[Dprglist] MRPT C++ library for SLAM

[Chris N]

I played around with MRPT a few years ago.    I think it’s a good option for folks who need ready to use algorithm implementations (e.g. for laser scan matching) but who find ROS to complex and/or don’t need or want all the communications plumbing that is really half of what makes ROS what it is.    


From: Murray Altheim via DPRGlist
Sent: Tuesday, February 2, 2021 11:58 PM
To: DPRG
Subject: [Dprglist] MRPT C++ library for SLAM

Strange that I'd run across this a few minutes after our weekly video
meeting, but I while looking for something else I inadvertently found
the libmrpt-nav1.5 as an installable library on Ubuntu 18.04, described as:

   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, Graph-SLAM, Bundle
   Adjustment), computer vision, and motion planning (obstacle avoidance).

If you do a search in the Synaptic Package Manager for MRPT there's a
whole buncha stuff there. mrpt-apps provides:

   This package provides a set of console and GUI applications:

  - rawlog-grabber: Record datasets from robotic sensors.
  - RawLogViewer: Robotic dataset viewer and manipulator.
  - ReactiveNavigationDemo: Obstacle avoidance GUI demo.
  - SceneViewer3D: GUI viewer of MRPT 3D scenes.
  - camera-calib: Interactive camera calibration tool.
  - icp-slam
  - kf-slam
  - graph-slam
  - 2d-slam-demo: GUI didactic robotic SLAM demo.
  - map-partition
  - observations2map: Converts simplemaps into metric maps.
  - pf-localization: Particle filter localization (Monte Carlo localization).
  - ro-localization
  - rbpf-slam: Rao-Blackwellized Particle Filter for SLAM.
  - simul-landmarks
  - simul-beacons
  - simul-gridmap
  - GridmapNavSimul
  - grid-matching
  - rawlog-edit
  - navlog-viewer: GUI viewer of navigation logs.
  - features-matching: Computer vision demo.
  - kinect-icp-slam: Example 3D mapping with Xbox Kinect
  - kinect-view: Example 3D mapping with Xbox Kinect
  - robotic-arm-kinematics: GUI for design of robot arms with
                            Denavit-Hartenberg parameters.
  - velodyne-view: Live display/grabbing of Velodyne scanners.

Wow he says. Perhaps Donna might find this interesting...

Cheers,

Murray

...........................................................................
Murray Altheim <murray18 at altheim dot com>                       = =  ===
http://www.altheim.com/murray/                                     ===  ===
                                                                    = =  ===
     In the evening
     The rice leaves in the garden
     Rustle in the autumn wind
     That blows through my reed hut.
            -- Minamoto no Tsunenobu

_______________________________________________
DPRGlist mailing list
DPRGlist at lists.dprg.org
http://lists.dprg.org/listinfo.cgi/dprglist-dprg.org

-------------- next part --------------
An HTML attachment was scrubbed...
URL: <http://lists.dprg.org/pipermail/dprglist-dprg.org/attachments/20210206/18610c41/attachment.html>