Python examples for the MRPT 3.0 Python bindings. Each script demonstrates one MRPT module and doubles as documentation for the Python API.
# After building and installing the bindings (colcon build ...):
python3 mrpt_examples_py/mrpt_math_example.py| Script | Module(s) exercised | Topics |
|---|---|---|
mrpt_bayes_example.py |
mrpt.bayes |
CParticleFilter config, algorithm/resampling enums, TParticleFilterStats |
mrpt_comms_example.py |
mrpt.comms |
CClientTCPSocket, CSerialPort, context managers |
mrpt_core_example.py |
mrpt.core |
Clock, WorkerThreadsPool, abs_diff, reverse_bytes |
mrpt_config_example.py |
mrpt.config |
CConfigFile, CConfigFileMemory, CLoadableOptions |
mrpt_containers_example.py |
mrpt.containers |
YAML parse/query/serialize |
mrpt_expr_example.py |
mrpt.expr |
CRuntimeCompiledExpression, formula evaluation |
mrpt_graphs_example.py |
mrpt.graphs |
CNetworkOfPoses2D/3D, nodes, edges, save/load |
mrpt_gui_example.py |
mrpt.gui, mrpt.viz |
CDisplayWindow3D, scene population, camera |
mrpt_img_example.py |
mrpt.img |
CImage, TCamera, numpy integration |
mrpt_io_example.py |
mrpt.io |
CMemoryStream, CFileInputStream/OutputStream, gz streams |
mrpt_kinematics_example.py |
mrpt.kinematics |
CVehicleVelCmd, CVehicleSimul_DiffDriven/Holo |
mrpt_maps_example.py |
mrpt.maps |
CSimplePointsMap, COccupancyGridMap2D, numpy |
mrpt_math_example.py |
mrpt.math |
Points, Poses, Segments, Lines, Plane, BoundingBox, Twists, CPolygon, CHistogram, wrap2pi, matrices |
mrpt_obs_example.py |
mrpt.obs |
CObservation2DRangeScan, IMU, Odometry, CActionCollection, CSensoryFrame |
mrpt_poses_example.py |
mrpt.poses |
CPose2D/3D, SE(2)/SE(3) composition, Lie algebra |
mrpt_random_example.py |
mrpt.random |
CRandomGenerator, uniform/Gaussian scalar and array draws |
mrpt_rtti_example.py |
mrpt.rtti |
getAllRegisteredClasses |
mrpt_serialization_example.py |
mrpt.serialization |
objectToBytes / bytesToObject round-trip |
mrpt_slam_example.py |
mrpt.slam |
CICP alignment, CMetricMapBuilderICP incremental SLAM |
mrpt_system_example.py |
mrpt.system |
CTicTac, CTimeLogger, CRC, base64 |
mrpt_tfest_example.py |
mrpt.tfest |
SE(3) robust least-squares with RANSAC |
mrpt_topography_example.py |
mrpt.topography |
TGeodeticCoords, WGS84↔ECEF↔ENU |
mrpt_viz_example.py |
mrpt.viz |
Scene, CAssimpModel, point cloud |
lines-3d-geometry-example.py |
mrpt.math |
3D geometry primitives |
matrices.py |
mrpt.math |
Matrix / vector operations |
se2-poses-example.py |
mrpt.poses |
SE(2) pose arithmetic |
se3-poses-example.py |
mrpt.poses |
SE(3) pose arithmetic |
ros-poses-convert.py |
mrpt.poses |
ROS ↔ MRPT pose conversion |
global_localization.py |
mrpt.maps, mrpt.slam |
Monte-Carlo localisation |
rbpf_slam.py |
mrpt.slam |
Rao-Blackwellised particle filter SLAM |
opengl-demo-gui.py |
mrpt.gui, mrpt.viz |
OpenGL demo in a 3D window |
hwdriver-tao-imu-usb.py |
mrpt.obs |
TAO IMU USB hardware driver |
- Scripts that open GUI windows (
mrpt_gui_example.py,mrpt_viz_example.py,opengl-demo-gui.py) require a display and exit gracefully in headless environments. - The
COLCON_IGNOREfile in this directory prevents colcon from trying to build these scripts as a colcon package — they are meant to be run directly.