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:

• List of all observations: see derived classes from mrpt::obs::CObservation
• List of all metric maps: see derived classes from mrpt::maps::CMetricMap

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