.. _file__home_runner_work_slam-mer_slam-mer_localization_include_localization.hpp:

File localization.hpp
=====================

|exhale_lsh| :ref:`Parent directory <dir__home_runner_work_slam-mer_slam-mer_localization_include>` (``/home/runner/work/slam-mer/slam-mer/localization/include``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS



Localization module API for frame buffering and pose estimation. 



.. contents:: Contents
   :local:
   :backlinks: none

Definition (``/home/runner/work/slam-mer/slam-mer/localization/include/localization.hpp``)
------------------------------------------------------------------------------------------




Detailed Description
--------------------

Copyright (C) 2026 Mitsubishi Electric Research Laboratories (MERL) SPDX-License-Identifier: AGPL-3.0-or-later

Declares local-frame buffering and localization orchestration interfaces that ingest sensor frames, match observations against map/local data, estimate poses, and decide when to promote frames to keyframes. Pedro Miraldo 

Valter Piedade 






Includes
--------


- ``covisibility_graph.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_adjustment_include_covisibility_graph.hpp`)

- ``frame.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_localization_include_frame.hpp`)

- ``loop_detection.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_adjustment_include_loop_detection.hpp`)

- ``map.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_map_include_map.hpp`)

- ``memory``

- ``shared_mutex``

- ``types/descriptor.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_descriptor.hpp`)

- ``types/dictionary.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_dictionary.hpp`)

- ``types/mutex.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_mutex.hpp`)

- ``types/point2d.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_point2d.hpp`)

- ``types/point3d.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_point3d.hpp`)

- ``types/pose.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_pose.hpp`)

- ``types/set.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_set.hpp`)

- ``types/vector.hpp`` (:ref:`file__home_runner_work_slam-mer_slam-mer_types_vector.hpp`)






Namespaces
----------


- :ref:`namespace_slam_mer`

- :ref:`namespace_slam_mer__localization`


Classes
-------


- :ref:`exhale_class_classslam__mer_1_1localization_1_1FramesBuffer`

- :ref:`exhale_class_classslam__mer_1_1localization_1_1Localization`

- :ref:`exhale_class_classslam__mer_1_1localization_1_1WorldData`


Enums
-----


- :ref:`exhale_enum_localization_8hpp_1a8e572473f34be70c1f2f9a8a1584128d`