Python examples

The source code for all these Python examples can be found under MRPT/mrpt_examples_py. Run them with python3 <script>.py once the MRPT Python bindings are installed (e.g. python3-mrpt packages, or source install/setup.bash after building from sources).

See also the Python API reference. C++ examples are here. A machine-readable index of all examples is available in examples.json.

3D graphics and GUIs

mrpt_gui_example

Opens a 3D window with mrpt.gui and populates its scene.

gui

mrpt_opengl_example

Off-screen rendering of a 3D scene into an image with mrpt.opengl.

mrpt_viz_example

Builds a 3D scene with lines, boxes, point clouds and models with mrpt.viz.

opengl-demo-gui

Animated 3D scene in a GUI window, with mrpt.gui and mrpt.viz.

gui

Maps

mrpt_maps_example

Point clouds, occupancy grids, voxel maps and multi-maps with mrpt.maps.

SLAM, Bayesian filtering and graph-SLAM

global_localization

Monte Carlo (particle filter) global localization of a robot on a known map, from a rawlog dataset.

gui

mrpt_bayes_example

Configures particle filter options and algorithms with mrpt.bayes.

mrpt_slam_example

ICP scan alignment and incremental ICP-SLAM with mrpt.slam.

rbpf_slam

Builds an occupancy grid map from a 2D lidar dataset with Rao-Blackwellized particle filter SLAM.

Navigation and graph search

mrpt_graphs_example

Builds, saves and searches 2D and 3D pose graphs with mrpt.graphs.

mrpt_kinematics_example

Velocity commands and kinematic simulators of mobile robots with mrpt.kinematics.

mrpt_nav_example

Waypoint sequences and trajectory generators (PTGs) with mrpt.nav.

Math, poses and geometry

lines-3d-geometry-example

3D lines and points: construction and point-to-line distance with mrpt.math.

matrices

Creates, prints and converts MRPT matrices from/to NumPy arrays.

mrpt_expr_example

Compiles and evaluates math formulas with variables at runtime with mrpt.expr.

mrpt_math_example

Geometry primitives, polygons, histograms and matrices with mrpt.math.

mrpt_poses_example

SE(2) and SE(3) pose composition, Lie algebra and pose PDFs with mrpt.poses.

mrpt_random_example

Uniform, Gaussian and multivariate random samples with mrpt.random.

mrpt_tfest_example

Robust SE(3) transformation estimation from point correspondences with mrpt.tfest.

mrpt_topography_example

Geodetic, ECEF, ENU and UTM coordinate conversions with mrpt.topography.

ros-poses-convert

Converts MRPT poses and pose PDFs from/to ROS geometry_msgs Pose and PoseWithCovariance.

se2-poses-example

SE(2) pose composition and inverse composition with mrpt.poses.CPose2D.

se3-poses-example

SE(3) pose composition and inverse composition with mrpt.poses.CPose3D.

test-poses-se2

Self-checking test of SE(2) pose composition and TPose2D conversion.

Images

mrpt_img_example

Creates and draws on images, NumPy conversion and camera models with mrpt.img.

Sensors, observations and datasets

hwdriver-tao-imu-usb

Reads a Taobotics USB IMU sensor with mrpt.hwdrivers.

hardware

mrpt_hwdrivers_example

Creates and configures MRPT sensor drivers by class name with mrpt.hwdrivers.

mrpt_obs_example

Sensor observations, odometry motion models and rawlogs with mrpt.obs.

Core, containers, I/O and system

mrpt_comms_example

TCP client sockets and serial ports with mrpt.comms (no device needed).

mrpt_config_example

Reads and writes INI-like configuration files and YAML with mrpt.config.

mrpt_containers_example

Parses, queries and emits YAML/JSON documents with mrpt.containers.YAML.

mrpt_core_example

Clock, thread pool and other core utilities from mrpt.core.

mrpt_io_example

File, memory and compressed streams with mrpt.io.

mrpt_rtti_example

Lists the classes in the MRPT runtime type registry with mrpt.rtti.

mrpt_serialization_example

Serializes MRPT objects to bytes and back with mrpt.serialization.

mrpt_system_example

Timers, time loggers, CRC and base64 utilities from mrpt.system.