MRPT
2.0.1
maps-observations.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| https://www.mrpt.org/ |
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| |
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| Copyright (c) 2005 2017, Individual contributors, see AUTHORS file |
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| See: https://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in https://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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/** \page maps_observations Maps and observations compatibility matrix
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*
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There exists many kinds of metric maps and observations in MRPT, but some operations
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involving a map and an observation (for example "inserting" an observation in a map to update it)
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only make sense for a small subset of map-observation combinations.
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See:
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- List of all observations: see derived classes from mrpt::obs::CObservation
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- List of all metric maps: see derived classes from mrpt::maps::CMetricMap
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## Map-observation compatibility matrix
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The following tables summarize the valid combinations, as implemented so far:
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### Valid implementations of `insertObservation()`
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See: mrpt::maps::CMetricMaps::insertObservation()
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| Observations | Maps |
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|---------------------------------------------|-----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| mrpt::obs::CObservation2DRangeScan | mrpt::maps::CColouredOctoMap, mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF, mrpt::maps::COccupancyGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CPointsMap (any derived map) |
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| mrpt::obs::CObservation3DRangeScan | mrpt::maps::CColouredOctoMap, mrpt::maps::COctoMap, mrpt::maps::CPointsMap (any derived map) |
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| mrpt::obs::CObservation6DFeatures | |
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| mrpt::obs::CObservationBeaconRanges | mrpt::maps::CBeaconMap (see [RO-SLAM](http://www.mrpt.org/tutorials/slam-algorithms/rangeonly_slam/)) |
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| mrpt::obs::CObservationBearingRange | |
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| mrpt::obs::CObservationGasSensors | mrpt::maps::CGasConcentrationGridMap2D |
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| mrpt::obs::CObservationGPS | |
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| mrpt::obs::CObservationImage | mrpt::maps::CLandmarksMap (Extract SIFT feats) |
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| mrpt::obs::CObservationIMU | |
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| mrpt::obs::CObservationOdometry | |
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| mrpt::obs::CObservationPointCloud | mrpt::maps::CPointsMap (any derived map) |
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| mrpt::obs::CObservationRange | mrpt::maps::CPointsMap (any derived map), mrpt::maps::COccupancyGridMap2D |
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| mrpt::obs::CObservationReflectivity | mrpt::maps::CReflectivityGridMap2D |
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| mrpt::obs::CObservationRFID | |
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| mrpt::obs::CObservationRGBD360 | |
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| mrpt::obs::CObservationRobotPose | |
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| mrpt::obs::CObservationStereoImages | mrpt::maps::CLandmarksMap (Extract SIFT feats) |
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| mrpt::obs::CObservationStereoImagesFeatures | mrpt::maps::CLandmarksMap (Append/fuse landmarks) |
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| mrpt::obs::CObservationVelodyneScan | mrpt::maps::CPointsMap (any derived map), mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF |
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| mrpt::obs::CObservationWindSensor | |
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| mrpt::obs::CObservationWirelessPower | mrpt::maps::CWirelessPowerGridMap2D |
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### Valid implementations of `computeObservationLikelihood()`
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See: mrpt::maps::CMetricMaps::computeObservationLikelihood()
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| Observations | Maps |
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|---------------------------------------------|--------------------------------------------------------------------------------------------------------------------------------------------------------------|
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| mrpt::obs::CObservation2DRangeScan | mrpt::maps::CColouredOctoMap, mrpt::maps::CPointsMap (any derived map), mrpt::maps::COccupancyGridMap2D, mrpt::maps::COctoMap, mrpt::maps::CLandmarksMap |
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| mrpt::obs::CObservation3DRangeScan | mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap (must have pointcloud) |
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| mrpt::obs::CObservation6DFeatures | |
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| mrpt::obs::CObservationBeaconRanges | mrpt::maps::CBeaconMap (Used for SLAM), mrpt::maps::CLandmarksMap (Used for localization-only) |
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| mrpt::obs::CObservationBearingRange | |
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| mrpt::obs::CObservationGasSensors | |
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| mrpt::obs::CObservationGPS | mrpt::maps::CLandmarksMap (NMEA GGA datum) |
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| mrpt::obs::CObservationImage | |
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| mrpt::obs::CObservationIMU | |
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| mrpt::obs::CObservationOdometry | |
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| mrpt::obs::CObservationPointCloud | mrpt::maps::CPointsMap (any derived map), mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap |
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| mrpt::obs::CObservationRange | |
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| mrpt::obs::CObservationReflectivity | mrpt::maps::CReflectivityGridMap2D |
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| mrpt::obs::CObservationRFID | |
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| mrpt::obs::CObservationRGBD360 | |
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| mrpt::obs::CObservationRobotPose | mrpt::maps::CLandmarksMap |
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| mrpt::obs::CObservationStereoImages | mrpt::maps::CLandmarksMap (Convert to SIFT features) |
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| mrpt::obs::CObservationStereoImagesFeatures | |
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| mrpt::obs::CObservationVelodyneScan | mrpt::maps::CPointsMap (any derived map), mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap |
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| mrpt::obs::CObservationWindSensor | |
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| mrpt::obs::CObservationWirelessPower | |
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*/
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