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lib_mrpt_obs.h

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00001 /** \page mrpt-obs Library overview: mrpt-obs
00002  *
00003 
00004 <small> <a href="index.html#libs">Back to list of libraries</a> </small>
00005 <br>
00006 
00007 <h2>mrpt-obs</h2>
00008 <hr>
00009 
00010 In this library there are <b>five</b> key elements or groups of elements:
00011 
00012 <ul>
00013 
00014 <li><b>Sensor observations:</b> All sensor observations share a common virtual base
00015 class (mrpt::slam::CObservation). There are classes to store laser scanners, 3D range images,
00016 monocular and stereo images, GPS data, odometry, etc. A concept very related to observations
00017 is a mrpt::slam::CSensoryFrame, a set of observations which were collected approximately at the same instant. </li>
00018 
00019 <li><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means 
00020 of the class mrpt::slam::CRawlog. See also: http://www.mrpt.org/Rawlog_Format </li>
00021 
00022 <li><b>Actions:</b> For convenience in many Bayesian filtering algorithms, robot actions 
00023 (like 2D displacement characterized by an odometry increment) can be represented by means
00024 of "actions". See mrpt::slam::CAction.</li>
00025 
00026 <li><b>"Simple maps":</b> In MRPT, a "simple map" is a set of pairs: "position", "sensory frames" (read above).
00027 The advantage of maintaining such a "simple map" instead a metric map is that the metric maps 
00028 can be rebuilt when needed with different parameters from the raw observations, which are never lost. </li>
00029 
00030 <li><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there
00031 as MRPT observations. See mrpt::slam::carmen_log_parse_line and the applications: carmen2rawlog, carmen2simplemap. </li>
00032 
00033 </ul>
00034 
00035 
00036 
00037 
00038 */
00039 



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