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1. Introduction

Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers in mobile robotics and computer vision. Libraries include 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.

2. Resources

• Main website http://www.mrpt.org/

• C++ API reference: http://reference.mrpt.org/.

• Google group for questions: http://www.mrpt.org/forum/

• Bindings documentation (Python, Matlab)

• Download the latest unstable code with:

   git clone https://github.com/jlblancoc/mrpt.git mrpt-git
  

• 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.

3. Compiling

1. Invoke cmake-gui and select:

   • Where source is --> MRPT source root directory
   • Where to build binaries --> Pick a new, empty directory.

   If your platform doesn't support cmake-gui, open a console, chdir to a new empty directory and execute:

   $ ccmake <PATH_TO_MRPT_SOURCES>
   

2. Within cmake-gui (or ccmake), set all the build options as you desire, then press "Configure" and "Generate". To build the examples, enable "BUILD_SAMPLES".

3. Build with the IDE / compiler you selected from CMake (Visual Studio, GNU Make,...)

Read the compiling instructions.

4. License

MRPT is released under the new BSD license.