection with a threshold of 1 (default), or the one passed as second... mrpt-perfdata2html mrpt-perfdata2html is a command-line tool for generating HTML reports and cross-build comparisons from all the found data generated by mrpt-performance mrpt-performance mrpt-performance is a command-line tool for performing a complete test of performance (in execution time) of many different modules of MRPT. The results are... observations2map observations2map reads a multi metric map description from the config file and insert all the observations into it. Then it saves all the metric maps to... pf-localization pf-localization is a command-line application which processes a rawlog and tracks a mobile robot pose from the sequence of odometry and observations. It can... prrt-navigator-demo prrt-navigator-demo is a GUI program that allows experimenting with a new robot navigation algorithm based on Rapidly-exploring Random Tree (RTT) exploration... rawlog-edit rawlog-edit is a command-line application to inspect and manipulate robotic dataset files in the "rawlog" standardized format. rawlog-grabber This program creates a thread for each sensor declared in the config file and then saves the timestamp-ordered observations to a rawlog file. The valuable... rbpf-slam rbpf-slam is a command-line application which processes a rawlog and creates a map using the particle filter methods specified in the config file. ReactiveNav3D-Demo A program to demonstrate the usage of the mrpt reactivenav library. It allows the user to set an arbitrary target and then simulate the robot actions to try to... ro-localization ro-localization is a command-line application which processes a rawlog and tracks a mobile robot pose from the sequence of odometry and observations. It can... simul-beacons simul-beacons is a command-line application which generates a synthetic rawlog of a simulated robot as it follows a predefined path and observes a set of... simul-gridmap simul-gridmap is a command-line application which generates a synthetic rawlog of a simulated robot as it follows a path (given by the poses.txt file) and takes... simul-landmarks simul-landmarks is a command-line application which generates a synthetic rawlog of a simulated robot as it follows a predefined path and observes a set of... track-video-features track-video-features is a command-line/GUI application which takes a video stream (from a live camera, a video file, or a robotics rawlog dataset) and perform...