mola_georeferencing

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
jazzy

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
kilted

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
lyrical

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
rolling

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange

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

mola_georeferencing package from mola_state_estimation repo

mola_georeferencing mola_gtsam_factors mola_state_estimation mola_state_estimation_simple mola_state_estimation_smoother

ROS Distro
humble

Package Summary

Version	3.0.3
License	GPLv3
Build type	CMAKE
Use	RECOMMENDED

Repository Summary

Checkout URI	https://github.com/MOLAorg/mola_state_estimation.git
VCS Type	git
VCS Version	develop
Last Updated	2026-10-06
Dev Status	DEVELOPED
Released	RELEASED
Contributing	Help Wanted (-) Good First Issues (-) Pull Requests to Review (-)

Package Description

C++ library for georeferencing key-frame maps (simplemaps) and related CLI tools

Additional Links

Maintainers

Jose-Luis Blanco-Claraco

Authors

Jose-Luis Blanco-Claraco

mola_georeferencing

Georeferencing a map

# Create the mm:
sm2mm -i INPUT_WITH_GPS.simplemap \
 -o MAP.mm \
 -p pipeline.yaml

# georeference it:
mola-sm-georeferencing -i INPUT_WITH_GPS.simplemap --write-into MAP.mm

License

This package is released under the GNU GPL v3 license as open source, with the main intention of being useful for research and evaluation purposes. Commercial licenses available upon request.

CHANGELOG

Changelog for package mola_georeferencing

3.0.3 (2026-10-06)

Fix deprecated CPose3D::getYawPitchRoll() and unchecked nodiscard load results
Contributors: Jose Luis Blanco-Claraco

3.0.2 (2026-10-01)

3.0.1 (2026-09-28)

3.0.0 (2026-09-28)

Port to MRPT 3.x
Keep P(i) in the map frame so GNSS and IMU factors agree; share one keyframe time reference between the diagnostic dumps
Georeferencing with IMU: prefer gravity alignment from averaged velocity windows
Add MOLA_SM_GEOREF_PRINT_LARGE_FACTOR_ERRORS diagnostic
Don't let GNSS altitude drift hide an unobservable azimuth; warn when IMU attitude alignment has no orientation data to use
Fix missing iomanip include
Add georeferencing test for GNSS sensorPose antenna offset
Fuse IMU absolute attitude into georeferencing and state estimation
Optional georeferencing ENU custom origin; tunable GNSS Huber kernel threshold; harden fuse_gnss()/recenter_georeference()
Detect degenerate GNSS configurations
Expose new params in the georeference CLI app
Contributors: Jose Luis Blanco-Claraco

2.4.2 (2026-06-04)

2.4.1 (2026-06-02)

cmake: remove mola_yaml as dep, added GTSAM as public dep
Contributors: Jose Luis Blanco-Claraco

2.4.0 (2026-05-11)

Merge pull request #30 from MOLAorg/bump-cmake-version bump min req cmake version to 3.22
bump min req cmake version to 3.22
Contributors: Jose Luis Blanco-Claraco

2.3.1 (2026-05-04)

2.3.0 (2026-04-29)

FIX: Filter out invalid geodetic coordinates (0,0,0)
Merge pull request #20 from MOLAorg/fix/wrong-enu-map-transform FIX: Wrong transformation applied to ENU-MAP
FIX: Wrong transformation applied to ENU-MAP
Merge pull request #19 from MOLAorg/feat/georef-output-yaml mola-sm-georeferencing: support yaml output format
mola-sm-georeferencing: support yaml output format
Contributors: Jose Luis Blanco-Claraco

2.2.0 (2026-03-03)

Merge pull request #18 from MOLAorg/fix/should-fail-on-missing-mm Add guards against failures for missing input .mm files
Add guards against failures for missing input .mm files
Merge pull request #17 from MOLAorg/feat/mm-add-geodetic-handle-null-geodetics mola-mm-add-geodetic: Don't create output map if input geodetics are …
mola-mm-add-geodetic: Don't create output map if input geodetics are missing. We may still have a valid input .georef, obtained from IMU only, but without geodetics coordinates
Merge pull request #16 from MOLAorg/feat/imu-align-without-gps Use IMU even without GPS data
improved unit tests
fix potential UB
Use IMU even without GPS data
IMU frames: use averaged gravity measurements per key-frame
Merge pull request #15 from MOLAorg/fix/use-lvb georeferencing: correctly use IMU data in the LocalVelocityBuffer too…
georeferencing: correctly use IMU data in the LocalVelocityBuffer too for gravity alignment
Merge pull request #14 from MOLAorg/feature/use-imu-for-georef-hint Feature/use-imu-for-georef-hint
Fix potential errors
georeferencing now optionally uses IMU acceleration measurements to help with gravity-alignment
Contributors: Jose Luis Blanco-Claraco

File truncated at 100 lines see the full file

Package Dependencies

Deps	Name
	gtsam
	mola_common
	mola_gtsam_factors
	mola_yaml
	mp2p_icp
	mrpt_maps

System Dependencies

Name
cmake
doxygen
cli11

Dependant Packages

Name	Deps
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_georeferencing` at Robotics Stack Exchange