MOLA
v3.2.1
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MOLA in five minutes
Why MOLA
Run MOLA on your own ROS 2 bag
GUI or offline CLI: which one, and why
Tutorial: build a map
Localization
Georeferencing
ROS 2 API
ROS 2 configurations
Map tools
Troubleshooting
Datasets
Running MOLA on a dataset
Solutions & pricing
Solutions
Plans and pricing
3D LiDAR
3D LiDAR (inertial) odometry
Launching MOLA-LO
LO/LIO pipelines
ROS 2 Diagnostics (REP-107)
3rd-party wrappers
Full 3D SLAM
3D central SLAM map (Mapper)
Mapper ROS 2 node
State estimation
State estimators
mp2p_icp
About
mp2p_icp
Basics
Point Cloud Filters
Optimal transformations
Applications
sm2mm pipelines
Learn more
Tutorials
MOLA architecture
Dataset conversions
Sensors and datasets
MOLA packages
Changelog
C++ API documentation
Map-frame gauge change
Mola_kernel_grp
Mola_kernel_interfaces_grp
mola-input-kitti-dataset.
mola-input-kitti360-dataset.
mola-input-mulran-dataset.
mola-input-paris-luco-dataset.
mola-launcher: Library to load and launch MOLA
mola-relocalization
mola-viz
mola-viz-imgui
mola-yaml: YAML parsing helper functions
mola_bridge_ros2
mola_input_euroc_dataset_grp.
mola_input_rawlog_grp.
mola_input_rosbag2_grp
mola_input_video_grp.
mola_metric_maps
mp2p_icp library
mp2p_icp_common library
mp2p_icp_filters library
mp2p_icp_map library
Bibliography
Deprecated List
Todo List
Global Namespace
namespace gtsam
namespace literals
namespace math
namespace mola
namespace mola::cov_diag
namespace mola::detail
namespace mola::factors
namespace mola::gui
namespace mola::imu
namespace mola::internal
namespace mola::kf_cli
namespace mola::mm_cli
namespace mola::state_estimation_simple
namespace mola::state_estimation_smoother
enum mola::InitLocalization
enum mola::InputMode
struct mola::AddGNSSFactorParams
struct mola::AddIMUAttitudeFactorParams
struct mola::AddIMUGravityFactorParams
struct mola::ConsoleLogEntry
struct mola::FrameGNSS
struct mola::FrameIMU
struct mola::FrameIMUAcc
struct mola::GNSSFrames
struct mola::IMUAccFrames
struct mola::IMUFrames
struct mola::KeyframeDecisionOptions
struct mola::MatchingDistanceProfile
struct mola::MetricSample
struct mola::SMGeoReferencingOutput
struct mola::SMGeoReferencingParams
struct mola::SensorCamera
struct mola::SensorIMU
struct mola::TransformTree
struct mola::TransformTreeNode
template struct mola::index3d_hash
template struct mola::index3d_t
template struct mola::index_se3_t
template struct mola::index_se3_t_hash
template struct mola::overloaded
class mola::BinFileDataset
class mola::ConsoleLogSink
template class mola::FixedDenseGrid3D
class mola::GravityMapAligner
class mola::HashedSetSE3
class mola::HashedVoxelPointCloud
class mola::IncrementalPointCloud
class mola::KeyframeDecider
class mola::KeyframePointCloudMap
class mola::LidarOdometry
class mola::MetricChannelImpl
class mola::MetricsRegistry
class mola::MockDiagModule
class mola::NDT
class mola::OccGrid
class mola::OptionsCapable
class mola::PendingImuBuffer
class mola::RegexCache
class mola::ScanImuWaitList
class mola::SearchablePoseList
class mola::SparseTreesPointCloud
class mola::SparseVoxelPointCloud
class mola::TSDF
class mola::VideoDataset
Overview
namespace mola_test
namespace mp2p_icp
namespace mp2p_icp_filters
namespace mrpt
namespace rosbag2_cpp
namespace rosbag2_storage
namespace std
namespace string_literals
namespace tf2
struct Cli
struct HandlersContainer
struct LoadedModules
struct MLSResult
struct OLAE_LinearSystems
struct VoxelEntry
struct VoxelKey
struct VoxelKeyHash
struct errors
template class TraitsTest
Overview
Bibliography
MOLA
C++ API documentation
Global Namespace
namespace mola
namespace mola::imu
struct mola::imu::TrajectoryPoint
Edit on GitHub
struct mola::imu::TrajectoryPoint
Overview