Robotics file formats¶
MRPT defines a set of standard file formats with the intention of easing the exchange of robotic raw datasets and, also, of already-built maps, between different programs and C++ classes.
For more details:
1. Datasets¶
Typical extension: .rawlog
Description: MRPT defines a binary format for robotic datasets, or rawlogs, which can store the raw observations gathered by an arbitrary mix of sensors for its posterior processing. The format is described in detail in the Rawlog format page.
Related applications:
All offline SLAM programs.
2. Graph SLAM maps¶
Typical extension(s): .graph, .graphbin
Description: MRPT adopted the text format for 2D and 3D graphs (edges & nodes) used by TORO, G2O, and others.
Related applications:
app_graph-slam
3. “Simple maps”¶
Typical extension(s): .simplemap, .simplemap.gz
Description: Sometimes called “view-based maps” in the literature: a set of pairs of poses and their associated observations. Implemented in the type mrpt::maps::CSimpleMap. Files can be transparently saved/loaded with gzip-compression to save disk space.
Related applications:
app_robot-map-gui
app_observations2map
4. Occupancy grid maps¶
Typical extension(s): .gridmap, .gridmap.gz
Description: The serialization of an mrpt::maps::COccupancyGridMap2D object.
5. Scenes in 3D¶
Typical extension: .3dscene
Description: Files are usually transparently saved/loaded with gzip-compression to save disk space.
Related applications: