Tutorials

Note: This page is in the process of being imported from https://www.mrpt.org/tutorials/

Basics

• Using MRPT applications
  • Application: GridmapNavSimul
  • MRPT 3D viewport navigation: mouse and keyboard usage
  • Using the ScanMatching (ICP) module in RawLogViewer
  • Grabbing your own RGBD camera datasets
• Using MRPT in your CMake project
  • Finding MRPT from CMake
  • For MRPT 1.x

Robotics file formats

• Robotics file formats
  • 1. Datasets
  • 2. Graph SLAM maps
  • 3. “Simple maps”
  • 4. Occupancy grid maps
  • 5. Scenes in 3D

Robotics, SLAM

• Simultaneous Localization and Mapping (SLAM) for beginners: the basics
  • Videos
  • Papers and books
• SLAM algorithms in MRPT
• MRPT design of map classes
  • 1. Maps in mobile robotics and in MRPT
  • 2. Why only one map?
  • 3. Metric maps classes
  • 4. Powerful visualization and debugging
• Range-only Localization and Mapping Solutions
  • 1. Range-only SLAM
  • 2. Range-only Localization
• Iterative Closest Point (ICP) and other registration algorithms
  • Examples of usage
  • Provided algorithms
• Maps and observations compatibility matrices
  • Valid implementations of insertObservation()
  • Valid implementations of computeObservationLikelihood()
• Probabilistic motion models
  • Overview
  • Gaussian probabilistic motion model
  • Sampling-based model for planar motion
  • Sampling-based model for 3D motion

GUI and 3D graphics

• Tutorial: 3D scenes
  • 1. Examples
  • 2. Relevant C++ classes
  • 3. Creating, populating and updating a Scene
  • 4. Existing visualization primitives
  • 5. Text messages
  • 6. Advanced UI controls

Motion planning

• Motion planning
  • 1. Path planning for circular robots and 2D grid maps
  • 2. RRT path planning
  • 3. Obstacle avoidance (reactive navigation)

Maths, Geometry

• Writing an Extended Kalman Filter (EKF) with mrpt::bayes
  • 1. Kalman Filters in the MRPT
  • 2. Writing a KF class for a specific problem
  • 3. An example
• Levenberg-Marquardt algorithm with numeric Jacobians
  • 1. Examples
  • 2.Introduction
  • 3. Algorithm description
  • 4. C++ Implementation
• RANSAC C++ examples
  • 1. RANSAC algorithm
  • 2. C++ API
  • 3. Particular applications
• Probability Density Functions (PDFs) over spatial transformations

Miscellaneous

• MRPT libraries tree layout
  • 1. Tree overview
  • 2. Name
  • 3. Tree outline
  • 4. The CMakeLists.txt file
  • 5. Unit testing
• Porting code from MRPT 1.{3,4,5} to MRPT 2.*
• Environment variables that MRPT looks for