[mrpt-obs]

Overview

Observation classes for all kinds of robot sensors.

Library mrpt-obs

This library is part of MRPT and can be installed in Debian-based systems with:

sudo apt install libmrpt-obs-dev

Read also how to import MRPT into your CMake scripts.

Key concepts:

  • Sensor observations : All sensor observations share a common virtual base class (mrpt::obs::CObservation). There are classes to store 2D/3D laser scans, rotating LiDAR scans, monocular and stereo images, depth cameras, GPS, IMU, odometry, gas sensors, WiFi/RFID, and more. A concept closely related to observations is mrpt::obs::CSensoryFrame — a set of observations collected approximately at the same instant.

  • Rawlogs (datasets) : A robotics dataset can be loaded, edited and explored by means of mrpt::obs::CRawlog. See also: https://www.mrpt.org/Rawlog_Format

  • Actions : For Bayesian filtering, robot actions (e.g. 2D odometry increments) can be represented as mrpt::obs::CAction objects.

  • Simple maps : A CSimpleMap is a sequence of (pose PDF, sensory frame) pairs. Metric maps can be rebuilt on-demand from this compact representation.

  • CARMEN log tools : Utilities to convert CARMEN log files to MRPT rawlogs. See mrpt::obs::carmen_log_parse_line and the carmen2rawlog / carmen2simplemap applications.

Key observation classes (MRPT 3 API)

Class

Sensor

mrpt::obs::CObservation2DRangeScan 2D laser scanner (single scan arc) mrpt::obs::CObservationRotatingScan Rotating LiDAR (organized range/intensity images); replaces mrpt::obs::CObservationVelodyneScan Raw Velodyne packets; convert via mrpt::obs::CObservationPointCloud Unstructured 3D point cloud mrpt::obs::CObservationImage Monocular camera image mrpt::obs::CObservationStereoImages Stereo pair mrpt::obs::CObservation3DRangeScan RGB-D (structured depth + color) mrpt::obs::CObservationGPS GPS/GNSS fix mrpt::obs::CObservationIMU IMU (accelerometer, gyro, magnetometer) mrpt::obs::CObservationOdometry Wheel odometry mrpt::obs::CObservationGasSensors Electronic nose / gas sensors mrpt::obs::CObservationWirelessPower WiFi RSSI ==================================== ===========================================================

Library contents