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\page maps_observations Maps and observations compatibility matrices
There exists many kinds of metric maps and observations in MRPT, but some operations
involving a map and an observation (for example "inserting" an observation in a map to update it)
only make sense for a small subset of map-observation combinations.
See:
- List of all observations: see derived classes from mrpt::obs::CObservation
- List of all metric maps: see derived classes from mrpt::maps::CMetricMap
The following tables summarize the valid combinations, as implemented so far:
# Valid implementations of insertObservation()
List of observations and the metric maps in which mrpt::maps::CMetricMaps::insertObservation() is
implemented for them:
- mrpt::obs::CObservation2DRangeScan
- mrpt::maps::CColouredOctoMap
- mrpt::maps::CHeightGridMap2D
- mrpt::maps::CHeightGridMap2D_MRF
- mrpt::maps::COccupancyGridMap2D
- mrpt::maps::COctoMap
- mrpt::maps::CPointsMap (any derived map)
- mrpt::obs::CObservation3DRangeScan
- mrpt::maps::CColouredOctoMap
- mrpt::maps::COctoMap
- mrpt::maps::CPointsMap (any derived map)
- mrpt::obs::CObservation6DFeatures
- (none)
- mrpt::obs::CObservationBeaconRanges
- mrpt::maps::CBeaconMap (see [RO-SLAM](http://www.mrpt.org/tutorials/slam-algorithms/rangeonly_slam/)) |
- mrpt::obs::CObservationBearingRange
- (none)
- mrpt::obs::CObservationGasSensors
- mrpt::maps::CGasConcentrationGridMap2D
- mrpt::obs::CObservationGPS
- (none)
- mrpt::obs::CObservationImage
- mrpt::maps::CLandmarksMap (Extract SIFT feats)
- mrpt::obs::CObservationIMU
- (none)
- mrpt::obs::CObservationOdometry
- (none)
- mrpt::obs::CObservationPointCloud
- mrpt::maps::CPointsMap (any derived map)
- mrpt::obs::CObservationRange
- mrpt::maps::CPointsMap (any derived map)
- mrpt::maps::COccupancyGridMap2D
- mrpt::obs::CObservationReflectivity
- mrpt::maps::CReflectivityGridMap2D
- mrpt::obs::CObservationRFID
- (none)
- mrpt::obs::CObservationRGBD360
- (none)
- mrpt::obs::CObservationRobotPose
- (none)
- mrpt::obs::CObservationStereoImages
- mrpt::maps::CLandmarksMap (Extract SIFT feats)
- mrpt::obs::CObservationStereoImagesFeatures
- mrpt::maps::CLandmarksMap (Append/fuse landmarks)
- mrpt::obs::CObservationVelodyneScan
- mrpt::maps::CPointsMap (any derived map), mrpt::maps::CHeightGridMap2D, mrpt::maps::CHeightGridMap2D_MRF |
- mrpt::obs::CObservationWindSensor
- (none)
- mrpt::obs::CObservationWirelessPower
- mrpt::maps::CWirelessPowerGridMap2D
# Valid implementations of computeObservationLikelihood()
Next follows the list of observations and the metric maps in which mrpt::maps::CMetricMaps::computeObservationLikelihood() is
implemented for them. That means that, for example, particle filter algorithms can use
those observations to localize a robot in the corresponding map, fusing the information from many sources if several
observation-map pairs are valid for a given robot.
- mrpt::obs::CObservation2DRangeScan
- mrpt::maps::CColouredOctoMap
- mrpt::maps::CPointsMap (any derived map)
- mrpt::maps::COccupancyGridMap2D
- mrpt::maps::COctoMap
- mrpt::maps::CLandmarksMap
- mrpt::obs::CObservation3DRangeScan
- mrpt::maps::CColouredOctoMap and mrpt::maps::COctoMap (must have pointcloud)
- mrpt::obs::CObservation6DFeatures
- (none)
- mrpt::obs::CObservationBeaconRanges
- mrpt::maps::CBeaconMap (Used for SLAM)
- mrpt::maps::CLandmarksMap (Used for localization-only)
- mrpt::obs::CObservationBearingRange
- (none, but check out the EKF-SLAM algorithms)
- mrpt::obs::CObservationGasSensors
- (none...check?)
- mrpt::obs::CObservationGPS
- mrpt::maps::CLandmarksMap (NMEA GGA datum)
- mrpt::obs::CObservationImage
- (none)
- mrpt::obs::CObservationIMU
- (none)
- mrpt::obs::CObservationOdometry
- (none, but it is explicitly used by most SLAM algorithms)
- mrpt::obs::CObservationPointCloud
- mrpt::maps::CPointsMap (any derived map)
- mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap
- mrpt::obs::CObservationRange
- (none)
- mrpt::obs::CObservationReflectivity
- mrpt::maps::CReflectivityGridMap2D
- mrpt::obs::CObservationRFID
- (none)
- mrpt::obs::CObservationRGBD360
- (none)
- mrpt::obs::CObservationRobotPose
- mrpt::maps::CLandmarksMap
- mrpt::obs::CObservationStereoImages
- mrpt::maps::CLandmarksMap (Convert to SIFT features)
- mrpt::obs::CObservationStereoImagesFeatures
- (none)
- mrpt::obs::CObservationVelodyneScan
- mrpt::maps::CPointsMap (any derived map)
- mrpt::maps::CColouredOctoMap & mrpt::maps::COctoMap
- mrpt::obs::CObservationWindSensor
- (none)
- mrpt::obs::CObservationWirelessPower
- (none)
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