mola-relocalization

Overview

Algorithms for localization starting with large uncertainty.

// structs

struct mola::RelocalizationICP_SE2;
struct mola::RelocalizationLikelihood_SE2;

// global functions

auto mola::find_best_poses_se2(const mrpt::poses::CPosePDFGrid& grid, const double percentile = 0.99);

Global Functions

auto mola::find_best_poses_se2(
    const mrpt::poses::CPosePDFGrid& grid,
    const double percentile = 0.99
    )

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.