Mobile Robot Programming Toolkit - tfest library

 The Mobile Robot Programming Toolkit (MRPT) is an extensive, cross-platform,
 and open source C++ library aimed to help robotics researchers to design and
 implement algorithms in the fields of Simultaneous Localization and Mapping
 (SLAM, Graph-SLAM, Bundle Adjustment), computer vision, and motion planning
 (obstacle avoidance).
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 This package includes the mrpt-tfest library.
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 More about MRPT libraries in: https://www.mrpt.org/Libraries