[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.

Library contents

libLAS interface for CPointsMap (in

// structs

template <typename TCELL>
struct mrpt::maps::CLogOddsGridMap2D;

template <typename TCELL>
struct mrpt::maps::CLogOddsGridMap3D;

template <typename TCELL>
struct mrpt::maps::CLogOddsGridMapLUT;

struct mrpt::maps::OccGridCellTraits;
struct mrpt::maps::TRandomFieldCell;
struct mrpt::maps::TRandomFieldVoxel;

// classes

class mrpt::opengl::CAngularObservationMesh;
class mrpt::maps::CBeacon;
class mrpt::maps::CBeaconMap;
class mrpt::maps::CColouredOctoMap;
class mrpt::maps::CColouredPointsMap;
class mrpt::maps::CGasConcentrationGridMap2D;
class mrpt::maps::CHeightGridMap2D;
class mrpt::maps::CHeightGridMap2D_Base;
class mrpt::maps::CHeightGridMap2D_MRF;
class mrpt::maps::CMultiMetricMap;
class mrpt::obs::CObservationPointCloud;
class mrpt::maps::COccupancyGridMap2D;
class mrpt::maps::COccupancyGridMap3D;
class mrpt::maps::COctoMap;

template <class octree_t, class octree_node_t>
class mrpt::maps::COctoMapBase;

class mrpt::opengl::CPlanarLaserScan;
class mrpt::maps::CPointCloudFilterBase;
class mrpt::maps::CPointCloudFilterByDistance;
class mrpt::maps::CPointsMap;
class mrpt::maps::CPointsMapXYZI;
class mrpt::maps::CPointsMapXYZIRT;
class mrpt::maps::CRandomFieldGridMap2D;
class mrpt::maps::CRandomFieldGridMap3D;
class mrpt::maps::CReflectivityGridMap2D;
class mrpt::maps::CSimplePointsMap;
class mrpt::maps::CVoxelMap;

template <typename node_t>
class mrpt::maps::CVoxelMapBase;

template <typename voxel_node_t, typename occupancy_t = int8_t>
class mrpt::maps::CVoxelMapOccupancyBase;

class mrpt::maps::CVoxelMapRGB;
class mrpt::maps::CWeightedPointsMap;
class mrpt::maps::CWirelessPowerGridMap2D;
class mrpt::maps::NearestNeighborsCapable;

// global functions

void mrpt::maps::registerAllClasses_mrpt_maps();

Global Functions

void mrpt::maps::registerAllClasses_mrpt_maps()

Forces manual RTTI registration of all serializable classes in this namespace.

Should never be required to be explicitly called by users, except if building MRPT as a static library.