MRPT
1.9.9

Map representations for localization and SLAM.
Back to list of all libraries  See all modules
This library is part of MRPT and can be installed in Debianbased systems with:
sudo apt install libmrptmapsdev
See: Using MRPT from your CMake project
This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.
Interesting starting points:
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.
See the list of classes in mrpt::maps
Classes  
class  mrpt::maps::CBeacon 
The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...  
class  mrpt::maps::CBeaconMap 
A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for rangeonly SLAM). More...  
class  mrpt::maps::CColouredOctoMap 
A threedimensional probabilistic occupancy grid, implemented as an octotree with the "octomap" C++ library. More...  
class  mrpt::maps::CColouredPointsMap 
A map of 2D/3D points with individual colours (RGB). More...  
class  mrpt::maps::CGasConcentrationGridMap2D 
CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...  
class  mrpt::maps::CHeightGridMap2D 
Digital Elevation Model (DEM), a mesh or grid representation of a surface which keeps the estimated height for each (x,y) location. More...  
class  mrpt::maps::CHeightGridMap2D_Base 
Virtual base class for Digital Elevation Model (DEM) maps. More...  
class  mrpt::maps::CHeightGridMap2D_MRF 
CHeightGridMap2D_MRF represents digitalelevationmodel over a 2D area, with uncertainty, based on a MarkovRandomField (MRF) estimator. More...  
struct  mrpt::maps::CLogOddsGridMap2D< TCELL > 
A generic provider of logodds gridmap maintainance functions. More...  
struct  mrpt::maps::CLogOddsGridMap3D< TCELL > 
A generic provider of logodds gridmap maintainance functions. More...  
struct  mrpt::maps::CLogOddsGridMapLUT< TCELL > 
One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Lookuptables (LUTs) for logodss Bayesian update. More...  
class  mrpt::maps::CMultiMetricMap 
This class stores any customizable set of metric maps. More...  
class  mrpt::maps::COccupancyGridMap2D 
A class for storing an occupancy grid map. More...  
class  mrpt::maps::COccupancyGridMap3D 
A 3D occupancy grid map with a regular, even distribution of voxels. More...  
class  mrpt::maps::COctoMap 
A threedimensional probabilistic occupancy grid, implemented as an octotree with the "octomap" C++ library. More...  
class  mrpt::maps::COctoMapBase< octree_t, octree_node_t > 
A threedimensional probabilistic occupancy grid, implemented as an octotree with the "octomap" C++ library. More...  
class  mrpt::maps::CPointCloudFilterBase 
Virtual base class for all pointcloud filtering algorithm. More...  
class  mrpt::maps::CPointCloudFilterByDistance 
Implementation of pointcloud filtering based on requisities for minimum neigbouring points in both, the current timestamp and a previous one. More...  
class  mrpt::maps::CPointsMap 
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...  
class  mrpt::maps::CPointsMapXYZI 
A map of 3D points with reflectance/intensity (float). More...  
struct  mrpt::maps::TRandomFieldCell 
The contents of each cell in a CRandomFieldGridMap2D map. More...  
class  mrpt::maps::CRandomFieldGridMap2D 
CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one realvalued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...  
struct  mrpt::maps::TRandomFieldVoxel 
The contents of each voxel in a CRandomFieldGridMap3D map. More...  
class  mrpt::maps::CRandomFieldGridMap3D 
CRandomFieldGridMap3D represents a 3D regular grid where each voxel is associated one realvalued property which is to be estimated by this class. More...  
class  mrpt::maps::CReflectivityGridMap2D 
A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...  
class  mrpt::maps::CSimplePointsMap 
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...  
class  mrpt::maps::CWeightedPointsMap 
A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...  
class  mrpt::maps::CWirelessPowerGridMap2D 
CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...  
struct  mrpt::maps::OccGridCellTraits 
The type of the map cells. More...  
class  mrpt::obs::CObservationPointCloud 
An observation from any sensor that can be summarized as a pointcloud. More...  
class  mrpt::opengl::CAngularObservationMesh 
A mesh built from a set of 2D laser scan observations. More...  
class  mrpt::opengl::CPlanarLaserScan 
This object renders a 2D laser scan by means of three elements: the points, the line along endpoints and the 2D scanned surface. More...  
Namespaces  
mrpt::maps  
mrpt::opengl  
The namespace for 3D scene representation and rendering.  
Modules  
libLAS interface for CPointsMap (in  
#include <mrpt/maps/CPointsMaps_liblas.h>)  
Page generated by Doxygen 1.8.14 for MRPT 1.9.9 Git: c26d46ba6 Thu Jul 18 13:03:42 2019 +0200 at jue jul 18 13:10:17 CEST 2019 