{"id":13378910,"url":"https://github.com/MRPT/mrpt","last_synced_at":"2025-03-13T05:30:43.819Z","repository":{"id":11295376,"uuid":"13708826","full_name":"MRPT/mrpt","owner":"MRPT","description":":zap: The Mobile Robot Programming Toolkit 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align=\"center\"\u003eThe MRPT project\u003c/h1\u003e\n\n\u003ca href=\"https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml\"\u003e\u003cimg src=\"https://github.com/MRPT/mrpt/actions/workflows/build-linux.yml/badge.svg\" /\u003e\u003c/a\u003e\n\u003ca href=\"https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml\"\u003e\u003cimg src=\"https://github.com/MRPT/mrpt/actions/workflows/build-macos.yml/badge.svg\" /\u003e\u003c/a\u003e\n\u003ca href=\"https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml\"\u003e\u003cimg src=\"https://github.com/MRPT/mrpt/actions/workflows/build-windows.yml/badge.svg\" /\u003e\u003c/a\u003e\n\u003ca href=\"https://ci.appveyor.com/project/jlblancoc/mrpt\" alt=\"AppVeyor:msvc\"\u003e\u003cimg src=\"https://ci.appveyor.com/api/projects/status/yjs4lpj02f6a1ylg/branch/develop?svg=true\" /\u003e\u003c/a\u003e \n\u003ca href=\"https://codecov.io/gh/MRPT/mrpt\" alt=\"codecov\"\u003e\u003cimg src=\"https://codecov.io/gh/MRPT/mrpt/branch/develop/graph/badge.svg\" /\u003e\u003c/a\u003e\n[![CI Check clang-format](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml/badge.svg)](https://github.com/MRPT/mrpt/actions/workflows/check-clang-format.yml)\n\n\u003ca href=\"https://github.com/MRPT/mrpt/releases\" alt=\"Releases\"\u003e\u003cimg src=\"https://img.shields.io/github/release/MRPT/mrpt.svg\" /\u003e\u003c/a\u003e\n\u003ca href='https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds'\u003e\u003cimg src='https://img.shields.io/badge/Windows-Installer-orange?logo=Windows'\u003e\u003c/a\u003e\n\u003ca href=\"https://zenodo.org/doi/10.5281/zenodo.10595286\"\u003e\u003cimg src=\"https://zenodo.org/badge/13708826.svg\" alt=\"DOI\"\u003e\u003c/a\u003e\n\n## 1. Introduction\n\u003cimg align=\"right\" src=\"https://mrpt.github.io/imgs/mrpt-videos-mix2.gif\"\u003e\n\nMobile Robot Programming Toolkit (MRPT) provides C++ libraries aimed at researchers\nin mobile robotics and computer vision. Libraries include [SLAM solutions](https://www.mrpt.org/List_of_SLAM_algorithms), [2D and 3D spatial transformations](https://www.mrpt.org/tutorials/programming/maths-and-geometry/2d_3d_geometry/), [SE(2)/SE(3) Lie groups](https://ingmec.ual.es/~jlblanco/papers/jlblanco2010geometry3D_techrep.pdf),\n[probability density functions (pdfs)](https://docs.mrpt.org/reference/latest/class_mrpt_math_CProbabilityDensityFunction.html) over points, landmarks, poses and maps,\nBayesian inference ([Kalman filters](https://www.mrpt.org/Kalman_Filters), [particle filters](https://www.mrpt.org/tutorials/programming/statistics-and-bayes-filtering/particle_filters/)), [image processing](https://www.mrpt.org/tutorials/programming/images-image-processing-camera-models/), [obstacle avoidance](https://www.mrpt.org/Obstacle_avoidance), [etc](https://docs.mrpt.org/reference/latest/modules.html).\nMRPT also provides GUI apps for [camera calibration](https://docs.mrpt.org/reference/latest/app_camera-calib.html), [dataset inspection](https://docs.mrpt.org/reference/latest/app_RawLogViewer.html),\nand [much more](https://docs.mrpt.org/reference/latest/applications.html).\n\n## 2. Resources\n  * Download the latest unstable code with: `git clone https://github.com/MRPT/mrpt.git --recursive`\n  * Ask questions at [stackoverflow](https://stackoverflow.com/search?q=mrpt) (use the tag `mrpt`)\n  * [Main project website](https://www.mrpt.org/), including [sources and Windows installer downloads](https://www.mrpt.org/download-mrpt/)\n  * [C++ API reference](https://docs.mrpt.org/reference/)\n  * [ROS packages](https://docs.mrpt.org/reference/latest/wrappers.html#mrpt-ros-packages)\n  * [Bindings documentation](https://github.com/MRPT/mrpt/wiki) (Python, Matlab)\n  * Source code for [dozens of examples](https://docs.mrpt.org/reference/latest/examples.html)\n  * Example configuration files for  MRPT applications can be found at:\n     [MRPT/share/mrpt/config_files](https://github.com/MRPT/mrpt/tree/master/share/mrpt/config_files)\n  * Some sample datasets are stored in:\n     [MRPT/share/mrpt/datasets](https://github.com/MRPT/mrpt/tree/master/share/mrpt/datasets).\n    A more complete dataset repository is [available online](https://www.mrpt.org/robotics_datasets).\n  * [How to contribute](https://github.com/MRPT/mrpt/blob/master/.github/CONTRIBUTING.md) with your code for new feaures, bug fixes, etc.\n  * MRPT is used in the [MOLA modular SLAM framework](https://github.com/MOLAorg/mola/).\n\n## 3. Install\n\n### 3.1. Ubuntu/Debian\n\nInstall simply with `sudo apt install libmrpt-dev mrpt-apps`, but check first what MRPT version exists in your [Ubuntu](https://packages.ubuntu.com/search?keywords=mrpt\u0026searchon=sourcenames) or [Debian](https://qa.debian.org/madison.php?package=mrpt) ([tracker](https://tracker.debian.org/pkg/mrpt)) distribution.\n\nIf you want a more recent version, check out [this PPA](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt) for nightly builds from the `develop` branch, or [this one](https://launchpad.net/~joseluisblancoc/+archive/ubuntu/mrpt-stable) for stable releases.\n\n        sudo add-apt-repository ppa:joseluisblancoc/mrpt   # develop branch\n        #sudo add-apt-repository ppa:joseluisblancoc/mrpt-stable   # master (stable releases) branch\n        sudo apt install libmrpt-dev mrpt-apps\n\nSupported distributions:\n  * Ubuntu 18.04 LTS (Bionic), Ubuntu 20.04 LTS (Focal), or newer.\n\n### 3.2. Build from sources\n\nSee [build documentation](https://docs.mrpt.org/reference/latest/compiling.html) ([source](doc/source/compiling.rst)).\n\n### 3.3. Windows precompiled versions\n\nExecutables (`.exe`s and `.dll`s) and development libraries (`.h`s and `.lib`s) included:\n\n[Nightly built Windows installer](https://github.com/MRPT/mrpt/releases/tag/Windows-nightly-builds)\n\n### 3.4. As a ROS package\n\nMRPT is also shipped as ROS packages.\n\nFor ROS 1:\n```bash\n# (ROS 1 only!)\nsudo apt install ros-$ROS_DISTRO-mrpt2\n```\n\nFor ROS 2, see instructions and available versions: https://github.com/MRPT/mrpt_ros\n\n\n## 4. License\nMRPT is released under the [new BSD license](http://www.mrpt.org/License/).\n\n\n**Contributors**\n\n\u003ca href=\"https://github.com/MRPT/mrpt/graphs/contributors\"\u003e\n  \u003cimg src=\"https://contrib.rocks/image?repo=MRPT/mrpt\" /\u003e\n\u003c/a\u003e\n\n## 5. Versions in repositories\n\n![Repology](https://repology.org/badge/vertical-allrepos/mrpt.svg)\n","funding_links":[],"categories":["TODO scan for Android support in followings","C++","Softwares and Libraries"],"sub_categories":[],"project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FMRPT%2Fmrpt","html_url":"https://awesome.ecosyste.ms/projects/github.com%2FMRPT%2Fmrpt","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2FMRPT%2Fmrpt/lists"}