Basics

1. Data structures

Metric maps: point clouds, and more

The basic data class is metric_map_t. It comprises:

• A set of map layers, each one an instance of a generic mrpt::maps::CMetricMap, typically point clouds (mrpt::maps::CSimplePointsMap) but may hold also 2D grid maps (mrpt::maps::COccupancyGridMap2D) or 3D octomaps (mrpt::maps::COctoMap). Layers are indexed by a name (std::string).

• Other geometric entities: lines, planes.

Pairings

Simple-maps

Simplemaps are key frame-based maps. Each key-frame contains a SE(3) pose (optionally, including uncertainty) along with raw sensor observations gathered from that pose, and optional metadata. An example of standardized metadata is the local frame velocity at the moment of recording the sensor data, essential to perform motion compensation.

Although the corresponding C++ class (mrpt::maps::CSimpleMap) is defined in the MRPT project, we enumerate it here as it is a fundamental data structure for this package and the whole MOLA framework.

2. Algorithms

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3. YAML pipeline definition files

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