A repertory of multi-primitive-to-primitive (MP2P) matchers, optimizers, and ICP-related algorithms and data structures written in C++.
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 (
- Other geometric entities: lines, planes.
3. YAML pipeline definition files¶