Detailed Description
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Library mrpt-maps
This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.
Interesting starting points:
- To see the list of existing metric maps, see the classes inheriting from the base virtual mrpt::maps::CMetricMap. Note: There are two special maps which are not declared here in mrpt-maps, but in mrpt-vision, due to their heavy dependence on computer vision functions.
- This library also adds new classes to the namespace mrpt::opengl, which couldn't be included in the library mrpt-opengl due to its heavy dependence on map classes declared here. The classes are: mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CPlanarLaserScan
Please, note that there is another very important map class (mrpt::maps::CMultiMetricMap) which is not in mrpt-maps, but in the library mrpt-slam (the reason is that there is not another reasonable way to factor MRPT into small libraries).
See the list of classes in mrpt::maps
Collaboration diagram for [mrpt-maps]:
|
Classes | |
| class | mrpt::maps::CBeacon |
| The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More... | |
| class | mrpt::maps::CBeaconMap |
| A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More... | |
| class | mrpt::maps::CColouredOctoMap |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| class | mrpt::maps::CColouredPointsMap |
| A map of 2D/3D points with individual colours (RGB). More... | |
| class | mrpt::maps::CGasConcentrationGridMap2D |
| CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More... | |
| class | mrpt::maps::CHeightGridMap2D |
| Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location. More... | |
| class | mrpt::maps::CHeightGridMap2D_Base |
| Virtual base class for Digital Elevation Model (DEM) maps. More... | |
| class | mrpt::maps::CHeightGridMap2D_MRF |
| CHeightGridMap2D_MRF represents digital-elevation-model over a 2D area, with uncertainty, based on a Markov-Random-Field (MRF) estimator. More... | |
| struct | mrpt::maps::CLogOddsGridMap2D< TCELL > |
| A generic provider of log-odds grid-map maintainance functions. More... | |
| struct | mrpt::maps::CLogOddsGridMapLUT< TCELL > |
| One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More... | |
| class | mrpt::maps::COccupancyGridMap2D |
| A class for storing an occupancy grid map. More... | |
| class | mrpt::maps::COctoMap |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| class | mrpt::maps::COctoMapBase< octree_t, octree_node_t > |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| class | mrpt::maps::CPointCloudFilterBase |
| Virtual base class for all point-cloud filtering algorithm. More... | |
| class | mrpt::maps::CPointCloudFilterByDistance |
| Implementation of pointcloud filtering based on requisities for minimum neigbouring points in both, the current timestamp and a previous one. More... | |
| class | mrpt::maps::CPointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More... | |
| struct | mrpt::maps::TRandomFieldCell |
| The contents of each cell in a CRandomFieldGridMap2D map. More... | |
| class | mrpt::maps::CRandomFieldGridMap2D |
| CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More... | |
| struct | mrpt::maps::TRandomFieldVoxel |
| The contents of each voxel in a CRandomFieldGridMap3D map. More... | |
| class | mrpt::maps::CRandomFieldGridMap3D |
| CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one real-valued property which is to be estimated by this class. More... | |
| class | mrpt::maps::CReflectivityGridMap2D |
| A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More... | |
| class | mrpt::maps::CSimplePointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
| class | mrpt::maps::CWeightedPointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
| class | mrpt::maps::CWirelessPowerGridMap2D |
| CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More... | |
| class | mrpt::opengl::CAngularObservationMesh |
| A mesh built from a set of 2D laser scan observations. More... | |
| class | mrpt::opengl::CPlanarLaserScan |
| This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More... | |
Namespaces | |
| mrpt::maps | |
| mrpt::opengl | |
| The namespace for 3D scene representation and rendering. | |
Modules | |
| libLAS interface for CPointsMap (in #include <mrpt/maps/CPointsMaps_liblas.h>) | |