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) 2018-2026 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

2.5.0 (2026-02-14)

• Merge pull request #100 from MOLAorg/fix/remove-mrpt-deprecated-maps Remove use of mrpt deprecated maps
• Avoid use of deprecated mrpt::maps classes
• Merge pull request #99 from MOLAorg/feat/ros2-bridge-pub-geographic ROS2 bridge: publish geographic poses too
• ros2 bridge: use geographic_msgs, store the last georeference info internally, and publish georef poses merge of these commits:
  • Enable many more clang-tidy checks
  • lint clean
  • implement publishing georeferenced poses
  • mola-viz: fix potential crash on edge case with all points having NaN value
  • FIX: potential crash if no MapServer is present and map services are called
• Contributors: Jose Luis Blanco-Claraco

2.4.0 (2025-12-28)

• KeyframePointCloudMap: viz now reuses mrpt function for better generalized per-field coloring and avoid code duplication
• Contributors: Jose Luis Blanco-Claraco

2.3.0 (2025-12-15)

• KF metric map: change heuristic to select nearby KFs for NN matching taking into account the orientation
• KeyFramePointCloudMap: new rendering option to show XYZ axes
• Contributors: Jose Luis Blanco-Claraco

2.2.1 (2025-11-08)

• Metric maps: implement missing loading 'color.A' from config files
• Contributors: Jose Luis Blanco-Claraco

2.2.0 (2025-10-28)

• format
• Upgrade to use the upcoming MRPT 2.15 API for CGenericsPointsMap
• KeyFrames metric map: new option to visualize (via ROS publish) with a maximum number of points, downsampling for better performance
• Contributors: Jose Luis Blanco-Claraco

2.1.0 (2025-10-20)

• Fix formatting
• Implement getAsSimplePointsMap()
• KeyframePointCloudMap: Fix class must be copy-constructible
• Contributors: Jose Luis Blanco-Claraco

2.0.0 (2025-10-13)

• Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
• add optional debug viz files; fix race conditions
• cov2cov pairings now saves the sqrt(cov_inv)
• Move to new mp2p_icp cov2cov matcher API
• Update missing copyright notices
• New KeyframePointCloudMap map
• Fix typos and clang-tidy hints
• Fix clang-tidy formatting tips
• Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

• Fix: Do not use the deprecated ament_target_dependencies()
• Contributors: Jose Luis Blanco-Claraco

1.8.0 (2025-05-25)

• Update copyright year
• Contributors: Jose Luis Blanco-Claraco

1.7.0 (2025-05-06)

• fix clang-format
• Metric maps can now be rendered as semitransparent pointclouds
• Contributors: Jose Luis Blanco-Claraco

1.6.4 (2025-04-23)

• robin-map: Update to v1.4.0
• modernize clang-format
• Contributors: Jose Luis Blanco-Claraco

1.6.3 (2025-03-15)

1.6.2 (2025-02-22)

1.6.1 (2025-02-13)

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