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
2. Algorithms
Write me!
3. YAML pipeline definition files
Write me!