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::maps::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 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::maps::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::maps
Collaboration diagram for [mrpt-maps]:
|
Classes | |
| class | mrpt::maps::CBeacon |
| The class for storing individual "beacon landmarks" under a variety of 3D position PDF distributions. More... | |
| struct | mrpt::maps::CBeaconMap::TLikelihoodOptions |
| With this struct options are provided to the likelihood computations. More... | |
| struct | mrpt::maps::CBeaconMap::TInsertionOptions |
| This struct contains data for choosing the method by which new beacons are inserted in the map. More... | |
| struct | mrpt::maps::CBeaconMap::TMapDefinitionBase |
| struct | mrpt::maps::CBeaconMap::TMapDefinition |
| 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 range-only SLAM). More... | |
| struct | mrpt::maps::CColouredOctoMap::TMapDefinitionBase |
| struct | mrpt::maps::CColouredOctoMap::TMapDefinition |
| class | mrpt::maps::CColouredOctoMap |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| struct | mrpt::maps::CColouredPointsMap::TColourOptions |
| The definition of parameters for generating colors from laser scans. More... | |
| struct | mrpt::maps::CColouredPointsMap::TMapDefinitionBase |
| struct | mrpt::maps::CColouredPointsMap::TMapDefinition |
| class | mrpt::maps::CColouredPointsMap |
| A map of 2D/3D points with individual colours (RGB). More... | |
| struct | mrpt::maps::CGasConcentrationGridMap2D::TInsertionOptions |
| Parameters related with inserting observations into the map: More... | |
| struct | mrpt::maps::CGasConcentrationGridMap2D::TGaussianCell |
| struct | mrpt::maps::CGasConcentrationGridMap2D::TGaussianWindTable |
| struct | mrpt::maps::CGasConcentrationGridMap2D::TMapDefinitionBase |
| struct | mrpt::maps::CGasConcentrationGridMap2D::TMapDefinition |
| class | mrpt::maps::CGasConcentrationGridMap2D |
| CGasConcentrationGridMap2D represents a PDF of gas concentrations over a 2D area. More... | |
| struct | mrpt::maps::CLogOddsGridMap2D< TCELL > |
| A generic provider of log-odds grid-map maintainance functions. More... | |
| struct | mrpt::maps::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... | |
| struct | mrpt::maps::COccupancyGridMap2D::TUpdateCellsInfoChangeOnly |
| An internal structure for storing data related to counting the new information apported by some observation. More... | |
| struct | mrpt::maps::COccupancyGridMap2D::TEntropyInfo |
| Used for returning entropy related information. More... | |
| class | mrpt::maps::COccupancyGridMap2D::TInsertionOptions |
| With this struct options are provided to the observation insertion process. More... | |
| class | mrpt::maps::COccupancyGridMap2D::TLikelihoodOptions |
| With this struct options are provided to the observation likelihood computation process. More... | |
| class | mrpt::maps::COccupancyGridMap2D::TLikelihoodOutput |
| Some members of this struct will contain intermediate or output data after calling "computeObservationLikelihood" for some likelihood functions. More... | |
| struct | mrpt::maps::COccupancyGridMap2D::TCriticalPointsList |
| The structure used to store the set of Voronoi diagram critical points. More... | |
| struct | mrpt::maps::COccupancyGridMap2D::TMapDefinitionBase |
| struct | mrpt::maps::COccupancyGridMap2D::TMapDefinition |
| class | mrpt::maps::COccupancyGridMap2D |
| A class for storing an occupancy grid map. More... | |
| struct | mrpt::maps::COctoMap::TMapDefinitionBase |
| struct | mrpt::maps::COctoMap::TMapDefinition |
| class | mrpt::maps::COctoMap |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| struct | mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TInsertionOptions |
| With this struct options are provided to the observation insertion process. More... | |
| struct | mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TLikelihoodOptions |
| Options used when evaluating "computeObservationLikelihood". More... | |
| struct | mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE >::TRenderingOptions |
| Options for the conversion of a mrpt::maps::COctoMap into a mrpt::opengl::COctoMapVoxels. More... | |
| class | mrpt::maps::COctoMapBase< OCTREE, OCTREE_NODE > |
| A three-dimensional probabilistic occupancy grid, implemented as an octo-tree with the "octomap" C++ library. More... | |
| struct | mrpt::maps::CPointsMap::TLaserRange2DInsertContext |
| Helper struct used for internal_loadFromRangeScan2D_prepareOneRange() More... | |
| struct | mrpt::maps::CPointsMap::TLaserRange3DInsertContext |
| Helper struct used for internal_loadFromRangeScan3D_prepareOneRange() More... | |
| struct | mrpt::maps::CPointsMap::TInsertionOptions |
| With this struct options are provided to the observation insertion process. More... | |
| struct | mrpt::maps::CPointsMap::TLikelihoodOptions |
| Options used when evaluating "computeObservationLikelihood" in the derived classes. More... | |
| struct | mrpt::maps::CPointsMap::LAS_WriteParams |
| Optional settings for saveLASFile() More... | |
| struct | mrpt::maps::CPointsMap::LAS_LoadParams |
| Optional settings for loadLASFile() More... | |
| struct | mrpt::maps::CPointsMap::LAS_HeaderInfo |
| Extra information gathered from the LAS file header. 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... | |
| struct | mrpt::maps::TRandomFieldCell |
| The contents of each cell in a CRandomFieldGridMap2D map. More... | |
| struct | mrpt::maps::CRandomFieldGridMap2D::TInsertionOptionsCommon |
| Parameters common to any derived class. More... | |
| struct | mrpt::maps::CRandomFieldGridMap2D::TobservationGMRF |
| class | mrpt::maps::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::maps::CReflectivityGridMap2D::TInsertionOptions |
| Parameters related with inserting observations into the map. More... | |
| struct | mrpt::maps::CReflectivityGridMap2D::TMapDefinitionBase |
| struct | mrpt::maps::CReflectivityGridMap2D::TMapDefinition |
| class | mrpt::maps::CReflectivityGridMap2D |
| A 2D grid map representing the reflectivity of the environment (for example, measured with an IR proximity sensor). More... | |
| struct | mrpt::maps::CSimplePointsMap::TMapDefinitionBase |
| struct | mrpt::maps::CSimplePointsMap::TMapDefinition |
| class | mrpt::maps::CSimplePointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
| struct | mrpt::maps::CWeightedPointsMap::TMapDefinitionBase |
| struct | mrpt::maps::CWeightedPointsMap::TMapDefinition |
| class | mrpt::maps::CWeightedPointsMap |
| A cloud of points in 2D or 3D, which can be built from a sequence of laser scans. More... | |
| struct | mrpt::maps::CWirelessPowerGridMap2D::TInsertionOptions |
| Parameters related with inserting observations into the map: More... | |
| struct | mrpt::maps::CWirelessPowerGridMap2D::TMapDefinitionBase |
| struct | mrpt::maps::CWirelessPowerGridMap2D::TMapDefinition |
| class | mrpt::maps::CWirelessPowerGridMap2D |
| CWirelessPowerGridMap2D represents a PDF of wifi concentrations over a 2D area. More... | |
| union | mrpt::opengl::CAngularObservationMesh::TDoubleRange::rd |
| Union type with the actual data. More... | |
| struct | mrpt::opengl::CAngularObservationMesh::TDoubleRange |
| Range specification type, with several uses. 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::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 end-points and the 2D scanned surface. More... | |
Namespaces | |
| mrpt::maps | |
| mrpt::maps::detail | |
| mrpt::opengl | |
| The namespace for 3D scene representation and rendering. | |
Enumeration Type Documentation
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 216 of file maps/CColouredPointsMap.h.
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 47 of file maps/CColouredOctoMap.h.
The type for selecting a likelihood computation method.
| Enumerator | |
|---|---|
| lmMeanInformation | |
| lmRayTracing | |
| lmConsensus | |
| lmCellsDifference | |
| lmLikelihoodField_Thrun | |
| lmLikelihoodField_II | |
| lmConsensusOWA | |
Definition at line 553 of file maps/COccupancyGridMap2D.h.
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 131 of file maps/CRandomFieldGridMap2D.h.
See m_typePDF.
| Enumerator | |
|---|---|
| pdfMonteCarlo | |
| pdfGauss | |
| pdfSOG | |
Definition at line 52 of file maps/CBeacon.h.