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.
1. Datasets
Typical extension: .rawlog
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.
See also:
2. Graph SLAM maps
Typical extension(s): .graph, .graphbin
Description: MRPT adopted the plain-text format for 2D and 3D graphs (edges & nodes) introduced by TORO, G2O, and others in the 2010s.
See also:
app_graph-slam
3. “Simple maps”
Typical extension(s): .simplemap, .simplemap.gz
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.
See also:
app_robot-map-gui
app_observations2map
4. Occupancy grid maps
Typical extension(s): .gridmap, .gridmap.gz
Description: The serialization of an mrpt::maps::COccupancyGridMap2D object.
5. Scenes in 3D
Typical extension: .3dscene
Description: Files are usually transparently saved/loaded with gzip-compression to save disk space.
See also: