Function mola::find_best_poses_se2

• Defined in File relocalization.h

Function Documentation

auto mola::find_best_poses_se2(const mrpt::poses::CPosePDFGrid &grid, const double percentile = 0.99) -> std::map<double, mrpt::math::TPose2D>

Finds the SE(2) poses with the top given percentile likelihood, and returns them sorted by likelihood (higher values are better matches).

Parameters:

• grid – To be used with the output of RelocalizationLikelihood_SE2

• percentile – If set to 0.99, only those poses with a likelihood >=99% of the whole pdf will be returned.