[mrpt-maps]
Overview
Map representations for localization and SLAM.
Library mrpt-maps
This library is part of MRPT and can be installed in Debian-based systems with:
sudo apt install libmrpt-maps-dev
Read also how to import MRPT into your CMake scripts.
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.