Library overview: mrpt-obs

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mrpt-obs

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In this library there are five key elements or groups of elements:

• Sensor observations: All sensor observations share a common virtual base class (mrpt::slam::CObservation). There are classes to store laser scanners, 3D range images, monocular and stereo images, GPS data, odometry, etc. A concept very related to observations is a mrpt::slam::CSensoryFrame, a set of observations which were collected approximately at the same instant.

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

• Actions: For convenience in many Bayesian filtering algorithms, robot actions (like 2D displacement characterized by an odometry increment) can be represented by means of "actions". See mrpt::slam::CAction.

• "Simple maps": In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above). The advantage of maintaining such a "simple map" instead a metric map is that the metric maps can be rebuilt when needed with different parameters from the raw observations, which are never lost.

• CARMEN logs tools: Utilities to read from CARMEN log files and load the observations there as MRPT observations. See mrpt::slam::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap.