以下是个人整理，如有不错误，请见谅。 一、MRPT的介绍   MobileRobot Programming Toolkit provides developers withportable and well-tested applications and libraries covering data structuresand algorithms employed in common robotics research areas.  1.网址    https://www.mrpt.org/   2.数据https://sourceforge.net/projects/mrpt/files/Datasets%20%28Rawlogs%29/Datasets/   3.教程https://www.mrpt.org/Tutorials/   4.相关论文    https://www.mrpt.org/category/publications/ 二、MRPT的安装   1.下载网址：https://www.mrpt.org/download-mrpt/    请下载已经编译好的版本。三、MRPT的编译   1.安装准备1）请安装Visual Studio 20152)CMake    Make是一个跨平台的安装（编译）工具，可以用简单的语句来描述所有平台的安装(编译过程)。他能够输出各种各样的makefile或者project文件，能测试编译器所支持的C++特性,类似UNIX下的automake。只是 CMake 的组态档取名为 CMakeLists.txt。Cmake 并不直接建构出最终的软件，而是产生标准的建构档（如 Unix 的 Makefile 或 Windows Visual C++ 的 projects/workspaces），然后再依一般的建构方式使用。这使得熟悉某个集成开发环境（IDE）的开发者可以用标准的方式建构他的软件  http://www.cmake.org/cmake/resources/software.html3) wxWidgets   wxWidgets是一个开源的跨平台的C++构架库（framework），它可以提供GUI（图形用户界面）和其它工具。目前的2.x版本支持所有版本的Windows、带GTK+或Motif的Unix和MacOS。     http://www.wxwidgets.org/downloads/ 打开MSVC 32位终端（开始菜单 -》 Visual Studio 2013 -》 Visual Studio Tools -》 VS2013x86 本机工具命令提示）　　　　打开到X:wxWidgetsuildmsw
　　　　执行以下命令：　　nmake -fmakefile.vc BUILD=release SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=0 VENDOR=mrpt USE_OPENGL=1nmake -fmakefile.vc BUILD=debug SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=1 VENDOR=mrpt USE_OPENGL=1　　　　如是64位，则打开MSVC 64位终端，执行以下命令：　　nmake -fmakefile.vc BUILD=release SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=0 VENDOR=mrpt USE_OPENGL=1 TARGET_CPU=amd64nmake -fmakefile.vc BUILD=debug SHARED=1 RUNTIME_LIBS=dynamic DEBUG_INFO=1 VENDOR=mrpt USE_OPENGL=1 TARGET_CPU=amd64     4）OpenCV建议使用OpenCV2.4.0或以上版本　　下载地址：http://opencv.org/ 5) FFmpeg　下载地址：https://ffmpeg.zeranoe.com/builds/ 6) PCL,the Point Cloud Library   Download, build and install PCL as explainedin the official website: http://pointclouds.org/ 7) SuiteSparseDownload,compile and build the “install” target of the SuiteSparse-for-windows project.Then, from MRPT’s CMake configuration, set SuiteSparse_DIR to the “install”directory.  https://github.com/jlblancoc/suitesparse-metis-for-windows 8) WinPCap  https://www.winpcap.org/ 9）zlib  http://www.zlib.net/ 10）pk-config   https://www.freedesktop.org/wiki/Software/pkg-config/ 四、MRPT的组织结构 1.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 五、MRPT的开发实例1.CPoint2D,CPoint3D的运算  1）源码路径   mrpt-1.5.5docmrpt_example12）VS的设置  a)Include的路径       C:ProgramFilesmrpt-1.5.5include       C:UsersodyDownloadsmrpt-1.5.6libsaseincludemrptb)Lib库的include路径C:ProgramFilesmrpt-1.5.5libc）Lib库  libmrpt-base155_msvc140_x64.lib d) DLL的指定