Maps and observations compatibility matrices

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

The following tables summarize the valid combinations, as implemented so far:

Valid implementations of insertObservation()

List of observations and the metric maps in which mrpt::maps::CMetricMaps::insertObservation() is implemented for them:

• 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)

• mrpt::obs::CObservation3DRangeScan

  • mrpt::maps::CColouredOctoMap

  • mrpt::maps::COctoMap

  • mrpt::maps::CPointsMap (any derived map)

• mrpt::obs::CObservation6DFeatures

  • (none)

• mrpt::obs::CObservationBeaconRanges

  • mrpt::maps::CBeaconMap (see RO-SLAM) |

• mrpt::obs::CObservationBearingRange

  • (none)

• mrpt::obs::CObservationGasSensors

  • mrpt::maps::CGasConcentrationGridMap2D

• mrpt::obs::CObservationGPS

  • (none)

• mrpt::obs::CObservationImage

  • mrpt::maps::CLandmarksMap (Extract SIFT feats)

• mrpt::obs::CObservationIMU

  • (none)

• mrpt::obs::CObservationOdometry

  • (none)

• mrpt::obs::CObservationPointCloud

  • mrpt::maps::CPointsMap (any derived map)

• mrpt::obs::CObservationRange

  • mrpt::maps::CPointsMap (any derived map)

  • mrpt::maps::COccupancyGridMap2D

• mrpt::obs::CObservationReflectivity

  • mrpt::maps::CReflectivityGridMap2D

• mrpt::obs::CObservationRFID

  • (none)

• mrpt::obs::CObservationRGBD360

  • (none)

• mrpt::obs::CObservationRobotPose

  • (none)

• mrpt::obs::CObservationStereoImages

  • mrpt::maps::CLandmarksMap (Extract SIFT feats)

• mrpt::obs::CObservationStereoImagesFeatures

  • mrpt::maps::CLandmarksMap (Append/fuse landmarks)

• mrpt::obs::CObservationVelodyneScan

  • mrpt::maps::CPointsMap (any derived map), mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF |

• mrpt::obs::CObservationWindSensor

  • (none)

• mrpt::obs::CObservationWirelessPower

  • mrpt::maps::CWirelessPowerGridMap2D

Valid implementations of computeObservationLikelihood()

Next follows the list of observations and the metric maps in which mrpt::maps::CMetricMaps::computeObservationLikelihood() is implemented for them. That means that, for example, particle filter algorithms can use those observations to localize a robot in the corresponding map, fusing the information from many sources if several observation-map pairs are valid for a given robot.

• mrpt::obs::CObservation2DRangeScan

  • mrpt::maps::CColouredOctoMap

  • mrpt::maps::CPointsMap (any derived map)

  • mrpt::maps::COccupancyGridMap2D

  • mrpt::maps::COctoMap

  • mrpt::maps::CLandmarksMap

• mrpt::obs::CObservation3DRangeScan

  • mrpt::maps::CColouredOctoMap and mrpt::maps::COctoMap (must have pointcloud)

• mrpt::obs::CObservation6DFeatures

  • (none)

• mrpt::obs::CObservationBeaconRanges

  • mrpt::maps::CBeaconMap (Used for SLAM)

  • mrpt::maps::CLandmarksMap (Used for localization-only)

• mrpt::obs::CObservationBearingRange

  • (none, but check out the EKF-SLAM algorithms)

• mrpt::obs::CObservationGasSensors

  • (none…check?)

• mrpt::obs::CObservationGPS

  • mrpt::maps::CLandmarksMap (NMEA GGA datum)

• mrpt::obs::CObservationImage

  • (none)

• mrpt::obs::CObservationIMU

  • (none)

• mrpt::obs::CObservationOdometry

  • (none, but it is explicitly used by most SLAM algorithms)

• mrpt::obs::CObservationPointCloud

  • mrpt::maps::CPointsMap (any derived map)

  • mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap

• mrpt::obs::CObservationRange

  • (none)

• mrpt::obs::CObservationReflectivity

  • mrpt::maps::CReflectivityGridMap2D

• mrpt::obs::CObservationRFID

  • (none)

• mrpt::obs::CObservationRGBD360

  • (none)

• mrpt::obs::CObservationRobotPose

  • mrpt::maps::CLandmarksMap

• mrpt::obs::CObservationStereoImages

  • mrpt::maps::CLandmarksMap (Convert to SIFT features)

• mrpt::obs::CObservationStereoImagesFeatures

  • (none)

• mrpt::obs::CObservationVelodyneScan

  • mrpt::maps::CPointsMap (any derived map)

  • mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap

• mrpt::obs::CObservationWindSensor

  • (none)

• mrpt::obs::CObservationWirelessPower

  • (none)