struct mola::RelocalizationICP_SE2

Overview

Takes a global and a local metric map, a SE(2) ROI, and tries to match the local map in the global map by running ICP from all initial guesses defined by a regular SE(2) lattice, returning the result as a SE(3) hashed lattice.

This method is based on mp2p_icp ICP pipelines, refer to the project documentation.

#include <relocalization.h>

struct RelocalizationICP_SE2
{
    // structs

    struct Input;
    struct Output;
    struct ProgressFeedback;

    // methods

    static Output run(const Input& in);
};