Package mrpt-apps

Mobile Robot Programming Toolkit - Console and GUI applications

http://www.mrpt.org/

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.
General Commands (Section 1)
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...