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maps-observations.h
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9 
10 /** \page maps_observations Maps and observations compatibility matrix
11  *
12 
13 There exists many kinds of metric maps and observations in MRPT, but some operations
14 involving a map and an observation (for example "inserting" an observation in a map to update it)
15 only make sense for a small subset of map-observation combinations.
16 
17 See:
18 - List of all observations: see derived classes from mrpt::obs::CObservation
19 - List of all metric maps: see derived classes from mrpt::maps::CMetricMap
20 
21 ## Map-observation compatibility matrix
22 
23 The following tables summarize the valid combinations, as implemented so far:
24 
25 
26 ### Valid implementations of `insertObservation()`
27 
28 See: mrpt::maps::CMetricMaps::insertObservation()
29 
30 | Observations \ Maps (right) | mrpt::maps::CBeaconMap | mrpt::maps::CColouredOctoMap | mrpt::maps::CColouredPointsMap | mrpt::maps::CGasConcentrationGridMap2D | mrpt::maps::CHeightGridMap2D | mrpt::maps::CHeightGridMap2D_MRF | mrpt::maps::COccupancyGridMap2D | mrpt::maps::COctoMap | mrpt::maps::CReflectivityGridMap2D | mrpt::maps::CSimplePointsMap | mrpt::maps::CWeightedPointsMap | mrpt::maps::CWirelessPowerGridMap2D | mrpt::maps::CLandmarksMap |
31 |---------------------------------------------|------------------------|------------------------------|--------------------------------|----------------------------------------|------------------------------|----------------------------------|---------------------------------|----------------------|------------------------------------|------------------------------|--------------------------------|-------------------------------------|------------------------------|
32 | mrpt::obs::CObservation2DRangeScan | | YES | YES | | YES | YES | YES | YES | | YES | YES | | |
33 | mrpt::obs::CObservation3DRangeScan | | YES | YES | | | | | YES | | YES | YES | | |
34 | mrpt::obs::CObservation6DFeatures | | | | | | | | | | | | | |
35 | mrpt::obs::CObservationBeaconRanges | YES (see [RO-SLAM](http://www.mrpt.org/tutorials/slam-algorithms/rangeonly_slam/)) | | | | | | | | | | | | |
36 | mrpt::obs::CObservationBearingRange | | | | | | | | | | | | | |
37 | mrpt::obs::CObservationGasSensors | | | | YES | | | | | | | | | |
38 | mrpt::obs::CObservationGPS | | | | | | | | | | | | | |
39 | mrpt::obs::CObservationImage | | | | | | | | | | | | | YES (Extract SIFT feats) |
40 | mrpt::obs::CObservationIMU | | | | | | | | | | | | | |
41 | mrpt::obs::CObservationOdometry | | | | | | | | | | | | | |
42 | mrpt::obs::CObservationRange | | | YES | | | | YES | | | YES | YES | | |
43 | mrpt::obs::CObservationReflectivity | | | | | | | | | YES | | | | |
44 | mrpt::obs::CObservationRFID | | | | | | | | | | | | | |
45 | mrpt::obs::CObservationRGBD360 | | | | | | | | | | | | | |
46 | mrpt::obs::CObservationRobotPose | | | | | | | | | | | | | |
47 | mrpt::obs::CObservationStereoImages | | | | | | | | | | | | | YES (Extract SIFT feats) |
48 | mrpt::obs::CObservationStereoImagesFeatures | | | | | | | | | | | | | YES (Append/fuse landmarks) |
49 | mrpt::obs::CObservationVelodyneScan | | | YES | | YES | YES | | | | YES | YES | | |
50 | mrpt::obs::CObservationWindSensor | | | | | | | | | | | | | |
51 | mrpt::obs::CObservationWirelessPower | | | | | | | | | | | | YES | |
52 
53 
54 ### Valid implementations of `computeObservationLikelihood()`
55 
56 See: mrpt::maps::CMetricMaps::computeObservationLikelihood()
57 
58 | Observations \ Maps (right) | mrpt::maps::CBeaconMap | mrpt::maps::CColouredOctoMap | mrpt::maps::CColouredPointsMap | mrpt::maps::CGasConcentrationGridMap2D | mrpt::maps::CHeightGridMap2D | mrpt::maps::CHeightGridMap2D_MRF | mrpt::maps::COccupancyGridMap2D | mrpt::maps::COctoMap | mrpt::maps::CReflectivityGridMap2D | mrpt::maps::CSimplePointsMap | mrpt::maps::CWeightedPointsMap | mrpt::maps::CWirelessPowerGridMap2D | mrpt::maps::CLandmarksMap |
59 |---------------------------------------------|------------------------|------------------------------|--------------------------------|----------------------------------------|------------------------------|----------------------------------|---------------------------------|----------------------|------------------------------------|------------------------------|--------------------------------|-------------------------------------|----------------------------------|
60 | mrpt::obs::CObservation2DRangeScan | | YES | YES | | | | YES | YES | | YES | YES | | YES |
61 | mrpt::obs::CObservation3DRangeScan | | YES (must have pointcloud) | | | | | |YES (must have pointcloud)| | | | | |
62 | mrpt::obs::CObservation6DFeatures | | | | | | | | | | | | | |
63 | mrpt::obs::CObservationBeaconRanges | YES (Used for SLAM) | | | | | | | | | | | | YES (Used for localization-only) |
64 | mrpt::obs::CObservationBearingRange | | | | | | | | | | | | | |
65 | mrpt::obs::CObservationGasSensors | | | | | | | | | | | | | |
66 | mrpt::obs::CObservationGPS | | | | | | | | | | | | | YES (NMEA GGA datum) |
67 | mrpt::obs::CObservationImage | | | | | | | | | | | | | |
68 | mrpt::obs::CObservationIMU | | | | | | | | | | | | | |
69 | mrpt::obs::CObservationOdometry | | | | | | | | | | | | | |
70 | mrpt::obs::CObservationRange | | | | | | | | | | | | | |
71 | mrpt::obs::CObservationReflectivity | | | | | | | | | YES | | | | |
72 | mrpt::obs::CObservationRFID | | | | | | | | | | | | | |
73 | mrpt::obs::CObservationRGBD360 | | | | | | | | | | | | | |
74 | mrpt::obs::CObservationRobotPose | | | | | | | | | | | | | YES |
75 | mrpt::obs::CObservationStereoImages | | | | | | | | | | | | | YES (Convert to SIFT features) |
76 | mrpt::obs::CObservationStereoImagesFeatures | | | | | | | | | | | | | |
77 | mrpt::obs::CObservationVelodyneScan | | | | | | | | | | | | | |
78 | mrpt::obs::CObservationWindSensor | | | | | | | | | | | | | |
79 | mrpt::obs::CObservationWirelessPower | | | | | | | | | | | | | |
80 
81 
82 */



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