.. _robotics_file_formats:

########################
Robotics file formats
########################

MRPT defines a set of standard file formats with the intention of easing
the exchange of robotic raw datasets and, also, of already-built maps, between
different programs and C++ classes.

.. contents:: :local:

.. toctree::
  :maxdepth: 1
  :caption: For more details:

  rawlog_format.rst



1. Datasets
------------

**Typical extension**: ``.rawlog``

Description: MRPT defines a binary format for robotic datasets, or rawlogs,
which can store the raw observations gathered by an arbitrary mix of sensors
for its posterior processing. The format is described in detail in the
:ref:`Rawlog format page<rawlog_format>`.

See also:

- :ref:`app_RawLogViewer`
- `class mrpt::obs::CRawlog <class_mrpt_obs_CRawlog.html>`_
- All `offline SLAM programs <applications.html>`_.

2. Graph SLAM maps
--------------------

**Typical extension(s)**: ``.graph``, ``.graphbin``

Description: MRPT adopted the plain-text format for 2D and 3D graphs (edges & nodes)
introduced by TORO, G2O, and others in the 2010s.

See also:

- :ref:`app_graph-slam`

3. “Simple maps”
------------------

**Typical extension(s)**: ``.simplemap``, ``.simplemap.gz``

Description: Sometimes called “view-based maps” in the literature: a set of
pairs of poses and their associated observations. Implemented in the type
mrpt::maps::CSimpleMap. Files can be transparently saved/loaded
with gzip-compression to save disk space.

See also:

- :ref:`app_robot-map-gui`
- :ref:`app_observations2map`

4. Occupancy grid maps
------------------------

**Typical extension(s)**: ``.gridmap``, ``.gridmap.gz``

Description: The serialization of an ``mrpt::maps::COccupancyGridMap2D`` object.

5. Scenes in 3D
-----------------

**Typical extension**: ``.3dscene``

Description: Files are usually transparently saved/loaded with
gzip-compression to save disk space.

See also:

- :ref:`doxid-app__scene_viewer3_d`.
- See: :ref:`doxid-tutorial_3_d_scenes`.
