Mobile Robot programming Toolkit (mrpt)

As the name suggests, mrpt is a library used to develop Mobile Robot software. It may be used by fewer people than opencv, but it does provide many algorithms used in robot development compared with opencv.

Here is an introduction to the official website:

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 (mainly) in the fields of Simultaneous Localization and slam ing (SLAM), computer vision, and motion planning (obstacle avoidance ). the priorities are efficiency and reusability of code.

The libraries include classes for easily managing 3D (6D) geometry, probability density functions (PDFs) over extends predefined variables (points and poses, landmarks, maps), Bayesian inference (kalman filters, particle filters), image processing, Path Planning and obstacle avoidance, 3D visualization of all kind of maps (points, occupancy grids, landmarks ,...), etc.

Gathering, manipulating and inspecting very large robotic datasets (rawlogs) efficiently is another goal of mrpt, supported by several classes and applications.

A proper and up-to-date documentation is another of the major goals of mrpt developers. currently there are dozens of examples and several single-topic tutorials. A currently on-going project is already Ted to write a "mrpt book" tutorial.

The mrpt is free software and it is released under the GPL.

Http://sourceforge.net/projects/mrpt/

Http://babel.isa.uma.es/mrpt/index.php/Main_Page

The official website provides MRPT-BOOK, learning...

Configuration Under vs2008 (because I want to use opencv2.0 and mrpt, opencv2.0 does not support vc6.0, And the compiled library provided by the mrpt library is also under vs2008, so I had to use a huge vs2008, But I was helpless ):

1. Download mrpt-0.7.1-win32.exe: source code and precompiled executables and (DLL) Libraries for Windows 32bit and Visual Studio 2008, directly install to D: \ Program Files \ mrpt-0.7.1

2. Configure vs2008: Add: D: \ Program Files \ mrpt-0.7.1 \ include

Add: D: \ Program Files \ mrpt-0.7.1 \ Lib in Library

3. run the configuration in the Directory D: \ Program Files \ mrpt-0.7.1 \ include \ mrpt-config \ mrpt. H and version. copy H to the Directory D: \ Program Files \ mrpt-0.7.1 \ include \ mrpt. (I don't know if this is a bug of mrpt. If you don't copy it, many other files reference these two headers and compile a bunch of errors)

4. OK. You can write your first program.

Code
1 // mrpttest. cpp: defines the entry point for the console application.
2 //
3
4 # include "stdafx. H"
5 # include <mrpt/CORE. h>
6 # include <iostream>
7
8 using namespace mrpt: utils;
9 Using namespace mrpt: poses;
10 using namespace STD;
11
12 INT _ tmain (INT argc, _ tchar * argv [])
13 {
14 // robot pose: 2D (X, Y, Phi)
15 cpose2d R (2, 1, deg2rad (45.0 ));
16 // camera pose relative to the robot: 6D (X, Y, Z, yaw, pitch, roll ).
17 cpose3d C (0.5, 0.5, 1.5,
18 deg2rad (-90.0), deg2rad (0), deg2rad (-90.0 ));
19 cout <"R:" <r <Endl;
20 cout <"C:" <C <Endl;
21 cout <"R + C:" <(R + C) <Endl;
22 cout <"| R-C |" <R. distanceto (c) <Endl;
23 return 0;
24}
25
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