Detailed Description

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Library `mrpt-maps`

This library includes (almost) all the maps usable for localization or mapping in the rest of MRPT classes.

Interesting starting points:

To see the list of existing metric maps, see the classes inheriting from the base virtual mrpt::slam::CMetricMap. Note: There are two special maps which are not declared here in mrpt-maps, but in mrpt-vision, due to their heavy dependence on computer vision functions.
This library includes an embedded version of the ANN library for kd-tree fast construction and queries. It's used internally in CPointsMap, but could be used directly by the user. See ANNkd_tree.
This library also adds new classes to the namespace mrpt::opengl, which couldn't be included in the library mrpt-opengl due to its heavy dependence on map classes declared here. The classes are: mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CPlanarLaserScan

Please, note that there is another very important map class (mrpt::slam::CMultiMetricMap) which is not in mrpt-maps, but in the library mrpt-slam (the reason is that there is not another reasonable way to factor MRPT into small libraries).

See the list of classes in mrpt::slam (not all those classes are in mrpt-maps).

Collaboration diagram for [mrpt-maps]:

Classes
class	mrpt::opengl::CAngularObservationMesh
	A mesh built from a set of 2D laser scan observations. More...

struct	mrpt::opengl::CAngularObservationMesh::TDoubleRange
	Range specification type, with several uses. More...

union	mrpt::opengl::CAngularObservationMesh::TDoubleRange::rd
	Union type with the actual data. More...

class	mrpt::opengl::CAngularObservationMesh::FTrace1D< T >
	Internal functor class to trace a ray. More...

class	mrpt::opengl::CAngularObservationMesh::FTrace2D< T >
	Internal functor class to trace a set of rays. More...

class	mrpt::opengl::CPlanarLaserScan
	This object renders a 2D laser scan by means of three elements: the points, the line along end-points and the 2D scanned surface. More...

class	mrpt::slam::CBeacon
	The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More...

class	mrpt::slam::CBeaconMap
	A class for storing a map of 3D probabilistic beacons, using a Montecarlo, Gaussian, or Sum of Gaussians (SOG) representation (for range-only SLAM). More...

struct	mrpt::slam::CBeaconMap::TLikelihoodOptions
	With this struct options are provided to the likelihood computations. More...

struct	mrpt::slam::CBeaconMap::TInsertionOptions
	This struct contains data for choosing the method by which new beacons are inserted in the map. More...

class	mrpt::slam::CColouredOctoMap
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

class	mrpt::slam::CColouredPointsMap
	A map of 2D/3D points with individual colours (RGB). More...

struct	mrpt::slam::CColouredPointsMap::TColourOptions
	The definition of parameters for generating colors from laser scans. More...

class	mrpt::slam::CGasConcentrationGridMap2D
	CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More...

struct	mrpt::slam::CGasConcentrationGridMap2D::TGaussianCell

struct	mrpt::slam::CGasConcentrationGridMap2D::TGaussianWindTable

struct	mrpt::slam::CLogOddsGridMap2D< TCELL >
	A generic provider of log-odds grid-map maintainance functions. More...

struct	mrpt::slam::CLogOddsGridMapLUT< TCELL >
	One static instance of this struct should exist in any class implementing CLogOddsGridMap2D to hold the Look-up-tables (LUTs) for log-odss Bayesian update. More...

class	mrpt::slam::COccupancyGridMap2D
	A class for storing an occupancy grid map. More...

struct	mrpt::slam::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly
	An internal structure for storing data related to counting the new information apported by some observation. More...

struct	mrpt::slam::COccupancyGridMap2D::TEntropyInfo
	Used for returning entropy related information. More...

class	mrpt::slam::COccupancyGridMap2D::TLikelihoodOutput
	Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More...

struct	mrpt::slam::COccupancyGridMap2D::TCriticalPointsList
	The structure used to store the set of Voronoi diagram critical points. More...

class	mrpt::slam::COctoMap
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

class	mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >
	A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More...

struct	mrpt::slam::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions
	Options for the conversion of a mrpt::slam::COctoMap into a mrpt::opengl::COctoMapVoxels. More...

class	mrpt::slam::CPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans or other sensors. More...

struct	mrpt::slam::CPointsMap::TLaserRange2DInsertContext
	Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More...

struct	mrpt::slam::CPointsMap::TLaserRange3DInsertContext
	Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More...

struct	mrpt::slam::CPointsMap::LAS_WriteParams
	Optional settings for saveLASFile() More...

struct	mrpt::slam::CPointsMap::LAS_LoadParams
	Optional settings for loadLASFile() More...

struct	mrpt::slam::CPointsMap::LAS_HeaderInfo
	Extra information gathered from the LAS file header. More...

struct	mrpt::slam::TRandomFieldCell
	The contents of each cell in a CRandomFieldGridMap2D map. More...

class	mrpt::slam::CRandomFieldGridMap2D
	CRandomFieldGridMap2D represents a 2D grid map where each cell is associated one real-valued property which is estimated by this map, either as a simple value or as a probility distribution (for each cell). More...

struct	mrpt::slam::CRandomFieldGridMap2D::TInsertionOptionsCommon
	Parameters common to any derived class. More...

struct	mrpt::slam::CRandomFieldGridMap2D::TobservationGMRF

class	mrpt::slam::CReflectivityGridMap2D
	A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More...

class	mrpt::slam::CSimplePointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

class	mrpt::slam::CWeightedPointsMap
	A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More...

class	mrpt::slam::CWirelessPowerGridMap2D
	CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More...

Namespaces
	mrpt::opengl
	The namespace for 3D scene representation and rendering.

	mrpt::slam
	This namespace contains algorithms for SLAM, localization, map building, representation of robot's actions and observations, and representation of many kinds of metric maps.

	mrpt::slam::detail

Enumerations
enum	mrpt::slam::CBeacon::TTypePDF { mrpt::slam::CBeacon::pdfMonteCarlo = 0, mrpt::slam::CBeacon::pdfGauss, mrpt::slam::CBeacon::pdfSOG }
	See m_typePDF. More...

enum	mrpt::slam::CColouredOctoMap::TColourUpdate { mrpt::slam::CColouredOctoMap::INTEGRATE = 0, mrpt::slam::CColouredOctoMap::SET, mrpt::slam::CColouredOctoMap::AVERAGE }
	This allows the user to select the desired method to update voxels colour. More...

enum	mrpt::slam::CColouredPointsMap::TColouringMethod { mrpt::slam::CColouredPointsMap::cmFromHeightRelativeToSensor = 0, mrpt::slam::CColouredPointsMap::cmFromHeightRelativeToSensorJet = 0, mrpt::slam::CColouredPointsMap::cmFromHeightRelativeToSensorGray = 1, mrpt::slam::CColouredPointsMap::cmFromIntensityImage = 2 }
	The choices for coloring schemes: More...

enum	mrpt::slam::COccupancyGridMap2D::TLikelihoodMethod { mrpt::slam::COccupancyGridMap2D::lmMeanInformation = 0, mrpt::slam::COccupancyGridMap2D::lmRayTracing, mrpt::slam::COccupancyGridMap2D::lmConsensus, mrpt::slam::COccupancyGridMap2D::lmCellsDifference, mrpt::slam::COccupancyGridMap2D::lmLikelihoodField_Thrun, mrpt::slam::COccupancyGridMap2D::lmLikelihoodField_II, mrpt::slam::COccupancyGridMap2D::lmConsensusOWA }
	The type for selecting a likelihood computation method. More...

enum	mrpt::slam::CRandomFieldGridMap2D::TMapRepresentation { mrpt::slam::CRandomFieldGridMap2D::mrKernelDM = 0, mrpt::slam::CRandomFieldGridMap2D::mrAchim = 0, mrpt::slam::CRandomFieldGridMap2D::mrKalmanFilter, mrpt::slam::CRandomFieldGridMap2D::mrKalmanApproximate, mrpt::slam::CRandomFieldGridMap2D::mrKernelDMV, mrpt::slam::CRandomFieldGridMap2D::mrGMRF_G, mrpt::slam::CRandomFieldGridMap2D::mrGMRF_SD, mrpt::slam::CRandomFieldGridMap2D::mrGMRF_L }
	The type of map representation to be used, see CRandomFieldGridMap2D for a discussion. More...

Enumeration Type Documentation

enum mrpt::slam::CColouredPointsMap::TColouringMethod

The choices for coloring schemes:

cmFromHeightRelativeToSensor: The Z coordinate wrt the sensor will be used to obtain the color using the limits z_min,z_max.
cmFromIntensityImage: When inserting 3D range scans, take the color from the intensity image channel, if available.
See also
TColourOptions

Enumerator
cmFromHeightRelativeToSensor
cmFromHeightRelativeToSensorJet
cmFromHeightRelativeToSensorGray
cmFromIntensityImage

Definition at line 223 of file CColouredPointsMap.h.

enum mrpt::slam::CColouredOctoMap::TColourUpdate

This allows the user to select the desired method to update voxels colour.

SET = Set the colour of the voxel at (x,y,z) directly AVERAGE = Set the colour of the voxel at (x,y,z) as the mean of its previous colour and the new observed one. INTEGRATE = Calculate the new colour of the voxel at (x,y,z) using this formula: prev_color*node_prob + new_color*(0.99-node_prob) If there isn't any previous color, any method is equivalent to SET. INTEGRATE is the default option

Enumerator
INTEGRATE
SET
AVERAGE

Definition at line 50 of file CColouredOctoMap.h.

enum mrpt::slam::COccupancyGridMap2D::TLikelihoodMethod

The type for selecting a likelihood computation method.

Enumerator
lmMeanInformation
lmRayTracing
lmConsensus
lmCellsDifference
lmLikelihoodField_Thrun
lmLikelihoodField_II
lmConsensusOWA

Definition at line 566 of file COccupancyGridMap2D.h.

enum mrpt::slam::CRandomFieldGridMap2D::TMapRepresentation

The type of map representation to be used, see CRandomFieldGridMap2D for a discussion.

Enumerator
mrKernelDM
mrAchim	Another alias for "mrKernelDM", for backwards compatibility.
mrKalmanFilter
mrKalmanApproximate
mrKernelDMV
mrGMRF_G
mrGMRF_SD
mrGMRF_L

Definition at line 136 of file CRandomFieldGridMap2D.h.

enum mrpt::slam::CBeacon::TTypePDF

See m_typePDF.

Enumerator
pdfMonteCarlo
pdfGauss
pdfSOG

Definition at line 55 of file CBeacon.h.

Detailed Description

Library mrpt-maps

Classes

Namespaces

Enumerations

Enumeration Type Documentation

Library `mrpt-maps`