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

Copyright (C) 2018-2024 Jose Luis Blanco jlblanco@ual.es, University of Almeria

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.

Changelog for package mola_metric_maps

1.2.1 (2024-09-29)

1.2.0 (2024-09-16)

• gcc warning fix
• Avoid gcc warning
• Merge pull request #69 from MOLAorg/new-map-ndt New NDT-3D metric map
• Add NDT-3D map class
• Remove leftover dead .cpp file from MOLA package template
• FIX BUG: missing cmake dependency on robin_map in exported targets
• Contributors: Jose Luis Blanco-Claraco

1.1.3 (2024-08-28)

• Depend on new mrpt_lib packages (deprecate mrpt2)
• Contributors: Jose Luis Blanco-Claraco

1.1.2 (2024-08-26)

1.1.1 (2024-08-23)

1.1.0 (2024-08-18)

• Update clang-format style; add reformat bash script
• Merge pull request #62 from MOLAorg/docs-fixes Docs fixes
• Fix ament_xmllint warnings in package.xml
• Contributors: Jose Luis Blanco-Claraco

1.0.8 (2024-07-29)

• Update robin-map to latest version (Fix cmake < 3.5 compatibility warning)
• ament_lint_cmake: clean warnings
• Contributors: Jose Luis Blanco-Claraco

1.0.7 (2024-07-24)

1.0.6 (2024-06-21)

1.0.5 (2024-05-28)

1.0.4 (2024-05-14)

• Metric maps: load insertion options from field 'insertOpts' instead of 'insertionOptions' for compatibility with all other MRPT maps
• disable clang-format in 3rdparty submodules
• Fix usage of const_cast<> with proper value() method
• bump cmake_minimum_required to 3.5
• Contributors: Jose Luis Blanco-Claraco

1.0.3 (2024-04-22)

• Add macro HASHED_VOXEL_POINT_CLOUD_WITH_CACHED_ACCESS
• Fix package.xml website URL
• Contributors: Jose Luis Blanco-Claraco

1.0.2 (2024-04-04)

1.0.1 (2024-03-28)

1.0.0 (2024-03-19)

• implement cached conversion to pointcloud
• make cfg file section optional
• FIX: error on rendering empty voxel maps
• HashedVoxelPointCloud: add missing reserve()
• copyright update
• Contributors: Jose Luis Blanco-Claraco

0.2.2 (2023-09-08)