[mrpt-maps]

Detailed Description

Map representations for localization and SLAM.

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Library `mrpt-maps`

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

    sudo apt install libmrpt-maps-dev

See: Using MRPT from your CMake project

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

mrpt::maps::CMultiMetricMap provides a versatile container for multiple metric maps, that behaves as if they were a single metric map. This includes updating the map contents from observations, fusing the information from all maps while evaluating an observation likelihood, etc.

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::CLogOddsGridMap3D< 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::CMultiMetricMap
	This class stores any customizable set of metric maps. More...
class	mrpt::maps::COccupancyGridMap2D
	A class for storing an occupancy grid map. More...
class	mrpt::maps::COccupancyGridMap3D
	A 3D occupancy grid map with a regular, even distribution of voxels. 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...
class	mrpt::maps::CPointsMapXYZI
	A map of 3D points with reflectance/intensity (float). 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...
struct	mrpt::maps::OccGridCellTraits
	The type of the map cells. More...
class	mrpt::obs::CObservationPointCloud
	An observation from any sensor that can be summarized as a pointcloud. 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>)