[Dprglist] MRPT C++ library for SLAM

[Murray Altheim]

On 7/02/21 12:33 pm, Chris N wrote:
> 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.

Hi Chris,

That would pretty much describe me. I have pretty much zero interest
in adopting ROS but am looking for algorithms, either to use directly
or to port to Python. The fact that MRPT is an easy install for Linux
and the list of applications that it provides is quite extensive, the
only issue is that it's all written in C++ rather than Python. But with
the SWIG library (something I learned about while reading about YARP):

    https://www.yarp.it/git-master/yarp_swig.html

it's possible to call the MRPT library from Python, so that barrier is
somewhat removed.

Cheers,

Murray

> [...] 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.
...........................................................................
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