[mrpt-pbmap]

Detailed Description

Plane-based maps.

Library `mrpt-pbmap`

This library is part of MRPT and can be installed in Debian-based systems with:

    sudo apt install libmrpt-pbmap-dev

See: Using MRPT from your CMake project

This library implements the functionality to build Plane-based Maps (PbMaps) from a set of point clouds plus their corresponding poses, which might be given by e.g. the odometry of a robot.

A PbMap consists of a set of planar entities (patches) described by geometric features (shape, relative position, etc.) and/or radiometric features (dominant color). It is organized as an annotated, undirected graph, where nodes stand for planar patches and edges connect neighbor planes when the distance between their closest points is under a threshold.

A method for PbMap place recognition (useful for re-localization or loop closure) is also implemented. This method relies on an interpretation tree which applies geometric constraints to efficiently match sets of neighboring planes.

Refer to the PbMap Guide (PDF).

See:

• Online web with papers, tutorials, etc: https://www.mrpt.org/pbmap
• Namespace mrpt::pbmap

Classes
class	mrpt::pbmap::ConsistencyTest
struct	mrpt::pbmap::config_heuristics
	A class used to define the heuristic parameters and thresholds used to match sets of planes. More...
class	mrpt::pbmap::PbMap
	A class used to store a Plane-based Map (PbMap). More...
class	mrpt::pbmap::PbMapLocaliser
struct	mrpt::pbmap::frameRGBDandPose
class	mrpt::pbmap::PbMapMaker
class	mrpt::pbmap::Plane
	A class used to store a planar feature (Plane for short). More...
class	mrpt::pbmap::PlaneInferredInfo
	A class used to infer some semantic meaning to the planes of a PbMap. More...
class	mrpt::pbmap::SemanticClustering
class	mrpt::pbmap::Subgraph
class	mrpt::pbmap::SubgraphMatcher