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C++ reference for MRPT 1.9.9
maps-observations.h
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/* +---------------------------------------------------------------------------+
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| Mobile Robot Programming Toolkit (MRPT) |
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| http://www.mrpt.org/ |
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| |
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| Copyright (c) 2005 2017, Individual contributors, see AUTHORS file |
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| See: http://www.mrpt.org/Authors - All rights reserved. |
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| Released under BSD License. See details in http://www.mrpt.org/License |
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+---------------------------------------------------------------------------+ */
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/** \page maps_observations Maps and observations compatibility matrix
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*
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There exists many kinds of metric maps and observations in MRPT, but some operations
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involving a map and an observation (for example "inserting" an observation in a map to update it)
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only make sense for a small subset of map-observation combinations.
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See:
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- List of all observations: see derived classes from mrpt::obs::CObservation
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- List of all metric maps: see derived classes from mrpt::maps::CMetricMap
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## Map-observation compatibility matrix
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The following tables summarize the valid combinations, as implemented so far:
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### Valid implementations of `insertObservation()`
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See: mrpt::maps::CMetricMaps::insertObservation()
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| Observations \ Maps (right) | mrpt::maps::CBeaconMap | mrpt::maps::CColouredOctoMap | mrpt::maps::CColouredPointsMap | mrpt::maps::CGasConcentrationGridMap2D | mrpt::maps::CHeightGridMap2D | mrpt::maps::CHeightGridMap2D_MRF | mrpt::maps::COccupancyGridMap2D | mrpt::maps::COctoMap | mrpt::maps::CReflectivityGridMap2D | mrpt::maps::CSimplePointsMap | mrpt::maps::CWeightedPointsMap | mrpt::maps::CWirelessPowerGridMap2D | mrpt::maps::CLandmarksMap |
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|---------------------------------------------|------------------------|------------------------------|--------------------------------|----------------------------------------|------------------------------|----------------------------------|---------------------------------|----------------------|------------------------------------|------------------------------|--------------------------------|-------------------------------------|------------------------------|
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| mrpt::obs::CObservation2DRangeScan | | YES | YES | | YES | YES | YES | YES | | YES | YES | | |
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| mrpt::obs::CObservation3DRangeScan | | YES | YES | | | | | YES | | YES | YES | | |
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| mrpt::obs::CObservation6DFeatures | | | | | | | | | | | | | |
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| mrpt::obs::CObservationBeaconRanges | YES (see [RO-SLAM](http://www.mrpt.org/tutorials/slam-algorithms/rangeonly_slam/)) | | | | | | | | | | | | |
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| mrpt::obs::CObservationBearingRange | | | | | | | | | | | | | |
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| mrpt::obs::CObservationGasSensors | | | | YES | | | | | | | | | |
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| mrpt::obs::CObservationGPS | | | | | | | | | | | | | |
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| mrpt::obs::CObservationImage | | | | | | | | | | | | | YES (Extract SIFT feats) |
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| mrpt::obs::CObservationIMU | | | | | | | | | | | | | |
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| mrpt::obs::CObservationOdometry | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRange | | | YES | | | | YES | | | YES | YES | | |
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| mrpt::obs::CObservationReflectivity | | | | | | | | | YES | | | | |
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| mrpt::obs::CObservationRFID | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRGBD360 | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRobotPose | | | | | | | | | | | | | |
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| mrpt::obs::CObservationStereoImages | | | | | | | | | | | | | YES (Extract SIFT feats) |
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| mrpt::obs::CObservationStereoImagesFeatures | | | | | | | | | | | | | YES (Append/fuse landmarks) |
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| mrpt::obs::CObservationVelodyneScan | | | YES | | YES | YES | | | | YES | YES | | |
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| mrpt::obs::CObservationWindSensor | | | | | | | | | | | | | |
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| mrpt::obs::CObservationWirelessPower | | | | | | | | | | | | YES | |
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### Valid implementations of `computeObservationLikelihood()`
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See: mrpt::maps::CMetricMaps::computeObservationLikelihood()
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| Observations \ Maps (right) | mrpt::maps::CBeaconMap | mrpt::maps::CColouredOctoMap | mrpt::maps::CColouredPointsMap | mrpt::maps::CGasConcentrationGridMap2D | mrpt::maps::CHeightGridMap2D | mrpt::maps::CHeightGridMap2D_MRF | mrpt::maps::COccupancyGridMap2D | mrpt::maps::COctoMap | mrpt::maps::CReflectivityGridMap2D | mrpt::maps::CSimplePointsMap | mrpt::maps::CWeightedPointsMap | mrpt::maps::CWirelessPowerGridMap2D | mrpt::maps::CLandmarksMap |
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|---------------------------------------------|------------------------|------------------------------|--------------------------------|----------------------------------------|------------------------------|----------------------------------|---------------------------------|----------------------|------------------------------------|------------------------------|--------------------------------|-------------------------------------|----------------------------------|
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| mrpt::obs::CObservation2DRangeScan | | YES | YES | | | | YES | YES | | YES | YES | | YES |
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| mrpt::obs::CObservation3DRangeScan | | YES (must have pointcloud) | | | | | |YES (must have pointcloud)| | | | | |
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| mrpt::obs::CObservation6DFeatures | | | | | | | | | | | | | |
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| mrpt::obs::CObservationBeaconRanges | YES (Used for SLAM) | | | | | | | | | | | | YES (Used for localization-only) |
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| mrpt::obs::CObservationBearingRange | | | | | | | | | | | | | |
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| mrpt::obs::CObservationGasSensors | | | | | | | | | | | | | |
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| mrpt::obs::CObservationGPS | | | | | | | | | | | | | YES (NMEA GGA datum) |
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| mrpt::obs::CObservationImage | | | | | | | | | | | | | |
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| mrpt::obs::CObservationIMU | | | | | | | | | | | | | |
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| mrpt::obs::CObservationOdometry | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRange | | | | | | | | | | | | | |
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| mrpt::obs::CObservationReflectivity | | | | | | | | | YES | | | | |
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| mrpt::obs::CObservationRFID | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRGBD360 | | | | | | | | | | | | | |
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| mrpt::obs::CObservationRobotPose | | | | | | | | | | | | | YES |
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| mrpt::obs::CObservationStereoImages | | | | | | | | | | | | | YES (Convert to SIFT features) |
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| mrpt::obs::CObservationStereoImagesFeatures | | | | | | | | | | | | | |
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| mrpt::obs::CObservationVelodyneScan | | | YES | | | | | | | YES | YES | | |
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| mrpt::obs::CObservationWindSensor | | | | | | | | | | | | | |
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| mrpt::obs::CObservationWirelessPower | | | | | | | | | | | | | |
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*/
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