# LearnMrpt
**Repository Path**: bluepc_2013/LearnMrpt
## Basic Information
- **Project Name**: LearnMrpt
- **Description**: I am try to learn Mrpt.
- **Primary Language**: Unknown
- **License**: BSD-3-Clause
- **Default Branch**: master
- **Homepage**: None
- **GVP Project**: No
## Statistics
- **Stars**: 0
- **Forks**: 0
- **Created**: 2019-09-28
- **Last Updated**: 2020-12-19
## Categories & Tags
**Categories**: Uncategorized
**Tags**: None
## README
The MRPT project
gcc/clang: 
MSVC: 
Last stable release: 
GH downloads: 
SF downloads (datasets): 
## 1. Introduction
Mobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers
in mobile robotics and computer vision. Libraries include [SLAM solutions](http://www.mrpt.org/List_of_SLAM_algorithms), [3D(6D) geometry](http://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](http://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),
[probability density functions (pdfs)](http://reference.mrpt.org/stable/classmrpt_1_1utils_1_1_c_probability_density_function.html) over points, landmarks, poses and maps,
Bayesian inference ([Kalman filters](http://www.mrpt.org/Kalman_Filters), [particle filters](http://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](http://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](http://www.mrpt.org/Obstacle_avoidance), [etc](http://reference.mrpt.org/devel/modules.html).
MRPT also provides GUI apps for [Stereo camera calibration](http://www.mrpt.org/list-of-mrpt-apps/application-kinect-stereo-calib/), [dataset inspection](http://www.mrpt.org/list-of-mrpt-apps/rawlogviewer/),
and [much more](http://www.mrpt.org/list-of-mrpt-apps/).
## 2. Resources
* Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --depth 1`
* Ask questions at: [this Google group](http://www.mrpt.org/forum/) or at [stackoverflow](http://stackoverflow.com/search?q=mrpt) (please, use the tag `mrpt`!)
* [Main project website](http://www.mrpt.org/), including [sources and Windows installer downloads](http://www.mrpt.org/download-mrpt/)
* [C++ API reference](http://docs.mrpt.org/reference/)
* ROS packages: [`mrpt_navigation`](http://wiki.ros.org/mrpt_navigation), [`mrpt_slam`](http://wiki.ros.org/mrpt_slam)
* [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab)
* Source code for [dozens of examples](http://www.mrpt.org/tutorials/mrpt-examples/)
* Example configuration files for MRPT applications can be found at:
[MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files)
* Some sample datasets are stored in:
[MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets).
A more complete dataset repository is [available online](http://www.mrpt.org/robotics_datasets).
* [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc.
## 3. Install
### 3.1. Ubuntu
See [PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for mrpt 2.0 branch (for mrpt 1.5.* [read here](https://github.com/MRPT/mrpt/tree/mrpt-1.5#31-ubuntu-ppa)).
sudo add-apt-repository ppa:joseluisblancoc/mrpt
sudo apt-get update
sudo apt-get install libmrpt-dev mrpt-apps
Supported distributions:
* Ubuntu 18.04 (Bionic), 18.10 (Cosmic), 19.04 (Disco)
* Ubuntu 16.04LTS Xenial (EOL: April 2021)
* Using 16.04 requires installing gcc-7 due to some bugs in gcc-5:
add-apt-repository ppa:ubuntu-toolchain-r/test
apt-get update
apt-get install -y g++-7
### 3.2. Build from sources
Minimum compiler requisites:
* mrpt >=2.0 (`master` branch):
* gcc-7 or newer.
* Ubuntu 16.04LTS Xenial: [Instructions](https://gist.github.com/jlblancoc/99521194aba975286c80f93e47966dc5) for installing gcc-7 in this version of Ubuntu.
* Newer distros: default gcc version is ok.
* clang-4 or newer.
* Windows: Visual Studio 2017 version 15.3 or newer.
* cmake >= 3.3 required (>=3.4 for Windows).
* Eigen >= 3.3 required.
* mrpt 1.5.* and maintenance `mrpt-1.5` branch:
* Ubuntu 14.04LTS Trusty: default gcc/clang versions
* Windows: Visual Studio 2012
* cmake >= 3.1 required
* **EOL** for `mrpt-1.5.*`: April 2019.
To build in Debian/Ubuntu follow the steps below. See [full build docs](http://www.mrpt.org/Building_and_Installing_Instructions) online
for Windows instructions or to learn all the details.
* Install minimum recommended dependencies:
```bash
sudo apt install build-essential pkg-config cmake libwxgtk3.0-dev libwxgtk3.0-gtk3-dev \
libopencv-dev libeigen3-dev libgtest-dev
```
MRPT builds against OpenCV 2.4.x, 3.x, 4.x, but it is recommended to use 3.0 or later.
* Install additional dependencies to enable all MRPT features:
```bash
sudo apt install libftdi-dev freeglut3-dev zlib1g-dev libusb-1.0-0-dev \
libudev-dev libfreenect-dev libdc1394-22-dev libavformat-dev libswscale-dev \
libassimp-dev libjpeg-dev libsuitesparse-dev libpcap-dev liboctomap-dev
```
* Build with `cmake` as usual:
```bash
mkdir build && cd build
cmake ..
make
```
## 4. License
MRPT is released under the [new BSD license](http://www.mrpt.org/License/).
## Stargazers over time
[](https://starchart.cc/MRPT/mrpt)