MRPT
2.0.4

Map representations for localization and SLAM.
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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>)  
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