博客参考：https://blog.csdn.net/qyjzhou/article/details/80110941
MRPT 安装
1. 官网编译好的程序直接安装 https://sourceforge.net/projects/mrpt/files/MRPT-all/MRPT-1.3.0/ 或者 https://www.mrpt.org/download-mrpt/
MSVC 版本号对应 MSVC++ 14.0 _MSC_VER == 1900 (Visual Studio 2015) MSVC++ 12.0 _MSC_VER == 1800 (Visual Studio 2013) MSVC++ 11.0 _MSC_VER == 1700 (Visual Studio 2012) MSVC++ 10.0 _MSC_VER == 1600 (Visual Studio 2010) MSVC++ 9.0 _MSC_VER == 1500 (Visual Studio 2008)
2. 编译依赖库和编译对应VS版本的MRTPT
1. https://www.mrpt.org/Building_and_Installing_Instructions
2. https://www.cnblogs.com/xuanxiaochen/p/5996896.html
MRPT的组织结构
各项目的依赖关系
List of MRPT libs/modules tobe built (and dependencies):
mrpt-base : mrpt-bayes : mrpt-base (header-only) mrpt-detectors :mrpt-vision;mrpt-maps;mrpt-gui;mrpt-slam;mrpt-base;mrpt-opengl;mrpt-obs;mrpt-graphs mrpt-graphs : mrpt-opengl;mrpt-base mrpt-graphslam :mrpt-base;mrpt-graphs;mrpt-gui;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-slam;mrpt-vision mrpt-gui : mrpt-opengl;mrpt-base mrpt-hmtslam :mrpt-slam;mrpt-graphslam;mrpt-graphs;mrpt-vision;mrpt-maps;mrpt-base;mrpt-obs;mrpt-opengl;mrpt-gui mrpt-hwdrivers :mrpt-base;mrpt-maps;mrpt-obs;mrpt-gui;mrpt-opengl;mrpt-maps;mrpt-vision;mrpt-graphs mrpt-kinematics : mrpt-opengl;mrpt-base mrpt-maps :mrpt-obs;mrpt-graphs;mrpt-opengl;mrpt-base mrpt-nav :mrpt-graphs;mrpt-maps;mrpt-kinematics;mrpt-graphs;mrpt-obs;mrpt-opengl;mrpt-base mrpt-reactivenav :mrpt-nav;mrpt-graphs;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-base (meta-lib) mrpt-obs : mrpt-opengl;mrpt-base mrpt-opengl : mrpt-base mrpt-slam :mrpt-bayes;mrpt-graphs;mrpt-vision;mrpt-tfest;mrpt-maps;mrpt-obs;mrpt-opengl;mrpt-base mrpt-tfest : mrpt-base mrpt-scanmatching : mrpt-tfest;mrpt-base (meta-lib) mrpt-topography :mrpt-base;mrpt-obs;mrpt-opengl;mrpt-tfest mrpt-vision :mrpt-obs;mrpt-opengl;mrpt-base;mrpt-opengl
2.文件结构
3.地图类型及算法
https://www.mrpt.org/List_of_SLAM_algorithms
4.类的列表
http://mrpt.ual.es/reference/devel/annotated.html
5.第三方组件
http://mrpt.ual.es/reference/devel/pages.html
相关资料
Tutorial: https://www.mrpt.org/Tutorials/
Dataset: https://sourceforge.net/projects/mrpt/files/Datasets%20%28Rawlogs%29/Datasets/