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<h1>Library overview: mrpt-obs </h1> </div>
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<p><small> <a href="index.html#libs">Back to list of libraries</a> </small> <br/>
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<h2>mrpt-obs</h2>
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<p>In this library there are <b>five</b> key elements or groups of elements:</p>
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<li>
<p class="startli"><b>Sensor observations:</b> All sensor observations share a common virtual base class (<a class="el" href="classmrpt_1_1slam_1_1_c_observation.html" title="Declares a class that represents any robot's observation.">mrpt::slam::CObservation</a>). 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 <a class="el" href="classmrpt_1_1slam_1_1_c_sensory_frame.html" title="Declares a class for storing a "sensory frame", a set of "observations" taken by ...">mrpt::slam::CSensoryFrame</a>, a set of observations which were collected approximately at the same instant. </p>
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<p class="startli"><b>Rawlogs (datasets):</b> A robotics dataset can be loaded, edited and explored by means of the class <a class="el" href="classmrpt_1_1slam_1_1_c_rawlog.html" title="This class stores a rawlog (robotic datasets) in one of two possible formats:Format #1: A sequence of...">mrpt::slam::CRawlog</a>. See also: <a href="http://www.mrpt.org/Rawlog_Format">http://www.mrpt.org/Rawlog_Format</a> </p>
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<p class="startli"><b>Actions:</b> 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 <a class="el" href="classmrpt_1_1slam_1_1_c_action.html" title="Declares a class for storing a robot action.">mrpt::slam::CAction</a>.</p>
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<p class="startli"><b>"Simple maps":</b> 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. </p>
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<p class="startli"><b>CARMEN logs tools:</b> Utilities to read from CARMEN log files and load the observations there as MRPT observations. See <a class="el" href="namespacemrpt_1_1slam.html#aa7c197033076cfa76c71a49eceebde44" title="Parse one line from an text input stream and interpret it as a CARMEN log entry, returning its MRPT o...">mrpt::slam::carmen_log_parse_line</a> and the applications: carmen2rawlog, carmen2simplemap. </p>
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