[mrpt-hwdrivers]

Overview

Sensor and hardware-related drivers.

Library mrpt-hwdrivers

This C++ library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-hwdrivers-dev

Read also how to import MRPT into your CMake scripts.

This library provides sensor drivers and hardware interface utilities, from low-level serial/USB helpers to high-level sensor wrappers.

All sensor drivers derive from mrpt::hwdrivers::CGenericSensor, which provides a unified doProcess() / getObservations() interface and integrable into rawlog-grabber.

Supported sensors

Class

Sensor / Protocol

Generic camera (OpenCV, IEEE1394, etc.) OpenCV camera capture Microsoft Kinect (libfreenect) OpenNI2-compatible depth cameras MYNT EYE stereo/depth camera Velodyne HDL-32E / VLP-16 LiDAR SICK LMS/TIM lasers (USB) SICK LMS lasers (serial) Ibeo Lux 4-layer LiDAR (Ethernet) GPS/GNSS via NMEA or NTRIP Combined GPS + NTRIP correction stream XSens MTi IMU (MT4 protocol) KVH DSP-3000 fiber-optic gyro Taobotics IMU Gill ultrasonic anemometer Modular electronic nose RAE PID gas detector WiFi RSSI scanner Phidget proximity sensors National Instruments DAQ CAN bus raw reader NTRIP caster client Impinj RFID reader