ROS index logo ROS Index
  1. Home
  2. Packages
  3. mola_pose_list
 
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
jazzy

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
mola_common
mrpt_libmaps
mrpt_libposes

System Dependencies

Name
cmake
doxygen

Dependant Packages

Name Deps
mola
mola_relocalization
mola_lidar_odometry
mola_sm_loop_closure

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
kilted

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
mola_common
mrpt_libmaps
mrpt_libposes

System Dependencies

Name
cmake
doxygen

Dependant Packages

Name Deps
mola
mola_relocalization
mola_lidar_odometry
mola_sm_loop_closure

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
rolling

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
mola_common
mrpt_libmaps
mrpt_libposes

System Dependencies

Name
cmake
doxygen

Dependant Packages

Name Deps
mola
mola_relocalization
mola_lidar_odometry
mola_sm_loop_closure

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro ardent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro bouncy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro crystal showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro eloquent showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro dashing showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro galactic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro foxy showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
iron

API Docs
Browse Code

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Package Dependencies

Deps Name
mola_common
mrpt_libmaps
mrpt_libposes

System Dependencies

Name
cmake
doxygen

Dependant Packages

Name Deps
mola
mola_relocalization
mola_lidar_odometry

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro lunar showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro jade showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro indigo showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro hydro showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro kinetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro melodic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange

No version for distro noetic showing humble. Known supported distros are highlighted in the buttons above.
Package symbol

mola_pose_list package from mola repo

kitti_metrics_eval mola mola_bridge_ros2 mola_demos mola_input_euroc_dataset mola_input_kitti360_dataset mola_input_kitti_dataset mola_input_lidar_bin_dataset mola_input_mulran_dataset mola_input_paris_luco_dataset mola_input_rawlog mola_input_rosbag2 mola_input_video mola_kernel mola_launcher mola_metric_maps mola_msgs mola_pose_list mola_relocalization mola_traj_tools mola_viz mola_yaml

ROS Distro
humble

API Docs
Browse Code
Wiki

Package Summary

Version 2.8.0
License GPLv3
Build type CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/MOLAorg/mola.git
VCS Type git
VCS Version develop
Last Updated 2026-05-01
Dev Status DEVELOPED
Released RELEASED
Contributing Help Wanted (-)
Good First Issues (-)
Pull Requests to Review (-)

Package Description

C++ library for searchable pose lists

Additional Links

Maintainers

  • Jose-Luis Blanco-Claraco

Authors

No additional authors.
mola_pose_list/README.md

mola_pose_list

Data structures and algorithms related to SE(3) poses.

This repository provides the C++ classes:

  • SearchablePoseList
  • HashedSetSE3

Build and install

Refer to the root MOLA repository.

License

This package is released under the GNU GPL v3 license. Other options available upon request.

CHANGELOG

Changelog for package mola_pose_list

2.8.0 (2026-04-29)

  • Merge pull request #141 from MOLAorg/feat/pose-list-multiple feat: pose lists now support multiple nearby poses (Useful for non-repetitive scanners)

  • feat: pose lists now support multiple nearby poses (Useful for Livox scanners)

  • Merge pull request #138 from MOLAorg/fix/kf-map fix: robustify edge cases from last API changes

  • fix: robustify edge cases from last API changes

  • Merge pull request #137 from MOLAorg/feat/metric-map-changes-for-lo-grav-align mola_metric_maps: per-KF pose plumbing for online gravity rebake

  • fix(mola_pose_list): cap k at cloud size in SearchablePoseList::check nn_multiple_search resizes its output vectors to the requested k regardless of how many neighbours actually exist, leaving trailing entries uninitialized when the cloud has fewer than k points. The best-match selection in check() then iterated over those garbage distances and indices, producing a wrong nearest-pose result whenever the list held fewer than 20 entries. Cap k to the actual cloud size before calling nn_multiple_search. Adds a regression test (test_check_with_few_kfs) that previously failed with the stale code: 3 KFs along x, query at (4.9, 0, 0) used to snap to the (0, 0, 0) entry instead of the correct (5, 0, 0). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • feat(mola_pose_list): id-keyed SearchablePoseList for online gravity rebake Add an optional KFID tag to SearchablePoseList entries plus an in-place pose updater. This lets the LIO online gravity-rebake update its distance-checkers when per-KF poses are corrected, without rebuilding the whole list. New API:

    • insert(pose, id) overload

    - setPoseById(id, new_pose): updates the stored pose and the kd-tree point in place; no-op for unknown ids or in from_last_only mode removeAllFartherThan now also maintains the id->index map for surviving entries. Exports MOLA_POSE_LIST_HAS_ID_KEYED_API so downstream packages in separate repos (mola_lidar_odometry) can guard usage with __has_include

    + this macro and stay buildable against older mola_pose_list checkouts. Adds unit tests for the new id-keyed API in test-searchable-pose-list (also fills in the previously-empty test fixture). Co-Authored-By: Claude Opus 4.7 <<noreply@anthropic.com>>

  • Contributors: Jose Luis Blanco-Claraco

2.7.0 (2026-04-22)

2.6.1 (2026-04-02)

2.6.0 (2026-03-12)

  • Fix clang-tidy warnings
  • Merge pull request #107 from MOLAorg/fix/viz-decay-clouds Fix/viz-decay-clouds
  • fix clang-tidy warning: avoid std::endl
  • Update coyright notes
  • Contributors: Jose Luis Blanco-Claraco

2.5.0 (2026-02-14)

2.4.0 (2025-12-28)

2.3.0 (2025-12-15)

2.2.1 (2025-11-08)

2.2.0 (2025-10-28)

2.1.0 (2025-10-20)

2.0.0 (2025-10-13)

  • Merge pull request #93 from MOLAorg/feature/better-lio Changes for new LIO
  • clang-format
  • Fix typos and clang-tidy hints
  • Contributors: Jose Luis Blanco-Claraco

1.9.1 (2025-07-07)

1.9.0 (2025-06-06)

1.8.1 (2025-05-28)

File truncated at 100 lines see the full file

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged mola_pose_list at Robotics Stack Exchange