mola_metric_maps

Advanced metric map classes, using the generic mrpt::maps::CMetricMap interface, for use in other MOLA odometry and SLAM modules.

Links
- Website

README

`mola_metric_maps`

Advanced metric map classes, using the generic mrpt::maps::CMetricMap interface, for use in other MOLA odometry and SLAM modules.

Contents

This repository provides a pure C++ library mola_metric_maps that extends mrpt-maps with additional metric map classes:

mola::OccGrid: Extends MRPT’s occupancy grid with super-resolution likelihood field.
mola::SparseVoxelPointCloud: a pointcloud stored in two dual hash’ed voxel maps, one for decimation purposes only, and another for nearest-neighbor search.

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license as open source for research and evaluation purposes only. Commercial licenses available upon request, for this package alone or in combination with the complete SLAM system.