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Maps and observations compatibility matrix

There exists many kinds of metric maps and observations in MRPT, but some operations involving a map and an observation (for example "inserting" an observation in a map to update it) only make sense for a small subset of map-observation combinations.

See:

Map-observation compatibility matrix

The following tables summarize the valid combinations, as implemented so far:

Valid implementations of insertObservation()

See: mrpt::maps::CMetricMaps::insertObservation()

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
mrpt::obs::CObservation2DRangeScan YES YES YES YES YES YES YES YES
mrpt::obs::CObservation3DRangeScan YES YES YES YES YES
mrpt::obs::CObservation6DFeatures
mrpt::obs::CObservationBeaconRanges YES (see RO-SLAM)
mrpt::obs::CObservationBearingRange
mrpt::obs::CObservationGasSensors YES
mrpt::obs::CObservationGPS
mrpt::obs::CObservationImage YES (Extract SIFT feats)
mrpt::obs::CObservationIMU
mrpt::obs::CObservationOdometry
mrpt::obs::CObservationRange YES YES YES YES
mrpt::obs::CObservationReflectivity YES
mrpt::obs::CObservationRFID
mrpt::obs::CObservationRGBD360
mrpt::obs::CObservationRobotPose
mrpt::obs::CObservationStereoImages YES (Extract SIFT feats)
mrpt::obs::CObservationStereoImagesFeatures YES (Append/fuse landmarks)
mrpt::obs::CObservationVelodyneScan YES YES YES YES YES
mrpt::obs::CObservationWindSensor
mrpt::obs::CObservationWirelessPower YES

Valid implementations of computeObservationLikelihood()

See: mrpt::maps::CMetricMaps::computeObservationLikelihood()

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
mrpt::obs::CObservation2DRangeScan YES YES YES YES YES YES YES
mrpt::obs::CObservation3DRangeScan YES (must have pointcloud) YES (must have pointcloud)
mrpt::obs::CObservation6DFeatures
mrpt::obs::CObservationBeaconRanges YES (Used for SLAM) YES (Used for localization-only)
mrpt::obs::CObservationBearingRange
mrpt::obs::CObservationGasSensors
mrpt::obs::CObservationGPS YES (NMEA GGA datum)
mrpt::obs::CObservationImage
mrpt::obs::CObservationIMU
mrpt::obs::CObservationOdometry
mrpt::obs::CObservationRange
mrpt::obs::CObservationReflectivity YES
mrpt::obs::CObservationRFID
mrpt::obs::CObservationRGBD360
mrpt::obs::CObservationRobotPose YES
mrpt::obs::CObservationStereoImages YES (Convert to SIFT features)
mrpt::obs::CObservationStereoImagesFeatures
mrpt::obs::CObservationVelodyneScan
mrpt::obs::CObservationWindSensor
mrpt::obs::CObservationWirelessPower



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