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.
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.
All offline SLAM programs.
Description: MRPT adopted the text format for 2D and 3D graphs (edges & nodes) used by TORO, G2O, and others.
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.
Description: The serialization of an