From 23a81fb0d01178ae465a652c54ecc73627847b0f Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Sun, 11 Oct 2026 21:15:01 +0000 Subject: [PATCH] Update documentation (latest) dca24fc11f2b492503d5115b9c1644505d1da732 --- api/latest/BayesFilter_8h_source.html | 2 +- api/latest/CameraDepthAI_8h_source.html | 2 +- api/latest/CameraEvent_8h_source.html | 2 +- api/latest/CameraFreenect2_8h_source.html | 2 +- api/latest/CameraFreenect_8h_source.html | 2 +- api/latest/CameraImages_8h_source.html | 2 +- api/latest/CameraInfo_8h_source.html | 2 +- api/latest/CameraK4A_8h_source.html | 2 +- api/latest/CameraK4W2_8h_source.html | 2 +- api/latest/CameraModel_8h_source.html | 2 +- api/latest/CameraMyntEye_8h_source.html | 2 +- api/latest/CameraOpenNI2_8h_source.html | 2 +- api/latest/CameraOpenNICV_8h_source.html | 2 +- api/latest/CameraOpenni_8h_source.html | 2 +- api/latest/CameraOrbbecSDK_8h_source.html | 2 +- api/latest/CameraRGBDImages_8h_source.html | 2 +- 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api/latest/namespaces.html | 189 +- api/latest/navtreedata.js | 32 +- api/latest/navtreeindex0.js | 88 +- api/latest/navtreeindex1.js | 10 +- api/latest/navtreeindex10.js | 500 ++-- api/latest/navtreeindex11.js | 500 ++-- api/latest/navtreeindex12.js | 500 ++-- api/latest/navtreeindex13.js | 352 +-- api/latest/navtreeindex14.js | 56 +- api/latest/navtreeindex15.js | 236 +- api/latest/navtreeindex16.js | 58 +- api/latest/navtreeindex2.js | 118 +- api/latest/navtreeindex3.js | 126 +- api/latest/navtreeindex4.js | 194 +- api/latest/navtreeindex5.js | 500 ++-- api/latest/navtreeindex6.js | 500 ++-- api/latest/navtreeindex7.js | 500 ++-- api/latest/navtreeindex8.js | 500 ++-- api/latest/navtreeindex9.js | 500 ++-- api/latest/pages.html | 2 +- api/latest/parameters.html | 22 +- .../rtabmap__core__export_8h_source.html | 2 +- api/latest/rvl__codec_8h_source.html | 2 +- api/latest/search/all_12.js | 57 +- api/latest/search/all_13.js | 8 +- api/latest/search/all_14.js | 353 +-- api/latest/search/all_15.js | 729 ++--- api/latest/search/all_17.js | 2 +- api/latest/search/all_3.js | 64 +- api/latest/search/all_5.js | 2 +- api/latest/search/all_6.js | 803 +++--- api/latest/search/all_9.js | 48 +- api/latest/search/all_a.js | 11 +- api/latest/search/all_b.js | 200 +- api/latest/search/all_d.js | 851 +++--- api/latest/search/all_e.js | 113 +- api/latest/search/classes_6.js | 3 +- api/latest/search/functions_0.js | 46 +- api/latest/search/functions_10.js | 4 +- api/latest/search/functions_11.js | 319 +-- api/latest/search/functions_12.js | 727 ++--- api/latest/search/functions_14.js | 2 +- api/latest/search/functions_2.js | 2 +- api/latest/search/functions_3.js | 789 +++--- api/latest/search/functions_6.js | 36 +- api/latest/search/functions_7.js | 7 +- api/latest/search/functions_8.js | 176 +- api/latest/search/functions_a.js | 727 ++--- api/latest/search/functions_b.js | 67 +- api/latest/search/functions_f.js | 35 +- api/latest/slam__calibrator_8h_source.html | 2 +- .../stereoRectifyFisheye_8h_source.html | 2 +- .../structrtabmap_1_1PointXYZIRT-members.html | 2 +- api/latest/structrtabmap_1_1PointXYZIRT.html | 12 +- .../structrtabmap_1_1PointXYZIT-members.html | 2 +- api/latest/structrtabmap_1_1PointXYZIT.html | 2 +- ...ap_1_1graph_1_1MaxGraphErrors-members.html | 2 +- ...uctrtabmap_1_1graph_1_1MaxGraphErrors.html | 2 +- api/latest/tools.html | 2 +- api/latest/topics.html | 2 +- api/latest/uResourceGeneratorPage.html | 2 +- api/latest/util2d_8h_source.html | 2 +- api/latest/util3d_8h_source.html | 737 +++--- api/latest/util3d_8hpp_source.html | 2 +- .../util3d__correspondences_8h_source.html | 2 +- api/latest/util3d__features_8h_source.html | 2 +- api/latest/util3d__filtering_8h_source.html | 2 +- api/latest/util3d__mapping_8h_source.html | 2 +- api/latest/util3d__mapping_8hpp_source.html | 2 +- .../util3d__motion__estimation_8h_source.html | 2 +- .../util3d__registration_8h_source.html | 2 +- api/latest/util3d__surface_8h_source.html | 2 +- api/latest/util3d__surface_8hpp_source.html | 2 +- api/latest/util3d__transforms_8h_source.html | 2 +- index.html | 2 +- 914 files changed, 11507 insertions(+), 10317 deletions(-) create mode 100644 api/latest/ImuMotionPredictor_8h_source.html create mode 100644 api/latest/classrtabmap_1_1ImuMotionPredictor-members.html create mode 100644 api/latest/classrtabmap_1_1ImuMotionPredictor.html create mode 100644 api/latest/classrtabmap_1_1ImuMotionPredictor.js create mode 100644 api/latest/inherit_graph_73.map create mode 100644 api/latest/inherit_graph_73.md5 create mode 100644 api/latest/inherit_graph_73.png diff --git a/api/latest/BayesFilter_8h_source.html b/api/latest/BayesFilter_8h_source.html index b538c997..8744cc86 100644 --- a/api/latest/BayesFilter_8h_source.html +++ b/api/latest/BayesFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraDepthAI_8h_source.html b/api/latest/CameraDepthAI_8h_source.html index e88b8133..238f1e17 100644 --- a/api/latest/CameraDepthAI_8h_source.html +++ b/api/latest/CameraDepthAI_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraEvent_8h_source.html b/api/latest/CameraEvent_8h_source.html index 04a2502b..061ad6f9 100644 --- a/api/latest/CameraEvent_8h_source.html +++ b/api/latest/CameraEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraFreenect2_8h_source.html b/api/latest/CameraFreenect2_8h_source.html index 7a931f59..1a6ca3a4 100644 --- a/api/latest/CameraFreenect2_8h_source.html +++ b/api/latest/CameraFreenect2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraFreenect_8h_source.html b/api/latest/CameraFreenect_8h_source.html index b2be3168..5808d4b7 100644 --- a/api/latest/CameraFreenect_8h_source.html +++ b/api/latest/CameraFreenect_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraImages_8h_source.html b/api/latest/CameraImages_8h_source.html index 4d779a01..9fc512b1 100644 --- a/api/latest/CameraImages_8h_source.html +++ b/api/latest/CameraImages_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
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diff --git a/api/latest/CameraModel_8h_source.html b/api/latest/CameraModel_8h_source.html index a0109bf3..c1ee182c 100644 --- a/api/latest/CameraModel_8h_source.html +++ b/api/latest/CameraModel_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraMyntEye_8h_source.html b/api/latest/CameraMyntEye_8h_source.html index a3b48d1d..513afe8a 100644 --- a/api/latest/CameraMyntEye_8h_source.html +++ b/api/latest/CameraMyntEye_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraOpenNI2_8h_source.html b/api/latest/CameraOpenNI2_8h_source.html index 1de86f89..596baa97 100644 --- a/api/latest/CameraOpenNI2_8h_source.html +++ b/api/latest/CameraOpenNI2_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraOpenNICV_8h_source.html b/api/latest/CameraOpenNICV_8h_source.html index 95a4c148..3ffea7ad 100644 --- a/api/latest/CameraOpenNICV_8h_source.html +++ b/api/latest/CameraOpenNICV_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraOpenni_8h_source.html b/api/latest/CameraOpenni_8h_source.html index b24ccf13..199c59c0 100644 --- a/api/latest/CameraOpenni_8h_source.html +++ b/api/latest/CameraOpenni_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraOrbbecSDK_8h_source.html b/api/latest/CameraOrbbecSDK_8h_source.html index 91669b7a..1ccf05f6 100644 --- a/api/latest/CameraOrbbecSDK_8h_source.html +++ b/api/latest/CameraOrbbecSDK_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraRGBDImages_8h_source.html b/api/latest/CameraRGBDImages_8h_source.html index 4ea9f466..8e2b6f44 100644 --- a/api/latest/CameraRGBDImages_8h_source.html +++ b/api/latest/CameraRGBDImages_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraRGBD_8h_source.html b/api/latest/CameraRGBD_8h_source.html index 2a4de388..16377b4a 100644 --- a/api/latest/CameraRGBD_8h_source.html +++ b/api/latest/CameraRGBD_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraRGB_8h_source.html b/api/latest/CameraRGB_8h_source.html index 07545136..19d3839e 100644 --- a/api/latest/CameraRGB_8h_source.html +++ b/api/latest/CameraRGB_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraRealSense2_8h_source.html b/api/latest/CameraRealSense2_8h_source.html index 323d9420..efb6b520 100644 --- a/api/latest/CameraRealSense2_8h_source.html +++ b/api/latest/CameraRealSense2_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraRealSense_8h_source.html b/api/latest/CameraRealSense_8h_source.html index 6a02f89e..ac8ecbe3 100644 --- a/api/latest/CameraRealSense_8h_source.html +++ b/api/latest/CameraRealSense_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraSeerSense_8h_source.html b/api/latest/CameraSeerSense_8h_source.html index 33e25225..38ecc898 100644 --- a/api/latest/CameraSeerSense_8h_source.html +++ b/api/latest/CameraSeerSense_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoDC1394_8h_source.html b/api/latest/CameraStereoDC1394_8h_source.html index bbd5d6ad..7a65a3c0 100644 --- a/api/latest/CameraStereoDC1394_8h_source.html +++ b/api/latest/CameraStereoDC1394_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoFlyCapture2_8h_source.html b/api/latest/CameraStereoFlyCapture2_8h_source.html index 2f54b5c6..d003ce53 100644 --- a/api/latest/CameraStereoFlyCapture2_8h_source.html +++ b/api/latest/CameraStereoFlyCapture2_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoImages_8h_source.html b/api/latest/CameraStereoImages_8h_source.html index 798d1ecc..ded524be 100644 --- a/api/latest/CameraStereoImages_8h_source.html +++ b/api/latest/CameraStereoImages_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraStereoTara_8h_source.html b/api/latest/CameraStereoTara_8h_source.html index d72529d1..c9865d32 100644 --- a/api/latest/CameraStereoTara_8h_source.html +++ b/api/latest/CameraStereoTara_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoVideo_8h_source.html b/api/latest/CameraStereoVideo_8h_source.html index e5f0a0f7..0e1a1f35 100644 --- a/api/latest/CameraStereoVideo_8h_source.html +++ b/api/latest/CameraStereoVideo_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoZedOC_8h_source.html b/api/latest/CameraStereoZedOC_8h_source.html index 2a18bdd4..5ee153bb 100644 --- a/api/latest/CameraStereoZedOC_8h_source.html +++ b/api/latest/CameraStereoZedOC_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereoZed_8h_source.html b/api/latest/CameraStereoZed_8h_source.html index 2babc7d7..ecfc291b 100644 --- a/api/latest/CameraStereoZed_8h_source.html +++ b/api/latest/CameraStereoZed_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraStereo_8h_source.html b/api/latest/CameraStereo_8h_source.html index fe5b0689..2ad59c49 100644 --- a/api/latest/CameraStereo_8h_source.html +++ b/api/latest/CameraStereo_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/CameraThread_8h_source.html b/api/latest/CameraThread_8h_source.html index 4448c799..a73428c6 100644 --- a/api/latest/CameraThread_8h_source.html +++ b/api/latest/CameraThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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diff --git a/api/latest/CameraVideo_8h_source.html b/api/latest/CameraVideo_8h_source.html index 383f4ecf..31af3c29 100644 --- a/api/latest/CameraVideo_8h_source.html +++ b/api/latest/CameraVideo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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diff --git a/api/latest/Camera_8h_source.html b/api/latest/Camera_8h_source.html index 695ff3f2..0edc8012 100644 --- a/api/latest/Camera_8h_source.html +++ b/api/latest/Camera_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
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diff --git a/api/latest/CloudMap_8h_source.html b/api/latest/CloudMap_8h_source.html index 874a3df0..91c25282 100644 --- a/api/latest/CloudMap_8h_source.html +++ b/api/latest/CloudMap_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/Compression_8h_source.html b/api/latest/Compression_8h_source.html index 872bb837..1b8d1a2d 100644 --- a/api/latest/Compression_8h_source.html +++ b/api/latest/Compression_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/DBDriverSqlite3_8h_source.html b/api/latest/DBDriverSqlite3_8h_source.html index 9e520cbe..b47d3c80 100644 --- a/api/latest/DBDriverSqlite3_8h_source.html +++ b/api/latest/DBDriverSqlite3_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/DBDriver_8h_source.html b/api/latest/DBDriver_8h_source.html index 0d61f58a..2f7f8b34 100644 --- a/api/latest/DBDriver_8h_source.html +++ b/api/latest/DBDriver_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/DBReader_8h_source.html b/api/latest/DBReader_8h_source.html index c21e8c83..830b3ab0 100644 --- a/api/latest/DBReader_8h_source.html +++ b/api/latest/DBReader_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/EnvSensor_8h_source.html b/api/latest/EnvSensor_8h_source.html index e5fb1f15..c2ad070a 100644 --- a/api/latest/EnvSensor_8h_source.html +++ b/api/latest/EnvSensor_8h_source.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/EpipolarGeometry_8h_source.html b/api/latest/EpipolarGeometry_8h_source.html index dd39f11b..f65fa330 100644 --- a/api/latest/EpipolarGeometry_8h_source.html +++ b/api/latest/EpipolarGeometry_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Features2d_8h_source.html b/api/latest/Features2d_8h_source.html index 5c49dacf..1b2fdfdc 100644 --- a/api/latest/Features2d_8h_source.html +++ b/api/latest/Features2d_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/FlannIndex_8h_source.html b/api/latest/FlannIndex_8h_source.html index e0e14dad..dfd1d722 100644 --- a/api/latest/FlannIndex_8h_source.html +++ b/api/latest/FlannIndex_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GPS_8h_source.html b/api/latest/GPS_8h_source.html index a619c74d..12b6163e 100644 --- a/api/latest/GPS_8h_source.html +++ b/api/latest/GPS_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GainCompensator_8h_source.html b/api/latest/GainCompensator_8h_source.html index 12c29b19..6db58459 100644 --- a/api/latest/GainCompensator_8h_source.html +++ b/api/latest/GainCompensator_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GeodeticCoords_8h_source.html b/api/latest/GeodeticCoords_8h_source.html index 615c24d0..722b3824 100644 --- a/api/latest/GeodeticCoords_8h_source.html +++ b/api/latest/GeodeticCoords_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GlobalDescriptorExtractor_8h_source.html b/api/latest/GlobalDescriptorExtractor_8h_source.html index bbbc6313..fc9983d8 100644 --- a/api/latest/GlobalDescriptorExtractor_8h_source.html +++ b/api/latest/GlobalDescriptorExtractor_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GlobalDescriptor_8h_source.html b/api/latest/GlobalDescriptor_8h_source.html index 1e382b66..88063c2b 100644 --- a/api/latest/GlobalDescriptor_8h_source.html +++ b/api/latest/GlobalDescriptor_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GlobalMap_8h_source.html b/api/latest/GlobalMap_8h_source.html index 91cc3939..26a79e49 100644 --- a/api/latest/GlobalMap_8h_source.html +++ b/api/latest/GlobalMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Graph_8h_source.html b/api/latest/Graph_8h_source.html index 98b441a7..1a63eb39 100644 --- a/api/latest/Graph_8h_source.html +++ b/api/latest/Graph_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/GridMap_8h_source.html b/api/latest/GridMap_8h_source.html index 98d0fb76..160fe900 100644 --- a/api/latest/GridMap_8h_source.html +++ b/api/latest/GridMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/IMUFilter_8h_source.html b/api/latest/IMUFilter_8h_source.html index 6ebeb5ba..d939e39c 100644 --- a/api/latest/IMUFilter_8h_source.html +++ b/api/latest/IMUFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/IMUThread_8h_source.html b/api/latest/IMUThread_8h_source.html index 654d12ea..b1547a24 100644 --- a/api/latest/IMUThread_8h_source.html +++ b/api/latest/IMUThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/IMU_8h_source.html b/api/latest/IMU_8h_source.html index 2e2e7c67..18d2b91a 100644 --- a/api/latest/IMU_8h_source.html +++ b/api/latest/IMU_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Image_8h_source.html b/api/latest/Image_8h_source.html index fe467cca..eeb9a8c5 100644 --- a/api/latest/Image_8h_source.html +++ b/api/latest/Image_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ImuMotionPredictor_8h_source.html b/api/latest/ImuMotionPredictor_8h_source.html new file mode 100644 index 00000000..a99e1f37 --- /dev/null +++ b/api/latest/ImuMotionPredictor_8h_source.html @@ -0,0 +1,279 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/ImuMotionPredictor.h Source File + + + + + + + + + + + + + + + + + + + + +
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+ + + + + + +
+
RTAB-Map 0.24.1 +
+
Real-Time Appearance-Based Mapping
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ImuMotionPredictor.h
+
+
+
1/*
+
2Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RTABMAP_CORE_IMUMOTIONPREDICTOR_H_
+
29#define RTABMAP_CORE_IMUMOTIONPREDICTOR_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <rtabmap/core/Transform.h>
+
33#include <rtabmap/core/IMU.h>
+
34
+
35#include <Eigen/Geometry>
+
36
+
37#include <map>
+
38#include <vector>
+
39
+
40namespace rtabmap {
+
41
+
+
77class RTABMAP_CORE_EXPORT ImuMotionPredictor
+
78{
+
79public:
+
103 explicit ImuMotionPredictor(
+
104 double maxPoseInterval = 1.0,
+
105 double velocityWindow = 0.5,
+
106 double gravity = 9.80665);
+
107
+
108 double maxPoseInterval() const {return maxPoseInterval_;}
+
109 double velocityWindow() const {return velocityWindow_;}
+
111 double gravity() const {return gravity_;}
+
113 bool isGravityEstimated() const {return gravityEstimated_;}
+
115 size_t gravityWindows() const {return gravityWindowsCount_;}
+
116
+
127 void addImu(double stamp, const IMU & imu);
+
128
+
135 void addPose(double stamp, const rtabmap::Transform & pose);
+
136
+
139 void reset();
+
140
+
149 rtabmap::Transform predict(double stamp) const;
+
150
+
152 bool hasPose() const;
+
154 double lastPoseStamp() const;
+
156 Eigen::Vector3d velocity() const;
+
158 size_t samples() const;
+
159
+
160private:
+
161 // orientation: of the base frame in the IMU's world frame; acceleration: of the base in
+
162 // that frame, gravity removed
+
163 // specificForce: in that frame too, including the reaction to gravity (see
+
164 // hasAcceleration)
+
165 void addSample(double stamp, const Eigen::Quaterniond & orientation,
+
166 const Eigen::Vector3d & specificForce, bool hasAcceleration);
+
167 // Gravity estimation, from the IMU's own specific force and angular velocity norm
+
168 void estimateGravity(double stamp, const Eigen::Vector3d & specificForce, double angularVelocity);
+
169
+
170 struct Sample
+
171 {
+
172 Eigen::Quaterniond orientation;
+
173 // Kept with gravity, which is removed when used: the estimate can change
+
174 Eigen::Vector3d specificForce;
+
175 bool hasAcceleration;
+
176 };
+
177 // Acceleration of a sample, gravity removed (null without acceleration)
+
178 Eigen::Vector3d accelerationOf(const Sample & sample) const;
+
179 Eigen::Quaterniond orientationAt(double stamp) const;
+
180 Eigen::Vector3d accelerationAt(double stamp) const;
+
181 void integrate(double from, double to, const Eigen::Quaterniond & rotation,
+
182 Eigen::Vector3d & velocity, Eigen::Vector3d & position) const;
+
183 void updateIntegration() const;
+
184
+
185 // The acceleration integrated from the last pose up to a sample's stamp, in the
+
186 // odometry frame: predicting a stamp then only integrates from the sample before it.
+
187 struct Integrated
+
188 {
+
189 Eigen::Vector3d acceleration; // at that stamp
+
190 Eigen::Vector3d velocity; // change since the last pose
+
191 Eigen::Vector3d position; // change since the last pose (without its velocity)
+
192 };
+
193
+
194private:
+
195 double maxPoseInterval_;
+
196 double velocityWindow_;
+
197 double gravity_;
+
198 bool gravityEstimated_;
+
199 std::map<double, Sample> samples_;
+
200
+
201 // Gravity estimation: the samples of the current window, and the gravity measured over
+
202 // the last quiet windows
+
203 struct StillSample
+
204 {
+
205 double stamp;
+
206 Eigen::Vector3d specificForce; // in the IMU frame
+
207 double angularVelocity; // norm
+
208 };
+
209 std::vector<StillSample> stillWindow_;
+
210 std::vector<double> gravityWindows_;
+
211 size_t gravityWindowsCount_;
+
212 // Recent odometry poses, to estimate the velocity from (see velocityWindow)
+
213 std::map<double, rtabmap::Transform> poses_;
+
214
+
215 // The last odometry pose and the state predictions start from.
+
216 double poseStamp_;
+
217 rtabmap::Transform pose_;
+
218 Eigen::Vector3d velocity_;
+
219 // Rotation from the IMU's world frame to the odometry frame, at the last pose: the two
+
220 // are both gravity aligned, but their yaw differ.
+
221 Eigen::Quaterniond worldToOdom_;
+
222
+
223 // Built lazily by predict(), from the last pose to the newest sample; cleared when the
+
224 // pose or the samples it was built from change.
+
225 mutable std::map<double, Integrated> integrated_;
+
226 // Whether the acceleration at the last pose's stamp (the first entry) is final: it is
+
227 // held constant from the newest sample until a sample after that stamp is received.
+
228 mutable bool integratedStartIsFinal_;
+
229};
+
+
230
+
231}
+
232
+
233#endif /* RTABMAP_CORE_IMUMOTIONPREDICTOR_H_ */
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::ImuMotionPredictor
Predicts the pose of the base frame from the last odometry pose and the IMU.
Definition ImuMotionPredictor.h:78
+
rtabmap::ImuMotionPredictor::velocity
Eigen::Vector3d velocity() const
Velocity (m/s) of the base in the odometry frame at the last pose.
+ +
rtabmap::ImuMotionPredictor::hasPose
bool hasPose() const
Whether there is a pose to predict from (none yet, or the last one was null).
+
rtabmap::ImuMotionPredictor::addImu
void addImu(double stamp, const IMU &imu)
Adds an IMU measurement.
+
rtabmap::ImuMotionPredictor::samples
size_t samples() const
Number of IMU samples kept.
+
rtabmap::ImuMotionPredictor::lastPoseStamp
double lastPoseStamp() const
Stamp of the last pose added, 0 if there is none.
+
rtabmap::ImuMotionPredictor::gravity
double gravity() const
Gravity (m/s^2) removed from the specific force: the one given, or the estimate.
Definition ImuMotionPredictor.h:111
+
rtabmap::ImuMotionPredictor::ImuMotionPredictor
ImuMotionPredictor(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)
+
rtabmap::ImuMotionPredictor::gravityWindows
size_t gravityWindows() const
Number of quiet IMU windows the gravity estimate is from (0: not estimated yet)
Definition ImuMotionPredictor.h:115
+
rtabmap::ImuMotionPredictor::isGravityEstimated
bool isGravityEstimated() const
Whether the gravity is estimated from the IMU (see the constructor)
Definition ImuMotionPredictor.h:113
+
rtabmap::ImuMotionPredictor::addPose
void addPose(double stamp, const rtabmap::Transform &pose)
Adds an odometry pose, from which the next poses are predicted.
+
rtabmap::ImuMotionPredictor::predict
rtabmap::Transform predict(double stamp) const
Predicts the pose of the base frame in the odometry frame.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+
+ + + + diff --git a/api/latest/LASWriter_8h_source.html b/api/latest/LASWriter_8h_source.html index 37393cbc..9c2dad1a 100644 --- a/api/latest/LASWriter_8h_source.html +++ b/api/latest/LASWriter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Landmark_8h_source.html b/api/latest/Landmark_8h_source.html index 4e0d75b3..179a2d71 100644 --- a/api/latest/Landmark_8h_source.html +++ b/api/latest/Landmark_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/LaserScan_8h_source.html b/api/latest/LaserScan_8h_source.html index fe357ac3..83b738fe 100644 --- a/api/latest/LaserScan_8h_source.html +++ b/api/latest/LaserScan_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/LidarVLP16_8h_source.html b/api/latest/LidarVLP16_8h_source.html index 8c5b24f5..99e4b457 100644 --- a/api/latest/LidarVLP16_8h_source.html +++ b/api/latest/LidarVLP16_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Lidar_8h_source.html b/api/latest/Lidar_8h_source.html index 850a0255..5ebb15b7 100644 --- a/api/latest/Lidar_8h_source.html +++ b/api/latest/Lidar_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Link_8h_source.html b/api/latest/Link_8h_source.html index 5a01ef4e..b3bfea9e 100644 --- a/api/latest/Link_8h_source.html +++ b/api/latest/Link_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/LocalGridMaker_8h_source.html b/api/latest/LocalGridMaker_8h_source.html index 2843723c..71fa9584 100644 --- a/api/latest/LocalGridMaker_8h_source.html +++ b/api/latest/LocalGridMaker_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/LocalGrid_8h_source.html b/api/latest/LocalGrid_8h_source.html index 37024363..62caac3d 100644 --- a/api/latest/LocalGrid_8h_source.html +++ b/api/latest/LocalGrid_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/LocalMapMaker_8hpp_source.html b/api/latest/LocalMapMaker_8hpp_source.html index 5deb331a..de52de2b 100644 --- a/api/latest/LocalMapMaker_8hpp_source.html +++ b/api/latest/LocalMapMaker_8hpp_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/MarkerDetector_8h_source.html b/api/latest/MarkerDetector_8h_source.html index c7efde42..c72344a9 100644 --- a/api/latest/MarkerDetector_8h_source.html +++ b/api/latest/MarkerDetector_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Memory_8h_source.html b/api/latest/Memory_8h_source.html index b739bea7..ba4f08b3 100644 --- a/api/latest/Memory_8h_source.html +++ b/api/latest/Memory_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OccupancyGrid_8h_source.html b/api/latest/OccupancyGrid_8h_source.html index 85367527..53d8af0a 100644 --- a/api/latest/OccupancyGrid_8h_source.html +++ b/api/latest/OccupancyGrid_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OctoMap_8h_source.html b/api/latest/OctoMap_8h_source.html index cc9172d5..3930c760 100644 --- a/api/latest/OctoMap_8h_source.html +++ b/api/latest/OctoMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryCuVSLAM_8h_source.html b/api/latest/OdometryCuVSLAM_8h_source.html index e19d6c3f..f1680e94 100644 --- a/api/latest/OdometryCuVSLAM_8h_source.html +++ b/api/latest/OdometryCuVSLAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -213,8 +213,8 @@ $(document).ready(function(){initNavTree('OdometryCuVSLAM_8h_source.html',''); i
rtabmap::OdometryCuVSLAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryCuVSLAM::getType
virtual Odometry::Type getType()
Definition OdometryCuVSLAM.h:52
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryDVO_8h_source.html b/api/latest/OdometryDVO_8h_source.html index 221c026f..56094df8 100644 --- a/api/latest/OdometryDVO_8h_source.html +++ b/api/latest/OdometryDVO_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -181,8 +181,8 @@ $(document).ready(function(){initNavTree('OdometryDVO_8h_source.html',''); initR
rtabmap::OdometryDVO::getType
virtual Odometry::Type getType()
Definition OdometryDVO.h:50
rtabmap::OdometryDVO::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryEvent_8h_source.html b/api/latest/OdometryEvent_8h_source.html index 864d641d..0ded4ddb 100644 --- a/api/latest/OdometryEvent_8h_source.html +++ b/api/latest/OdometryEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryF2F_8h_source.html b/api/latest/OdometryF2F_8h_source.html index d533a216..30230185 100644 --- a/api/latest/OdometryF2F_8h_source.html +++ b/api/latest/OdometryF2F_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -179,8 +179,8 @@ $(document).ready(function(){initNavTree('OdometryF2F_8h_source.html',''); initR
rtabmap::OdometryF2F::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryF2F::getType
virtual Odometry::Type getType()
Definition OdometryF2F.h:48
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
diff --git a/api/latest/OdometryF2M_8h_source.html b/api/latest/OdometryF2M_8h_source.html index 5263c5b6..8e412a1e 100644 --- a/api/latest/OdometryF2M_8h_source.html +++ b/api/latest/OdometryF2M_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -212,8 +212,8 @@ $(document).ready(function(){initNavTree('OdometryF2M_8h_source.html',''); initR
rtabmap::OdometryF2M::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryF2M::getType
virtual Odometry::Type getType()
Definition OdometryF2M.h:54
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
diff --git a/api/latest/OdometryFLOAM_8h_source.html b/api/latest/OdometryFLOAM_8h_source.html index 77aeb927..534ae760 100644 --- a/api/latest/OdometryFLOAM_8h_source.html +++ b/api/latest/OdometryFLOAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -176,8 +176,8 @@ $(document).ready(function(){initNavTree('OdometryFLOAM_8h_source.html',''); ini
rtabmap::OdometryFLOAM::getType
virtual Odometry::Type getType()
Definition OdometryFLOAM.h:45
rtabmap::OdometryFLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryFovis_8h_source.html b/api/latest/OdometryFovis_8h_source.html index 0c3b277a..57e8da4e 100644 --- a/api/latest/OdometryFovis_8h_source.html +++ b/api/latest/OdometryFovis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -182,8 +182,8 @@ $(document).ready(function(){initNavTree('OdometryFovis_8h_source.html',''); ini
rtabmap::OdometryFovis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryFovis::getType
virtual Odometry::Type getType()
Definition OdometryFovis.h:50
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryInfo_8h_source.html b/api/latest/OdometryInfo_8h_source.html index ee4d71fb..7e1bedad 100644 --- a/api/latest/OdometryInfo_8h_source.html +++ b/api/latest/OdometryInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryLIOSAM_8h_source.html b/api/latest/OdometryLIOSAM_8h_source.html index 8c6f7a58..50728581 100644 --- a/api/latest/OdometryLIOSAM_8h_source.html +++ b/api/latest/OdometryLIOSAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -195,8 +195,8 @@ $(document).ready(function(){initNavTree('OdometryLIOSAM_8h_source.html',''); in
rtabmap::OdometryLIOSAM::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryLIOSAM.h:50
rtabmap::OdometryLIOSAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryLIOSAM::getType
virtual Odometry::Type getType()
Definition OdometryLIOSAM.h:49
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryLOAM_8h_source.html b/api/latest/OdometryLOAM_8h_source.html index 6a3733aa..9fb4aef1 100644 --- a/api/latest/OdometryLOAM_8h_source.html +++ b/api/latest/OdometryLOAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -187,8 +187,8 @@ $(document).ready(function(){initNavTree('OdometryLOAM_8h_source.html',''); init
rtabmap::OdometryLOAM::getType
virtual Odometry::Type getType()
Definition OdometryLOAM.h:50
rtabmap::OdometryLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryMSCKF_8h_source.html b/api/latest/OdometryMSCKF_8h_source.html index 423de875..939b2442 100644 --- a/api/latest/OdometryMSCKF_8h_source.html +++ b/api/latest/OdometryMSCKF_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -181,8 +181,8 @@ $(document).ready(function(){initNavTree('OdometryMSCKF_8h_source.html',''); ini
rtabmap::OdometryMSCKF::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryMSCKF::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryMSCKF.h:47
rtabmap::OdometryMSCKF::getType
virtual Odometry::Type getType()
Definition OdometryMSCKF.h:45
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryMono_8h_source.html b/api/latest/OdometryMono_8h_source.html index 75228154..fbe66552 100644 --- a/api/latest/OdometryMono_8h_source.html +++ b/api/latest/OdometryMono_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -197,8 +197,8 @@ $(document).ready(function(){initNavTree('OdometryMono_8h_source.html',''); init
rtabmap::OdometryMono::reset
virtual void reset(const Transform &initialPose)
Resets internal state and sets the initial pose.
rtabmap::OdometryMono::getType
virtual Odometry::Type getType()
Definition OdometryMono.h:45
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryORBSLAM2_8h_source.html b/api/latest/OdometryORBSLAM2_8h_source.html index dac506e5..47ec5a2f 100644 --- a/api/latest/OdometryORBSLAM2_8h_source.html +++ b/api/latest/OdometryORBSLAM2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -174,8 +174,8 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM2_8h_source.html','');
rtabmap::OdometryORBSLAM2::getType
virtual Odometry::Type getType()
Definition OdometryORBSLAM2.h:45
rtabmap::OdometryORBSLAM2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryORBSLAM3_8h_source.html b/api/latest/OdometryORBSLAM3_8h_source.html index 9b644c4d..698927a1 100644 --- a/api/latest/OdometryORBSLAM3_8h_source.html +++ b/api/latest/OdometryORBSLAM3_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -185,8 +185,8 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM3_8h_source.html','');
rtabmap::OdometryORBSLAM3::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
rtabmap::OdometryORBSLAM3::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryORBSLAM3::getType
virtual Odometry::Type getType()
Definition OdometryORBSLAM3.h:46
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryOkvis_8h_source.html b/api/latest/OdometryOkvis_8h_source.html index 3eaf916b..b26d2e3c 100644 --- a/api/latest/OdometryOkvis_8h_source.html +++ b/api/latest/OdometryOkvis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -184,8 +184,8 @@ $(document).ready(function(){initNavTree('OdometryOkvis_8h_source.html',''); ini
rtabmap::OdometryOkvis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryOkvis::getType
virtual Odometry::Type getType()
Definition OdometryOkvis.h:47
rtabmap::OdometryOkvis::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryOkvis.h:48
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryOpen3D_8h_source.html b/api/latest/OdometryOpen3D_8h_source.html index 19cc95fc..29a4e64f 100644 --- a/api/latest/OdometryOpen3D_8h_source.html +++ b/api/latest/OdometryOpen3D_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -171,8 +171,8 @@ $(document).ready(function(){initNavTree('OdometryOpen3D_8h_source.html',''); in
rtabmap::OdometryOpen3D::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryOpen3D::getType
virtual Odometry::Type getType()
Definition OdometryOpen3D.h:42
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryOpenVINS_8h_source.html b/api/latest/OdometryOpenVINS_8h_source.html index 21d52203..cfae8f3d 100644 --- a/api/latest/OdometryOpenVINS_8h_source.html +++ b/api/latest/OdometryOpenVINS_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -180,8 +180,8 @@ $(document).ready(function(){initNavTree('OdometryOpenVINS_8h_source.html','');
rtabmap::OdometryOpenVINS::getType
virtual Odometry::Type getType()
Definition OdometryOpenVINS.h:46
rtabmap::OdometryOpenVINS::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryOpenVINS::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryOpenVINS.h:47
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryThread_8h_source.html b/api/latest/OdometryThread_8h_source.html index f6cad8df..f63b35e2 100644 --- a/api/latest/OdometryThread_8h_source.html +++ b/api/latest/OdometryThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -194,7 +194,7 @@ $(document).ready(function(){initNavTree('OdometryThread_8h_source.html',''); in
rtabmap::OdometryThread
Runs an Odometry front-end in its own thread, driven by events.
Definition OdometryThread.h:80
rtabmap::OdometryThread::handleEvent
virtual bool handleEvent(UEvent *event)
Receives the events listed in the class description.
rtabmap::OdometryThread::OdometryThread
OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)
Constructor.
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
rtabmap::SensorEvent
Event class for sensor data communication in RTAB-Map's event system.
Definition SensorEvent.h:65
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryVINSFusion_8h_source.html b/api/latest/OdometryVINSFusion_8h_source.html index 00e5f277..bc4480b8 100644 --- a/api/latest/OdometryVINSFusion_8h_source.html +++ b/api/latest/OdometryVINSFusion_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -179,8 +179,8 @@ $(document).ready(function(){initNavTree('OdometryVINSFusion_8h_source.html','')
rtabmap::OdometryVINSFusion::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryVINSFusion.h:45
rtabmap::OdometryVINSFusion::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryVINSFusion::getType
virtual Odometry::Type getType()
Definition OdometryVINSFusion.h:44
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OdometryVINS_8h_source.html b/api/latest/OdometryVINS_8h_source.html index 322b0361..5d21fb06 100644 --- a/api/latest/OdometryVINS_8h_source.html +++ b/api/latest/OdometryVINS_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryViso2_8h_source.html b/api/latest/OdometryViso2_8h_source.html index d22bf16e..cf95a9fb 100644 --- a/api/latest/OdometryViso2_8h_source.html +++ b/api/latest/OdometryViso2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -177,8 +177,8 @@ $(document).ready(function(){initNavTree('OdometryViso2_8h_source.html',''); ini
rtabmap::OdometryViso2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryViso2::getType
virtual Odometry::Type getType()
Definition OdometryViso2.h:44
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/Odometry_8h_source.html b/api/latest/Odometry_8h_source.html index 90431d1b..8b988ea1 100644 --- a/api/latest/Odometry_8h_source.html +++ b/api/latest/Odometry_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -141,127 +141,130 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
33#include <rtabmap/core/Transform.h>
34#include <rtabmap/core/SensorData.h>
35#include <rtabmap/core/Parameters.h>
-
36
-
37namespace rtabmap {
-
38
-
39class OdometryInfo;
-
40class ParticleFilter;
-
41
-
-
56class RTABMAP_CORE_EXPORT Odometry
-
57{
-
58public:
-
-
60 enum Type {
-
61 kTypeUndef = -1,
-
62 kTypeF2M = 0,
-
63 kTypeF2F = 1,
-
64 kTypeFovis = 2,
-
65 kTypeViso2 = 3,
-
66 kTypeDVO = 4,
-
67 kTypeORBSLAM = 5,
-
68 kTypeOkvis = 6,
-
69 kTypeLOAM = 7,
-
70 kTypeMSCKF = 8,
-
71 kTypeVINSFusion = 9,
-
72 kTypeOpenVINS = 10,
-
73 kTypeFLOAM = 11,
-
74 kTypeOpen3D = 12,
-
75 kTypeCuVSLAM = 13,
-
76 kTypeLIOSAM = 14
-
77 };
+
36#include <rtabmap/core/ImuMotionPredictor.h>
+
37
+
38namespace rtabmap {
+
39
+
40class OdometryInfo;
+
41class ParticleFilter;
+
42
+
+
57class RTABMAP_CORE_EXPORT Odometry
+
58{
+
59public:
+
+
61 enum Type {
+
62 kTypeUndef = -1,
+
63 kTypeF2M = 0,
+
64 kTypeF2F = 1,
+
65 kTypeFovis = 2,
+
66 kTypeViso2 = 3,
+
67 kTypeDVO = 4,
+
68 kTypeORBSLAM = 5,
+
69 kTypeOkvis = 6,
+
70 kTypeLOAM = 7,
+
71 kTypeMSCKF = 8,
+
72 kTypeVINSFusion = 9,
+
73 kTypeOpenVINS = 10,
+
74 kTypeFLOAM = 11,
+
75 kTypeOpen3D = 12,
+
76 kTypeCuVSLAM = 13,
+
77 kTypeLIOSAM = 14
+
78 };
-
78
-
84 static Odometry * create(const ParametersMap & parameters = ParametersMap());
-
90 static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
-
91
-
92 virtual ~Odometry();
-
101 Transform process(SensorData & data, OdometryInfo * info = 0);
-
108 Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
-
113 virtual void reset(const Transform & initialPose = Transform::getIdentity());
-
115 virtual Odometry::Type getType() = 0;
-
117 virtual bool canProcessRawImages() const {return false;}
-
119 virtual bool canProcessAsyncIMU() const {return false;}
-
120
-
122 const Transform & getPose() const {return _pose;}
-
124 bool isInfoDataFilled() const {return _fillInfoData;}
-
126 RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const;
-
128 const Transform & getVelocityGuess() const {return velocityGuess_;}
-
130 double previousStamp() const {return previousStamp_;}
-
132 unsigned int framesProcessed() const {return framesProcessed_;}
-
134 bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
-
135
-
136protected:
-
138 const std::map<double, Transform> & imus() const {return imus_;}
-
139
-
141 Odometry(const rtabmap::ParametersMap & parameters);
-
142
-
143private:
-
151 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
-
152
-
153 void initKalmanFilter(const Transform & initialPose = Transform::getIdentity(), float vx=0.0f, float vy=0.0f, float vz=0.0f, float vroll=0.0f, float vpitch=0.0f, float vyaw=0.0f);
-
154 void predictKalmanFilter(float dt, float * vx=0, float * vy=0, float * vz=0, float * vroll=0, float * vpitch=0, float * vyaw=0);
-
155 void updateKalmanFilter(float & vx, float & vy, float & vz, float & vroll, float & vpitch, float & vyaw);
-
156
-
157private:
-
158 int _resetCountdown;
-
159 bool _force3DoF;
-
160 bool _holonomic;
-
161 bool guessFromMotion_;
-
162 float guessSmoothingDelay_;
-
163 int _filteringStrategy;
-
164 int _particleSize;
-
165 float _particleNoiseT;
-
166 float _particleLambdaT;
-
167 float _particleNoiseR;
-
168 float _particleLambdaR;
-
169 bool _fillInfoData;
-
170 float _kalmanProcessNoise;
-
171 float _kalmanMeasurementNoise;
-
172 unsigned int _imageDecimation;
-
173 bool _alignWithGround;
-
174 bool _publishRAMUsage;
-
175 bool _imagesAlreadyRectified;
-
176 bool _deskewing;
-
177 Transform _pose;
-
178 int _resetCurrentCount;
-
179 double previousStamp_;
-
180 std::list<std::pair<std::vector<float>, double> > previousVelocities_;
-
181 Transform velocityGuess_;
-
182 Transform imuLastTransform_;
-
183 Transform previousGroundTruthPose_;
-
184 float distanceTravelled_;
-
185 unsigned int framesProcessed_;
-
186
-
187 std::vector<ParticleFilter *> particleFilters_;
-
188 cv::KalmanFilter kalmanFilter_;
-
189 std::vector<StereoCameraModel> stereoModels_;
-
190 std::vector<CameraModel> models_;
-
191 std::map<double, Transform> imus_;
-
192};
+
79
+
85 static Odometry * create(const ParametersMap & parameters = ParametersMap());
+
91 static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
+
92
+
93 virtual ~Odometry();
+
102 Transform process(SensorData & data, OdometryInfo * info = 0);
+
109 Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
+
114 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
116 virtual Odometry::Type getType() = 0;
+
118 virtual bool canProcessRawImages() const {return false;}
+
120 virtual bool canProcessAsyncIMU() const {return false;}
+
121
+
123 const Transform & getPose() const {return _pose;}
+
125 bool isInfoDataFilled() const {return _fillInfoData;}
+
127 RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const;
+
129 const Transform & getVelocityGuess() const {return velocityGuess_;}
+
131 double previousStamp() const {return previousStamp_;}
+
133 unsigned int framesProcessed() const {return framesProcessed_;}
+
135 bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
+
136
+
137protected:
+
139 const std::map<double, Transform> & imus() const {return imus_;}
+
140
+
142 Odometry(const rtabmap::ParametersMap & parameters);
+
143
+
144private:
+
152 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
+
153
+
154 void initKalmanFilter(const Transform & initialPose = Transform::getIdentity(), float vx=0.0f, float vy=0.0f, float vz=0.0f, float vroll=0.0f, float vpitch=0.0f, float vyaw=0.0f);
+
155 void predictKalmanFilter(float dt, float * vx=0, float * vy=0, float * vz=0, float * vroll=0, float * vpitch=0, float * vyaw=0);
+
156 void updateKalmanFilter(float & vx, float & vy, float & vz, float & vroll, float & vpitch, float & vyaw);
+
157
+
158private:
+
159 int _resetCountdown;
+
160 bool _force3DoF;
+
161 bool _holonomic;
+
162 bool guessFromMotion_;
+
163 float guessSmoothingDelay_;
+
164 int _filteringStrategy;
+
165 int _particleSize;
+
166 float _particleNoiseT;
+
167 float _particleLambdaT;
+
168 float _particleNoiseR;
+
169 float _particleLambdaR;
+
170 bool _fillInfoData;
+
171 float _kalmanProcessNoise;
+
172 float _kalmanMeasurementNoise;
+
173 unsigned int _imageDecimation;
+
174 bool _alignWithGround;
+
175 bool _publishRAMUsage;
+
176 bool _imagesAlreadyRectified;
+
177 bool _deskewing;
+
178 Transform _pose;
+
179 int _resetCurrentCount;
+
180 double previousStamp_;
+
181 std::list<std::pair<std::vector<float>, double> > previousVelocities_;
+
182 Transform velocityGuess_;
+
183 Transform imuLastTransform_;
+
184 Transform previousGroundTruthPose_;
+
185 float distanceTravelled_;
+
186 unsigned int framesProcessed_;
+
187
+
188 std::vector<ParticleFilter *> particleFilters_;
+
189 cv::KalmanFilter kalmanFilter_;
+
190 std::vector<StereoCameraModel> stereoModels_;
+
191 std::vector<CameraModel> models_;
+
192 std::map<double, Transform> imus_;
+
193 ImuMotionPredictor imuMotionPredictor_; // fed when IMU is received (motion guess and deskewing)
+
194};
-
193
-
194} /* namespace rtabmap */
-
195#endif /* ODOMETRY_H_ */
+
195
+
196} /* namespace rtabmap */
+
197#endif /* ODOMETRY_H_ */
+
rtabmap::ImuMotionPredictor
Predicts the pose of the base frame from the last odometry pose and the IMU.
Definition ImuMotionPredictor.h:78
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
-
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:58
rtabmap::Odometry::process
Transform process(SensorData &data, OdometryInfo *info=0)
Processes a sensor frame and updates the integrated pose.
rtabmap::Odometry::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::Odometry::create
static Odometry * create(Type &type, const ParametersMap &parameters=ParametersMap())
Creates an odometry instance of a given type.
-
rtabmap::Odometry::isInfoDataFilled
bool isInfoDataFilled() const
Definition Odometry.h:124
+
rtabmap::Odometry::isInfoDataFilled
bool isInfoDataFilled() const
Definition Odometry.h:125
rtabmap::Odometry::previousVelocityTransform
RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const
-
rtabmap::Odometry::previousStamp
double previousStamp() const
Definition Odometry.h:130
+
rtabmap::Odometry::previousStamp
double previousStamp() const
Definition Odometry.h:131
rtabmap::Odometry::process
Transform process(SensorData &data, const Transform &guess, OdometryInfo *info=0)
Processes a sensor frame with an external motion guess.
-
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
-
rtabmap::Odometry::canProcessRawImages
virtual bool canProcessRawImages() const
Definition Odometry.h:117
-
rtabmap::Odometry::imus
const std::map< double, Transform > & imus() const
Definition Odometry.h:138
-
rtabmap::Odometry::framesProcessed
unsigned int framesProcessed() const
Definition Odometry.h:132
-
rtabmap::Odometry::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition Odometry.h:119
-
rtabmap::Odometry::getPose
const Transform & getPose() const
Definition Odometry.h:122
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:61
+
rtabmap::Odometry::canProcessRawImages
virtual bool canProcessRawImages() const
Definition Odometry.h:118
+
rtabmap::Odometry::imus
const std::map< double, Transform > & imus() const
Definition Odometry.h:139
+
rtabmap::Odometry::framesProcessed
unsigned int framesProcessed() const
Definition Odometry.h:133
+
rtabmap::Odometry::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition Odometry.h:120
+
rtabmap::Odometry::getPose
const Transform & getPose() const
Definition Odometry.h:123
rtabmap::Odometry::getType
virtual Odometry::Type getType()=0
-
rtabmap::Odometry::getVelocityGuess
const Transform & getVelocityGuess() const
Definition Odometry.h:128
+
rtabmap::Odometry::getVelocityGuess
const Transform & getVelocityGuess() const
Definition Odometry.h:129
rtabmap::Odometry::create
static Odometry * create(const ParametersMap &parameters=ParametersMap())
Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
-
rtabmap::Odometry::imagesAlreadyRectified
bool imagesAlreadyRectified() const
Definition Odometry.h:134
+
rtabmap::Odometry::imagesAlreadyRectified
bool imagesAlreadyRectified() const
Definition Odometry.h:135
rtabmap::Odometry::Odometry
Odometry(const rtabmap::ParametersMap &parameters)
Constructs the base odometry state from RTAB-Map parameters.
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/OptimizerCVSBA_8h_source.html b/api/latest/OptimizerCVSBA_8h_source.html index 4ab36cd6..86b409ce 100644 --- a/api/latest/OptimizerCVSBA_8h_source.html +++ b/api/latest/OptimizerCVSBA_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OptimizerCeres_8h_source.html b/api/latest/OptimizerCeres_8h_source.html index e14ae8f4..3dcc32c8 100644 --- a/api/latest/OptimizerCeres_8h_source.html +++ b/api/latest/OptimizerCeres_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OptimizerG2O_8h_source.html b/api/latest/OptimizerG2O_8h_source.html index f3a53a5d..5d1d386c 100644 --- a/api/latest/OptimizerG2O_8h_source.html +++ b/api/latest/OptimizerG2O_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OptimizerGTSAM_8h_source.html b/api/latest/OptimizerGTSAM_8h_source.html index 588740f4..f4e1bf22 100644 --- a/api/latest/OptimizerGTSAM_8h_source.html +++ b/api/latest/OptimizerGTSAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OptimizerTORO_8h_source.html b/api/latest/OptimizerTORO_8h_source.html index cfd4f0a7..58ef039f 100644 --- a/api/latest/OptimizerTORO_8h_source.html +++ b/api/latest/OptimizerTORO_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Optimizer_8h_source.html b/api/latest/Optimizer_8h_source.html index 8d99e8a6..c3eec3b2 100644 --- a/api/latest/Optimizer_8h_source.html +++ b/api/latest/Optimizer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/PDALWriter_8h_source.html b/api/latest/PDALWriter_8h_source.html index eed5895f..c4042614 100644 --- a/api/latest/PDALWriter_8h_source.html +++ b/api/latest/PDALWriter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ParamEvent_8h_source.html b/api/latest/ParamEvent_8h_source.html index 722516d4..e4049754 100644 --- a/api/latest/ParamEvent_8h_source.html +++ b/api/latest/ParamEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Parameters_8h_source.html b/api/latest/Parameters_8h_source.html index 20cee6ad..9c4036f5 100644 --- a/api/latest/Parameters_8h_source.html +++ b/api/latest/Parameters_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -516,7 +516,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
489
490 RTABMAP_PARAM(Optimizer, Baseline, double, 0.075, "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.");
491 RTABMAP_PARAM(Optimizer, PixelVariance, double, 1.0, "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.");
-
492 RTABMAP_PARAM(Optimizer, DisparityVariance, double, 1.0, "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).");
+
492 RTABMAP_PARAM(Optimizer, DisparityVariance, double, 1.0, "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo.");
493 RTABMAP_PARAM(Optimizer, RobustKernelDelta, double, 8, "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.");
494
495 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
@@ -539,539 +539,540 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
512 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
513 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
514 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
-
515 RTABMAP_PARAM(Odom, GuessSmoothingDelay, float, 0, uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()));
-
516 RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
517 RTABMAP_PARAM(Odom, VisKeyFrameThr, int, 150, "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
518 RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.9, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
519 RTABMAP_PARAM(Odom, ImageDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()));
-
520 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
-
521 RTABMAP_PARAM(Odom, Deskewing, bool, true, "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).");
-
522
-
523 // Odometry Frame-to-Map
-
524 RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
-
525 RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
-
526 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
-
527 RTABMAP_PARAM(OdomF2M, FloorThreshold, float, 0.0, "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.");
-
528 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
-
529 RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
-
530 RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
-
531 RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
-
532 RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
-
533#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
534 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
535#else
-
536 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
537#endif
-
538 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
-
539 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
-
540 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
-
541 RTABMAP_PARAM(OdomF2M, BundleUpdateFeatureMapOnAllFrames, bool, false, uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()));
-
542
-
543 // Odometry Mono
-
544 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
-
545 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
-
546 RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
-
547 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
-
548
-
549 // Odometry Fovis
-
550 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
-
551 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
-
552 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
-
553 RTABMAP_PARAM(OdomFovis, TargetPixelsPerFeature, int, 250, "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.");
-
554 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
-
555 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
-
556 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
-
557 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
-
558
-
559 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
-
560 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
-
561 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
-
562 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
-
563 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
-
564
-
565 RTABMAP_PARAM(OdomFovis, InlierMaxReprojectionError, double, 1.5, "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.");
-
566 RTABMAP_PARAM(OdomFovis, CliqueInlierThreshold, double, 0.1, "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.");
-
567 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
-
568 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
-
569 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
-
570 RTABMAP_PARAM(OdomFovis, FeatureSearchWindow, int, 25, "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.");
-
571 RTABMAP_PARAM(OdomFovis, UpdateTargetFeaturesWithRefined, bool, false, "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.");
-
572
-
573 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
-
574 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
-
575 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
-
576 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
-
577
-
578 // Odometry viso2
-
579 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
-
580 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
-
581 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
-
582 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
-
583 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
-
584 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
-
585 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
-
586 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
-
587 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
-
588 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
-
589 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
-
590 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
-
591 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
-
592 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
-
593 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
-
594 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
-
595
-
596 // Odometry ORB_SLAM
-
597 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
-
598 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
-
599 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
-
600 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
-
601 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
-
602 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
-
603 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
-
604 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
-
605 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
-
606 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
-
607 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
-
608 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
-
609
+
515 RTABMAP_PARAM(Odom, ImuGravity, float, 9.80665, uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" > 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.", kOdomGuessSmoothingDelay().c_str()));
+
516 RTABMAP_PARAM(Odom, GuessSmoothingDelay, float, 0, uFormat("Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay > 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.", kOdomFilteringStrategy().c_str(), kOdomDeskewing().c_str()));
+
517 RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
518 RTABMAP_PARAM(Odom, VisKeyFrameThr, int, 150, "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
519 RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.9, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
520 RTABMAP_PARAM(Odom, ImageDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()));
+
521 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
+
522 RTABMAP_PARAM(Odom, Deskewing, bool, true, uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" > 0). Without IMU, with a constant motion model (or the guess if provided).", kOdomGuessSmoothingDelay().c_str()));
+
523
+
524 // Odometry Frame-to-Map
+
525 RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
+
526 RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
+
527 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
+
528 RTABMAP_PARAM(OdomF2M, FloorThreshold, float, 0.0, "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.");
+
529 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
+
530 RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
+
531 RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
+
532 RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
+
533 RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
+
534#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
535 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
536#else
+
537 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
538#endif
+
539 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
+
540 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
+
541 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
+
542 RTABMAP_PARAM(OdomF2M, BundleUpdateFeatureMapOnAllFrames, bool, false, uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()));
+
543
+
544 // Odometry Mono
+
545 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
+
546 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
+
547 RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
+
548 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
+
549
+
550 // Odometry Fovis
+
551 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
+
552 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
+
553 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
+
554 RTABMAP_PARAM(OdomFovis, TargetPixelsPerFeature, int, 250, "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.");
+
555 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
+
556 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
+
557 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
+
558 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
+
559
+
560 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
+
561 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
+
562 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
+
563 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
+
564 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
+
565
+
566 RTABMAP_PARAM(OdomFovis, InlierMaxReprojectionError, double, 1.5, "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.");
+
567 RTABMAP_PARAM(OdomFovis, CliqueInlierThreshold, double, 0.1, "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.");
+
568 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
+
569 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
+
570 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
+
571 RTABMAP_PARAM(OdomFovis, FeatureSearchWindow, int, 25, "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.");
+
572 RTABMAP_PARAM(OdomFovis, UpdateTargetFeaturesWithRefined, bool, false, "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.");
+
573
+
574 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
+
575 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
+
576 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
+
577 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
+
578
+
579 // Odometry viso2
+
580 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
+
581 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
+
582 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
+
583 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
+
584 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
+
585 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
+
586 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
+
587 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
+
588 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
+
589 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
+
590 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
+
591 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
+
592 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
+
593 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
+
594 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
+
595 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
+
596
+
597 // Odometry ORB_SLAM
+
598 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
+
599 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
+
600 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
+
601 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
+
602 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
+
603 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
+
604 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
+
605 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
+
606 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
+
607 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
+
608 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
+
609 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
610
-
611 // Odometry OKVIS
-
612 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
-
613
-
614 // Odometry LOAM
-
615 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
-
616 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
-
617 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
-
618 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
-
619 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
-
620 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
-
621
-
622 // Odometry MSCKF_VIO
-
623 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
-
624 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
-
625 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
-
626 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
-
627 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
-
628 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
-
629 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
-
630 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
-
631 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
-
632 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
-
633 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
-
634 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
-
635 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
-
636 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
-
637 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
-
638 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
-
639 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
-
640 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
-
641 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
-
642 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
-
643 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
-
644 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
-
645 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
-
646 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
-
647 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
-
648 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
-
649 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
-
650
-
651 // Odometry VINS-Fusion
-
652 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
-
653
-
654 // Odometry OpenVINS
-
655 RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath, "", "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
-
656 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
-
657 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
-
658 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
-
659 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
-
660 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
-
661 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
-
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
-
663 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
-
664 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
-
665
-
666 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
-
667 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
-
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
-
669 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
-
670 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
-
671 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
-
672 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
-
673 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
-
674 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
-
675 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
-
676 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
-
677 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
-
678 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
-
679 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
-
680 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
-
681 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
-
682 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
-
683
-
684 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
-
685 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
-
686 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
-
687 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
-
688 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
-
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
-
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
-
691 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
-
692 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
-
693 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
-
694 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
-
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
-
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
-
697 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
-
698 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
-
699 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
-
700
-
701 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
-
702 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
-
703 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy, double, 0.1, "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-
704 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
-
705 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity, double, 0.5, "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-
706 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
-
707
-
708 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
-
709 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
-
710 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
-
711 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
-
712 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
-
713 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
-
714 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
-
715 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
-
716
-
717 // Odometry Open3D
-
718 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
-
719 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
-
720
-
721 // Odometry cuVSLAM
-
722 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
-
723
-
724 // Odometry LIO-SAM
-
725 RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath, "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
-
726 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
-
727 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
-
728 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
-
729 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
-
730 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
-
731 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
-
732 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
-
733 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
-
734 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
-
735 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
-
736 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
-
737 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
-
738
-
739 // Common registration parameters
-
740 RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
-
741 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
-
742 RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
-
743
-
744 // Visual registration parameters
-
745 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
-
746 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
-
747 RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
-
748 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
-
749 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
-
750#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
751 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
-
752#else
-
753 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
-
754#endif
-
755 RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
-
756 RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
-
757 RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
-
758 RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
-
759
-
760 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
-
761 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
-
762 RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
-
763 RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
-
764
-
765 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
-
766#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
-
767 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-
768 RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
769#else
-
770 RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
771#endif
-
772 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
-
773 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-
774 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
-
775 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
-
776 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
-
777 RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
-
778 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-
779 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
-
780 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
-
781 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
-
782 RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
-
783 RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
-
784 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
-
785 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()));
-
786 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
-
787 RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
-
788 RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
-
789 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
790 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
791 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
792 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
793 RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
-
794 RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
-
795 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
-
796 RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
-
797 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
798 RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
799#else
-
800 RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
801#endif
-
802
-
803 // Features matching approaches
-
804 RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
-
805 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
-
806 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
-
807 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
-
808 RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
-
809
-
810 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
-
811 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
-
812 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
-
813
-
814 // Global descriptor approaches
-
815 RTABMAP_PARAM_STR(PyDescriptor, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.");
-
816 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
-
817
-
818 // ICP registration parameters
-
819#ifdef RTABMAP_POINTMATCHER
-
820 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
821#else
-
822 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
823#endif
-
824 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
-
825 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
-
826 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
-
827 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
-
828 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
-
829 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
-
830#ifdef RTABMAP_POINTMATCHER
-
831 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
-
832#else
-
833 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
-
834#endif
-
835 RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true, "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
-
836 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
-
837 RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
-
838 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
-
839 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
-
840 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
-
841#ifdef RTABMAP_POINTMATCHER
-
842 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
-
843#else
-
844 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
-
845#endif
-
846 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
-
847 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
-
848 RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
-
849 RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
-
850 RTABMAP_PARAM(Icp, PointToPlaneComplexityCentered, bool, false, uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()));
-
851 RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()));
-
852 RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()));
-
853 RTABMAP_PARAM_STR(Icp, DebugExportFormat, "", "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.");
-
854
-
855 // libpointmatcher
-
856 RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
-
857 RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
-
858 RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
-
859 RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
-
860
-
861 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
-
862 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
-
863 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
-
864
-
865 // Stereo disparity
-
866 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
-
867 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
-
868 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
-
869 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
-
870 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
-
871 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
-
872 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
-
873 RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
-
874 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-
875 RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
-
876 RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
-
877 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
-
878 RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
-
879
-
880 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
-
881
-
882 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
-
883 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
-
884 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
-
885 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
-
886 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
-
887 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
-
888 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
-
889 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
-
890 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
-
891 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
-
892
-
893 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
-
894 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
-
895 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
-
896 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
-
897 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
-
898 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
-
899 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
-
900 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
-
901 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
-
902 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
-
903#if CV_MAJOR_VERSION < 3
-
904 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
-
905#else
-
906 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
-
907#endif
-
908
-
909 // Occupancy Grid
-
910 RTABMAP_PARAM(Grid, Sensor, int, 1, "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).");
-
911 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
-
912 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
-
913 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
-
914 RTABMAP_PARAM_STR(Grid, DepthRoiRatios, "0.0 0.0 0.0 0.0", uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()));
-
915 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
-
916 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
-
917 RTABMAP_PARAM(Grid, FootprintHeight, float, 0.0, "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.");
-
918 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
-
919 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
-
920 RTABMAP_PARAM(Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()));
-
921 RTABMAP_PARAM(Grid, MapFrameProjection, bool, false, "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.");
-
922 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
-
923 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
-
924 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
-
925 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
-
926 RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
-
927 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
-
928 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
-
929 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
-
930 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
-
931#ifdef RTABMAP_OCTOMAP
-
932 RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
-
933#else
-
934 RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
-
935#endif
-
936 RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
-
937 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
-
938 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
-
939 RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
-
940 RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
-
941 RTABMAP_PARAM(GridGlobal, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
-
942 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
-
943 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
-
944 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
-
945 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
-
946 RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
-
947 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
-
948 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
-
949 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
-
950 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
-
951 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
-
952 RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
-
953
-
954 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
-
955 RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
-
956 RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
-
957 RTABMAP_PARAM_STR(Marker, Lengths, "", uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
-
958 RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
-
959 RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
-
960 RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
-
961 RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
-
962 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
-
963 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-
964 RTABMAP_PARAM_STR(Marker, Priors, "", uFormat("World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false.", kOptimizerPriorsIgnored().c_str()));
-
965 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
-
966 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
-
967
-
968 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
-
969 RTABMAP_PARAM(MarkerAprilTag, QuadDecimate, float, 1.0, "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
-
970 RTABMAP_PARAM(MarkerAprilTag, QuadSigma, float, 0.0, "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).");
-
971 RTABMAP_PARAM(MarkerAprilTag, RefineEdges, bool, true, uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
-
972 RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double, 0.25, "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
-
973 RTABMAP_PARAM(MarkerAprilTag, Debug, bool, false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
-
974
-
975 RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int, 0, "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
-
976
-
977 RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
-
978 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
-
979
-
980 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
-
981 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
-
982 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
-
983 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
-
984
-
985public:
-
986 virtual ~Parameters();
-
987
-
-
992 static const ParametersMap & getDefaultParameters()
-
993 {
-
994 return parameters_;
-
995 }
+
611
+
612 // Odometry OKVIS
+
613 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
+
614
+
615 // Odometry LOAM
+
616 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+
617 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
+
618 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
+
619 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
+
620 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
+
621 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
622
+
623 // Odometry MSCKF_VIO
+
624 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
+
625 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
+
626 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
+
627 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
+
628 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
+
629 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
+
630 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
+
631 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
+
632 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
+
633 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
+
634 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
+
635 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
+
636 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
+
637 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
+
638 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
+
639 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
+
640 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
+
641 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
+
642 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
+
643 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
+
644 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
+
645 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
+
646 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
+
647 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
+
648 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
+
649 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
+
650 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
+
651
+
652 // Odometry VINS-Fusion
+
653 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
+
654
+
655 // Odometry OpenVINS
+
656 RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath, "", "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
+
657 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+
658 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+
659 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
+
660 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
+
661 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
+
662 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
+
663 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
+
664 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
+
665 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
666
+
667 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
+
668 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+
669 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
+
670 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
+
671 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
+
672 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
+
673 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+
674 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
+
675 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
+
676 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
+
677 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
+
678 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
+
679 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
+
680 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+
681 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+
682 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
+
683 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
+
684
+
685 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
+
686 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
+
687 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
+
688 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
+
689 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
+
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
+
691 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
+
692 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
+
693 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
+
694 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
+
695 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
+
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
+
697 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
+
698 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
+
699 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
+
700 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
+
701
+
702 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
+
703 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
+
704 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy, double, 0.1, "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
705 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+
706 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity, double, 0.5, "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
707 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
+
708
+
709 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+
710 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+
711 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+
712 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+
713 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
+
714 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
+
715 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
+
716 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
+
717
+
718 // Odometry Open3D
+
719 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
+
720 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
+
721
+
722 // Odometry cuVSLAM
+
723 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
724
+
725 // Odometry LIO-SAM
+
726 RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath, "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
+
727 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+
728 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
+
729 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+
730 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
+
731 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
+
732 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
+
733 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
+
734 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
+
735 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
+
736 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
+
737 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
+
738 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
+
739
+
740 // Common registration parameters
+
741 RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
+
742 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
+
743 RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
+
744
+
745 // Visual registration parameters
+
746 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
+
747 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
+
748 RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
+
749 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
+
750 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
+
751#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
752 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
753#else
+
754 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
755#endif
+
756 RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
+
757 RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
+
758 RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
+
759 RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
+
760
+
761 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+
762 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
+
763 RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
+
764 RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
+
765
+
766 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
+
767#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
768 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
769 RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
770#else
+
771 RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
772#endif
+
773 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
+
774 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
775 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
+
776 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
+
777 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
+
778 RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
+
779 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
780 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
781 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
782 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
+
783 RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
784 RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
785 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
+
786 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()));
+
787 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
+
788 RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
+
789 RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
+
790 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
791 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
792 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
793 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
794 RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
+
795 RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
+
796 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+
797 RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
+
798 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
799 RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
800#else
+
801 RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
802#endif
+
803
+
804 // Features matching approaches
+
805 RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
+
806 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
+
807 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
+
808 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
+
809 RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
+
810
+
811 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
+
812 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
+
813 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
+
814
+
815 // Global descriptor approaches
+
816 RTABMAP_PARAM_STR(PyDescriptor, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.");
+
817 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
+
818
+
819 // ICP registration parameters
+
820#ifdef RTABMAP_POINTMATCHER
+
821 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
822#else
+
823 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
824#endif
+
825 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
+
826 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
+
827 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
+
828 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+
829 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
+
830 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
+
831#ifdef RTABMAP_POINTMATCHER
+
832 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
+
833#else
+
834 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
+
835#endif
+
836 RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true, "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
+
837 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
+
838 RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
+
839 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
+
840 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
+
841 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
+
842#ifdef RTABMAP_POINTMATCHER
+
843 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
+
844#else
+
845 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
+
846#endif
+
847 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+
848 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+
849 RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
+
850 RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
+
851 RTABMAP_PARAM(Icp, PointToPlaneComplexityCentered, bool, false, uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()));
+
852 RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()));
+
853 RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()));
+
854 RTABMAP_PARAM_STR(Icp, DebugExportFormat, "", "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.");
+
855
+
856 // libpointmatcher
+
857 RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
+
858 RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
+
859 RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
+
860 RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
+
861
+
862 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
+
863 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
+
864 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
+
865
+
866 // Stereo disparity
+
867 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
+
868 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
+
869 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
+
870 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
+
871 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
+
872 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
+
873 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
+
874 RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
+
875 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
+
876 RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
+
877 RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
+
878 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+
879 RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
+
880
+
881 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
+
882
+
883 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
+
884 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
+
885 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
+
886 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
+
887 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
+
888 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
+
889 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
+
890 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
+
891 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
+
892 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
+
893
+
894 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
+
895 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
+
896 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
+
897 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
+
898 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
+
899 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
+
900 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
+
901 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
+
902 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
+
903 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
+
904#if CV_MAJOR_VERSION < 3
+
905 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
+
906#else
+
907 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
+
908#endif
+
909
+
910 // Occupancy Grid
+
911 RTABMAP_PARAM(Grid, Sensor, int, 1, "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).");
+
912 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
+
913 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
+
914 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
+
915 RTABMAP_PARAM_STR(Grid, DepthRoiRatios, "0.0 0.0 0.0 0.0", uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()));
+
916 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
+
917 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
+
918 RTABMAP_PARAM(Grid, FootprintHeight, float, 0.0, "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.");
+
919 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
+
920 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
+
921 RTABMAP_PARAM(Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()));
+
922 RTABMAP_PARAM(Grid, MapFrameProjection, bool, false, "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.");
+
923 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
+
924 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
+
925 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
+
926 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
+
927 RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
+
928 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+
929 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
+
930 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
+
931 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
+
932#ifdef RTABMAP_OCTOMAP
+
933 RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
934#else
+
935 RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
936#endif
+
937 RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
+
938 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
+
939 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
+
940 RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
+
941 RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
+
942 RTABMAP_PARAM(GridGlobal, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
+
943 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
+
944 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
+
945 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
+
946 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
+
947 RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
+
948 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
+
949 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
+
950 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
+
951 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
+
952 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
+
953 RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
+
954
+
955 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+
956 RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
+
957 RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
+
958 RTABMAP_PARAM_STR(Marker, Lengths, "", uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
+
959 RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
+
960 RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
+
961 RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
+
962 RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
+
963 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
+
964 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
+
965 RTABMAP_PARAM_STR(Marker, Priors, "", uFormat("World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false.", kOptimizerPriorsIgnored().c_str()));
+
966 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
+
967 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
+
968
+
969 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
+
970 RTABMAP_PARAM(MarkerAprilTag, QuadDecimate, float, 1.0, "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
+
971 RTABMAP_PARAM(MarkerAprilTag, QuadSigma, float, 0.0, "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).");
+
972 RTABMAP_PARAM(MarkerAprilTag, RefineEdges, bool, true, uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
+
973 RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double, 0.25, "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
+
974 RTABMAP_PARAM(MarkerAprilTag, Debug, bool, false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
+
975
+
976 RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int, 0, "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
+
977
+
978 RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
+
979 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
980
+
981 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
+
982 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
+
983 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
+
984 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
+
985
+
986public:
+
987 virtual ~Parameters();
+
988
+
+
993 static const ParametersMap & getDefaultParameters()
+
994 {
+
995 return parameters_;
+
996 }
-
996
-
1001 static std::string getType(const std::string & paramKey);
-
1002
-
1007 static std::string getDescription(const std::string & paramKey);
-
1008
-
1009 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
-
1010 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
-
1011 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
-
1012 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
-
1013 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
-
1014 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
-
1015 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
-
1016
-
1017 static const char * showUsage();
-
1018 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
-
1019
-
1020 static std::string getVersion();
-
1021 static std::string getDefaultDatabaseName();
-
1022
-
1023 static std::string serialize(const ParametersMap & parameters);
-
1024 static ParametersMap deserialize(const std::string & parameters);
-
1025
-
1026 static bool isFeatureParameter(const std::string & param);
-
1027 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
-
1028 static ParametersMap getDefaultParameters(const std::string & group);
-
1033 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
-
1034
-
1035 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
-
1036 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
-
1037 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
-
1038
-
1043 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
-
1044
-
1048 static const ParametersMap & getBackwardCompatibilityMap();
-
1049
-
1050 static std::string createDefaultWorkingDirectory();
-
1051
-
1052private:
-
1053 Parameters();
-
1054
-
1055private:
-
1056 static ParametersMap parameters_;
-
1057 static ParametersMap parametersType_;
-
1058 static ParametersMap descriptions_;
-
1059 static Parameters instance_;
-
1060
-
1061 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
-
1062 static ParametersMap backwardCompatibilityMap_;
-
1063};
+
997
+
1002 static std::string getType(const std::string & paramKey);
+
1003
+
1008 static std::string getDescription(const std::string & paramKey);
+
1009
+
1010 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
+
1011 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
+
1012 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
+
1013 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
+
1014 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
+
1015 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
+
1016 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
+
1017
+
1018 static const char * showUsage();
+
1019 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
+
1020
+
1021 static std::string getVersion();
+
1022 static std::string getDefaultDatabaseName();
+
1023
+
1024 static std::string serialize(const ParametersMap & parameters);
+
1025 static ParametersMap deserialize(const std::string & parameters);
+
1026
+
1027 static bool isFeatureParameter(const std::string & param);
+
1028 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
+
1029 static ParametersMap getDefaultParameters(const std::string & group);
+
1034 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
+
1035
+
1036 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
+
1037 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
+
1038 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
+
1039
+
1044 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
+
1045
+
1049 static const ParametersMap & getBackwardCompatibilityMap();
+
1050
+
1051 static std::string createDefaultWorkingDirectory();
+
1052
+
1053private:
+
1054 Parameters();
+
1055
+
1056private:
+
1057 static ParametersMap parameters_;
+
1058 static ParametersMap parametersType_;
+
1059 static ParametersMap descriptions_;
+
1060 static Parameters instance_;
+
1061
+
1062 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
+
1063 static ParametersMap backwardCompatibilityMap_;
+
1064};
-
1064
-
1065}
-
1066
-
1067#endif /* PARAMETERS_H_ */
+
1065
+
1066}
+
1067
+
1068#endif /* PARAMETERS_H_ */
UConversion.h
Some conversion functions.
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
rtabmap::BRISK
BRISK detector and descriptor.
Definition Features2d.h:599
@@ -1083,7 +1084,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
rtabmap::Parameters::getType
static std::string getType(const std::string &paramKey)
rtabmap::Parameters::filterParameters
static ParametersMap filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)
-
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:992
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:993
rtabmap::Parameters::getBackwardCompatibilityMap
static const ParametersMap & getBackwardCompatibilityMap()
rtabmap::Parameters::getDescription
static std::string getDescription(const std::string &paramKey)
rtabmap::Parameters::getRemovedParameters
static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters()
diff --git a/api/latest/ParticleFilter_8h_source.html b/api/latest/ParticleFilter_8h_source.html index 1f918644..c2d1066d 100644 --- a/api/latest/ParticleFilter_8h_source.html +++ b/api/latest/ParticleFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Posix_2UThreadC_8h_source.html b/api/latest/Posix_2UThreadC_8h_source.html index 4a5b6c5b..5d333cad 100644 --- a/api/latest/Posix_2UThreadC_8h_source.html +++ b/api/latest/Posix_2UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ProgressState_8h_source.html b/api/latest/ProgressState_8h_source.html index 10cd3929..94151247 100644 --- a/api/latest/ProgressState_8h_source.html +++ b/api/latest/ProgressState_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/PythonInterface_8h_source.html b/api/latest/PythonInterface_8h_source.html index eead9ad8..a684024a 100644 --- a/api/latest/PythonInterface_8h_source.html +++ b/api/latest/PythonInterface_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Recovery_8h_source.html b/api/latest/Recovery_8h_source.html index 347bc246..af2657c0 100644 --- a/api/latest/Recovery_8h_source.html +++ b/api/latest/Recovery_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/RegistrationIcp_8h_source.html b/api/latest/RegistrationIcp_8h_source.html index 3bb17cf6..59424590 100644 --- a/api/latest/RegistrationIcp_8h_source.html +++ b/api/latest/RegistrationIcp_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/RegistrationInfo_8h_source.html b/api/latest/RegistrationInfo_8h_source.html index 064fa3c5..b7428a94 100644 --- a/api/latest/RegistrationInfo_8h_source.html +++ b/api/latest/RegistrationInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/RegistrationVis_8h_source.html b/api/latest/RegistrationVis_8h_source.html index c689a5a3..e658a0db 100644 --- a/api/latest/RegistrationVis_8h_source.html +++ b/api/latest/RegistrationVis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Registration_8h_source.html b/api/latest/Registration_8h_source.html index 4db3fa7e..61c5e757 100644 --- a/api/latest/Registration_8h_source.html +++ b/api/latest/Registration_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/RtabmapEvent_8h_source.html b/api/latest/RtabmapEvent_8h_source.html index 10bc9c3b..debfa24d 100644 --- a/api/latest/RtabmapEvent_8h_source.html +++ b/api/latest/RtabmapEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/RtabmapThread_8h_source.html b/api/latest/RtabmapThread_8h_source.html index a2b7f7c0..866d734e 100644 --- a/api/latest/RtabmapThread_8h_source.html +++ b/api/latest/RtabmapThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Rtabmap_8h_source.html b/api/latest/Rtabmap_8h_source.html index 12f7aad4..fa8c02fe 100644 --- a/api/latest/Rtabmap_8h_source.html +++ b/api/latest/Rtabmap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/SensorCaptureInfo_8h_source.html b/api/latest/SensorCaptureInfo_8h_source.html index b5688a82..9b2d633b 100644 --- a/api/latest/SensorCaptureInfo_8h_source.html +++ b/api/latest/SensorCaptureInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/SensorCaptureThread_8h_source.html b/api/latest/SensorCaptureThread_8h_source.html index 9d28f085..87a68060 100644 --- a/api/latest/SensorCaptureThread_8h_source.html +++ b/api/latest/SensorCaptureThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/SensorCapture_8h_source.html b/api/latest/SensorCapture_8h_source.html index 798054c9..b35bfbe4 100644 --- a/api/latest/SensorCapture_8h_source.html +++ b/api/latest/SensorCapture_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/SensorData_8h_source.html b/api/latest/SensorData_8h_source.html index 23ea3ac9..163adb7d 100644 --- a/api/latest/SensorData_8h_source.html +++ b/api/latest/SensorData_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/SensorEvent_8h_source.html b/api/latest/SensorEvent_8h_source.html index ae451150..4dc8a29b 100644 --- a/api/latest/SensorEvent_8h_source.html +++ b/api/latest/SensorEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Signature_8h_source.html b/api/latest/Signature_8h_source.html index 67816c0d..052c7959 100644 --- a/api/latest/Signature_8h_source.html +++ b/api/latest/Signature_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Statistics_8h_source.html b/api/latest/Statistics_8h_source.html index 2083181b..60b7d66a 100644 --- a/api/latest/Statistics_8h_source.html +++ b/api/latest/Statistics_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/StereoBM_8h_source.html b/api/latest/StereoBM_8h_source.html index e1a30fe9..53f684e8 100644 --- a/api/latest/StereoBM_8h_source.html +++ b/api/latest/StereoBM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/StereoCameraModel_8h_source.html b/api/latest/StereoCameraModel_8h_source.html index e9efd23a..d0d468f8 100644 --- a/api/latest/StereoCameraModel_8h_source.html +++ b/api/latest/StereoCameraModel_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/StereoDense_8h_source.html b/api/latest/StereoDense_8h_source.html index d3966d07..f6556459 100644 --- a/api/latest/StereoDense_8h_source.html +++ b/api/latest/StereoDense_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/StereoSGBM_8h_source.html b/api/latest/StereoSGBM_8h_source.html index 4d180d05..c393c662 100644 --- a/api/latest/StereoSGBM_8h_source.html +++ b/api/latest/StereoSGBM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Stereo_8h_source.html b/api/latest/Stereo_8h_source.html index 38a7c6da..bdb31068 100644 --- a/api/latest/Stereo_8h_source.html +++ b/api/latest/Stereo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Transform_8h_source.html b/api/latest/Transform_8h_source.html index 68c7aa94..79c45b77 100644 --- a/api/latest/Transform_8h_source.html +++ b/api/latest/Transform_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UConversion_8h.html b/api/latest/UConversion_8h.html index b13cc1b7..672328dd 100644 --- a/api/latest/UConversion_8h.html +++ b/api/latest/UConversion_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UConversion_8h_source.html b/api/latest/UConversion_8h_source.html index a579982f..d54d1ab4 100644 --- a/api/latest/UConversion_8h_source.html +++ b/api/latest/UConversion_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UDestroyer_8h_source.html b/api/latest/UDestroyer_8h_source.html index 062176ab..25417d68 100644 --- a/api/latest/UDestroyer_8h_source.html +++ b/api/latest/UDestroyer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UDirectory_8h_source.html b/api/latest/UDirectory_8h_source.html index 9b6f5197..247de115 100644 --- a/api/latest/UDirectory_8h_source.html +++ b/api/latest/UDirectory_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEvent_8h_source.html b/api/latest/UEvent_8h_source.html index 3997d37c..faa31a2e 100644 --- a/api/latest/UEvent_8h_source.html +++ b/api/latest/UEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsHandler_8h_source.html b/api/latest/UEventsHandler_8h_source.html index cda122fc..f64546a0 100644 --- a/api/latest/UEventsHandler_8h_source.html +++ b/api/latest/UEventsHandler_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsManager_8h_source.html b/api/latest/UEventsManager_8h_source.html index 4f2df81b..46ccd518 100644 --- a/api/latest/UEventsManager_8h_source.html +++ b/api/latest/UEventsManager_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsSender_8h_source.html b/api/latest/UEventsSender_8h_source.html index 517b62f9..981dedc7 100644 --- a/api/latest/UEventsSender_8h_source.html +++ b/api/latest/UEventsSender_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UException_8h_source.html b/api/latest/UException_8h_source.html index ac97a277..979d094c 100644 --- a/api/latest/UException_8h_source.html +++ b/api/latest/UException_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UFile_8h_source.html b/api/latest/UFile_8h_source.html index 96518307..9c56a3d5 100644 --- a/api/latest/UFile_8h_source.html +++ b/api/latest/UFile_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ULogger_8h.html b/api/latest/ULogger_8h.html index 716141f1..b5a4a856 100644 --- a/api/latest/ULogger_8h.html +++ b/api/latest/ULogger_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ULogger_8h_source.html b/api/latest/ULogger_8h_source.html index 8f198160..fa536804 100644 --- a/api/latest/ULogger_8h_source.html +++ b/api/latest/ULogger_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMath_8h.html b/api/latest/UMath_8h.html index 76c63579..f146cf8e 100644 --- a/api/latest/UMath_8h.html +++ b/api/latest/UMath_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMath_8h_source.html b/api/latest/UMath_8h_source.html index 6e0c81cd..d8ff1f41 100644 --- a/api/latest/UMath_8h_source.html +++ b/api/latest/UMath_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMutex_8h_source.html b/api/latest/UMutex_8h_source.html index fdf43f50..4b1aac65 100644 --- a/api/latest/UMutex_8h_source.html +++ b/api/latest/UMutex_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UObjDeletionThread_8h_source.html b/api/latest/UObjDeletionThread_8h_source.html index c0473170..cabffd15 100644 --- a/api/latest/UObjDeletionThread_8h_source.html +++ b/api/latest/UObjDeletionThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UProcessInfo_8h.html b/api/latest/UProcessInfo_8h.html index 492bd20c..dc9de26b 100644 --- a/api/latest/UProcessInfo_8h.html +++ b/api/latest/UProcessInfo_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UProcessInfo_8h_source.html b/api/latest/UProcessInfo_8h_source.html index b91add9d..0b75dd25 100644 --- a/api/latest/UProcessInfo_8h_source.html +++ b/api/latest/UProcessInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/USemaphore_8h_source.html b/api/latest/USemaphore_8h_source.html index abfc04cd..8edd9537 100644 --- a/api/latest/USemaphore_8h_source.html +++ b/api/latest/USemaphore_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UStl_8h.html b/api/latest/UStl_8h.html index a19c95e3..bc889086 100644 --- a/api/latest/UStl_8h.html +++ b/api/latest/UStl_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UStl_8h_source.html b/api/latest/UStl_8h_source.html index 81b50870..25ec283e 100644 --- a/api/latest/UStl_8h_source.html +++ b/api/latest/UStl_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadC_8h_source.html b/api/latest/UThreadC_8h_source.html index bf9a439c..76ce69ca 100644 --- a/api/latest/UThreadC_8h_source.html +++ b/api/latest/UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadNode_8h.html b/api/latest/UThreadNode_8h.html index 9a8e55d7..6938f5d6 100644 --- a/api/latest/UThreadNode_8h.html +++ b/api/latest/UThreadNode_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadNode_8h_source.html b/api/latest/UThreadNode_8h_source.html index 84b005fb..0b169520 100644 --- a/api/latest/UThreadNode_8h_source.html +++ b/api/latest/UThreadNode_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThread_8h_source.html b/api/latest/UThread_8h_source.html index 3212ce42..6019f896 100644 --- a/api/latest/UThread_8h_source.html +++ b/api/latest/UThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UTimer_8h_source.html b/api/latest/UTimer_8h_source.html index fa3279ad..d77f07b9 100644 --- a/api/latest/UTimer_8h_source.html +++ b/api/latest/UTimer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UVariant_8h.html b/api/latest/UVariant_8h.html index 0de39a1f..a697fd3a 100644 --- a/api/latest/UVariant_8h.html +++ b/api/latest/UVariant_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UVariant_8h_source.html b/api/latest/UVariant_8h_source.html index 274a0281..c6cb5c3f 100644 --- a/api/latest/UVariant_8h_source.html +++ b/api/latest/UVariant_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UWin32_8h_source.html b/api/latest/UWin32_8h_source.html index 409aa579..96f7e4a1 100644 --- a/api/latest/UWin32_8h_source.html +++ b/api/latest/UWin32_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UserDataEvent_8h_source.html b/api/latest/UserDataEvent_8h_source.html index 3f65d064..57e51211 100644 --- a/api/latest/UserDataEvent_8h_source.html +++ b/api/latest/UserDataEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UtiLite_8h_source.html b/api/latest/UtiLite_8h_source.html index 54c053ea..86452eb0 100644 --- a/api/latest/UtiLite_8h_source.html +++ b/api/latest/UtiLite_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/VWDictionary_8h_source.html b/api/latest/VWDictionary_8h_source.html index e69be569..9f9963a2 100644 --- a/api/latest/VWDictionary_8h_source.html +++ b/api/latest/VWDictionary_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Version_8h_source.html b/api/latest/Version_8h_source.html index 97333fe7..ad134468 100644 --- a/api/latest/Version_8h_source.html +++ b/api/latest/Version_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -137,11 +137,11 @@ $(document).ready(function(){initNavTree('Version_8h_source.html',''); initResiz
29#define VERSION_H_
30
31// This is auto-generated!
-
32#define RTABMAP_VERSION "0.24.0"
+
32#define RTABMAP_VERSION "0.24.1"
33
34#define RTABMAP_VERSION_MAJOR 0
35#define RTABMAP_VERSION_MINOR 24
-
36#define RTABMAP_VERSION_PATCH 0
+
36#define RTABMAP_VERSION_PATCH 1
37
38#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
39
diff --git a/api/latest/VisualWord_8h_source.html b/api/latest/VisualWord_8h_source.html index 338ab228..d3db8caa 100644 --- a/api/latest/VisualWord_8h_source.html +++ b/api/latest/VisualWord_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/Win32_2UThreadC_8h_source.html b/api/latest/Win32_2UThreadC_8h_source.html index 6125a3e2..ba714b45 100644 --- a/api/latest/Win32_2UThreadC_8h_source.html +++ b/api/latest/Win32_2UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/annotated.html b/api/latest/annotated.html index 3ba120cc..d072c14e 100644 --- a/api/latest/annotated.html +++ b/api/latest/annotated.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -166,99 +166,100 @@ $(document).ready(function(){initNavTree('annotated.html',''); initResizable();  CIMUInertial measurement sample (ROS sensor_msgs/Imu-like fields)  CIMUEventUEvent carrying an IMU sample and timestamp  CIMUFilterFuses gyroscope and accelerometer samples into an orientation quaternion - CIMUThreadBackground thread that replays IMU measurements from a CSV file - CKAZEKAZE detector and descriptor (OpenCV 3+) - CLandmarkOptimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map - CLaserScanRepresents 2D or 3D laser scan data with support for multiple point data formats - CLidar - CLidarVLP16 - CLinkDirected constraint between two nodes in RTAB-Map's pose graph - CLocalGridLocal occupancy grid cells for one map node (ground, obstacles, empty) - CLocalGridCacheCache of LocalGrid entries keyed by map node id - CLocalGridMakerBuilds per-node local occupancy grids from laser scans or depth clouds - CMarkerDetector - CMarkerInfo - CMemoryThree-tiered memory management (STM, WM, LTM) for RTAB-Map - COccupancyGrid - COctoMap - COdometryAbstract base class for visual, lidar and visual-inertial odometry backends - COdometryCuVSLAM - COdometryDVO - COdometryEventOne processed frame with the pose the odometry integrated for it - COdometryF2F - COdometryF2M - COdometryFLOAM - COdometryFovis - COdometryInfoWhat one Odometry iteration produced, beyond the pose - COdometryLIOSAM - COdometryLOAM - COdometryMono - COdometryMSCKF - COdometryOkvis - COdometryOpen3D - COdometryOpenVINS - COdometryORBSLAM2 - COdometryORBSLAM3 - COdometryResetEventAsks OdometryThread to restart the odometry from a given pose - COdometryThreadRuns an Odometry front-end in its own thread, driven by events - COdometryVINSFusion - COdometryViso2 - COptimizerAbstract base for pose-graph and bundle-adjustment optimizers - COptimizerCeres - COptimizerCVSBA - COptimizerG2O - COptimizerGTSAM - COptimizerTORO - CORBORB detector and descriptor (optional GPU) - CORBOctreeORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled) - CParameters - CParamEvent - CParticleFilter - CPointXYZIRTThis namespace contains 3D point cloud processing utilities - CPointXYZIT - CProgressState - CPythonInterface - CRegistrationAbstract base for registering two observations (visual, ICP, or both) - CRegistrationIcp - CRegistrationInfoStatistics and diagnostics returned by Registration - CRegistrationVisVisual registration between two signatures using features and geometry - CRtabmapTop-level RTAB-Map SLAM pipeline (mapping, localization and loop closure) - ►CRtabmapColorOcTree - CStaticMemberInitializer - CRtabmapColorOcTreeNode - CRtabmapEvent - CRtabmapEvent3DMap - CRtabmapEventCmdCommand sent to RtabmapThread, with its parameters - CRtabmapEventInit - CRtabmapGlobalPathEvent - CRtabmapGoalStatusEvent - CRtabmapLabelErrorEvent - CRtabmapThreadRuns a Rtabmap instance in its own thread, driven by events - CRvlCodec - CSensorCaptureAbstract base class for sensor data capture (cameras, lidars, etc.) - CSensorCaptureInfoMetadata structure for sensor data capture and processing - CSensorCaptureThreadThread-based sensor data capture and event posting for RTAB-Map - CSensorDataContainer class for all sensor data captured at a specific time - CSensorEventEvent class for sensor data communication in RTAB-Map's event system - CSIFTSIFT detector and descriptor (optional GPU / CudaSift) - CSignatureRepresents a node in RTAB-Map's pose graph - CStatisticsCollects and manages runtime statistics for RTAB-Map - CStereoSparse stereo matching using block matching - CStereoBMBlock Matching algorithm for dense stereo matching - CStereoCameraModelA class representing a calibrated stereo camera system - CStereoDenseAbstract base class for dense stereo matching algorithms - CStereoOpticalFlowSparse stereo matching using optical flow - CStereoSGBMSemi-Global Block Matching algorithm for dense stereo matching - CSuperPointRpautratSuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support) - CSuperPointTorchSuperPoint via LibTorch (RTAB-Map must be built with libtorch support) - CSURFSURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build) - CSURF_DAISYSURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d) - CSURF_FREAKSURF detector + FREAK descriptors - CTransformRepresents a 3D rigid body transformation (rotation + translation) - CTransformStampedAssociates a transform with a timestamp - CUserDataEvent - CVisualWordRepresents a visual word (feature descriptor) used in the bag-of-words (BoW) model - CVWDictionaryManages a dictionary of visual words for visual place recognition and loop closure detection + CImuMotionPredictorPredicts the pose of the base frame from the last odometry pose and the IMU + CIMUThreadBackground thread that replays IMU measurements from a CSV file + CKAZEKAZE detector and descriptor (OpenCV 3+) + CLandmarkOptimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map + CLaserScanRepresents 2D or 3D laser scan data with support for multiple point data formats + CLidar + CLidarVLP16 + CLinkDirected constraint between two nodes in RTAB-Map's pose graph + CLocalGridLocal occupancy grid cells for one map node (ground, obstacles, empty) + CLocalGridCacheCache of LocalGrid entries keyed by map node id + CLocalGridMakerBuilds per-node local occupancy grids from laser scans or depth clouds + CMarkerDetector + CMarkerInfo + CMemoryThree-tiered memory management (STM, WM, LTM) for RTAB-Map + COccupancyGrid + COctoMap + COdometryAbstract base class for visual, lidar and visual-inertial odometry backends + COdometryCuVSLAM + COdometryDVO + COdometryEventOne processed frame with the pose the odometry integrated for it + COdometryF2F + COdometryF2M + COdometryFLOAM + COdometryFovis + COdometryInfoWhat one Odometry iteration produced, beyond the pose + COdometryLIOSAM + COdometryLOAM + COdometryMono + COdometryMSCKF + COdometryOkvis + COdometryOpen3D + COdometryOpenVINS + COdometryORBSLAM2 + COdometryORBSLAM3 + COdometryResetEventAsks OdometryThread to restart the odometry from a given pose + COdometryThreadRuns an Odometry front-end in its own thread, driven by events + COdometryVINSFusion + COdometryViso2 + COptimizerAbstract base for pose-graph and bundle-adjustment optimizers + COptimizerCeres + COptimizerCVSBA + COptimizerG2O + COptimizerGTSAM + COptimizerTORO + CORBORB detector and descriptor (optional GPU) + CORBOctreeORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled) + CParameters + CParamEvent + CParticleFilter + CPointXYZIRTThis namespace contains 3D point cloud processing utilities + CPointXYZIT + CProgressState + CPythonInterface + CRegistrationAbstract base for registering two observations (visual, ICP, or both) + CRegistrationIcp + CRegistrationInfoStatistics and diagnostics returned by Registration + CRegistrationVisVisual registration between two signatures using features and geometry + CRtabmapTop-level RTAB-Map SLAM pipeline (mapping, localization and loop closure) + ►CRtabmapColorOcTree + CStaticMemberInitializer + CRtabmapColorOcTreeNode + CRtabmapEvent + CRtabmapEvent3DMap + CRtabmapEventCmdCommand sent to RtabmapThread, with its parameters + CRtabmapEventInit + CRtabmapGlobalPathEvent + CRtabmapGoalStatusEvent + CRtabmapLabelErrorEvent + CRtabmapThreadRuns a Rtabmap instance in its own thread, driven by events + CRvlCodec + CSensorCaptureAbstract base class for sensor data capture (cameras, lidars, etc.) + CSensorCaptureInfoMetadata structure for sensor data capture and processing + CSensorCaptureThreadThread-based sensor data capture and event posting for RTAB-Map + CSensorDataContainer class for all sensor data captured at a specific time + CSensorEventEvent class for sensor data communication in RTAB-Map's event system + CSIFTSIFT detector and descriptor (optional GPU / CudaSift) + CSignatureRepresents a node in RTAB-Map's pose graph + CStatisticsCollects and manages runtime statistics for RTAB-Map + CStereoSparse stereo matching using block matching + CStereoBMBlock Matching algorithm for dense stereo matching + CStereoCameraModelA class representing a calibrated stereo camera system + CStereoDenseAbstract base class for dense stereo matching algorithms + CStereoOpticalFlowSparse stereo matching using optical flow + CStereoSGBMSemi-Global Block Matching algorithm for dense stereo matching + CSuperPointRpautratSuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support) + CSuperPointTorchSuperPoint via LibTorch (RTAB-Map must be built with libtorch support) + CSURFSURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build) + CSURF_DAISYSURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d) + CSURF_FREAKSURF detector + FREAK descriptors + CTransformRepresents a 3D rigid body transformation (rotation + translation) + CTransformStampedAssociates a transform with a timestamp + CUserDataEvent + CVisualWordRepresents a visual word (feature descriptor) used in the bag-of-words (BoW) model + CVWDictionaryManages a dictionary of visual words for visual place recognition and loop closure detection  CUDestroyer  CUDirectory  CUEvent diff --git a/api/latest/annotated_dup.js b/api/latest/annotated_dup.js index 5f005c75..09828c52 100644 --- a/api/latest/annotated_dup.js +++ b/api/latest/annotated_dup.js @@ -65,6 +65,7 @@ var annotated_dup = [ "IMU", "classrtabmap_1_1IMU.html", "classrtabmap_1_1IMU" ], [ "IMUEvent", "classrtabmap_1_1IMUEvent.html", "classrtabmap_1_1IMUEvent" ], [ "IMUFilter", "classrtabmap_1_1IMUFilter.html", "classrtabmap_1_1IMUFilter" ], + [ "ImuMotionPredictor", "classrtabmap_1_1ImuMotionPredictor.html", "classrtabmap_1_1ImuMotionPredictor" ], [ "IMUThread", "classrtabmap_1_1IMUThread.html", "classrtabmap_1_1IMUThread" ], [ "KAZE", "classrtabmap_1_1KAZE.html", null ], [ "Landmark", "classrtabmap_1_1Landmark.html", "classrtabmap_1_1Landmark" ], diff --git a/api/latest/classUDestroyer-members.html b/api/latest/classUDestroyer-members.html index dd93c066..1d241447 100644 --- a/api/latest/classUDestroyer-members.html +++ b/api/latest/classUDestroyer-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDestroyer.html b/api/latest/classUDestroyer.html index 76c40cc6..12908b7a 100644 --- a/api/latest/classUDestroyer.html +++ b/api/latest/classUDestroyer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDirectory-members.html b/api/latest/classUDirectory-members.html index d34de41a..b29aa896 100644 --- a/api/latest/classUDirectory-members.html +++ b/api/latest/classUDirectory-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDirectory.html b/api/latest/classUDirectory.html index 37d14cd5..cb5baa3a 100644 --- a/api/latest/classUDirectory.html +++ b/api/latest/classUDirectory.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEvent-members.html b/api/latest/classUEvent-members.html index 0a2f3e13..dd44b8e6 100644 --- a/api/latest/classUEvent-members.html +++ b/api/latest/classUEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEvent.html b/api/latest/classUEvent.html index 99391856..bbb2aaa0 100644 --- a/api/latest/classUEvent.html +++ b/api/latest/classUEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventDispatcher-members.html b/api/latest/classUEventDispatcher-members.html index edfca1e8..13be6e3e 100644 --- a/api/latest/classUEventDispatcher-members.html +++ b/api/latest/classUEventDispatcher-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventDispatcher.html b/api/latest/classUEventDispatcher.html index e1270065..98e5f5dd 100644 --- a/api/latest/classUEventDispatcher.html +++ b/api/latest/classUEventDispatcher.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsHandler-members.html b/api/latest/classUEventsHandler-members.html index a20f2d6f..6588401d 100644 --- a/api/latest/classUEventsHandler-members.html +++ b/api/latest/classUEventsHandler-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsHandler.html b/api/latest/classUEventsHandler.html index 9458bd4f..1a723c89 100644 --- a/api/latest/classUEventsHandler.html +++ b/api/latest/classUEventsHandler.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsManager-members.html b/api/latest/classUEventsManager-members.html index 7c3f5157..9b79a722 100644 --- a/api/latest/classUEventsManager-members.html +++ b/api/latest/classUEventsManager-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsManager.html b/api/latest/classUEventsManager.html index 80580f92..95e2e357 100644 --- a/api/latest/classUEventsManager.html +++ b/api/latest/classUEventsManager.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsSender-members.html b/api/latest/classUEventsSender-members.html index 361053a5..9775bf76 100644 --- a/api/latest/classUEventsSender-members.html +++ b/api/latest/classUEventsSender-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsSender.html b/api/latest/classUEventsSender.html index e6218636..9865c93b 100644 --- a/api/latest/classUEventsSender.html +++ b/api/latest/classUEventsSender.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUException-members.html b/api/latest/classUException-members.html index 6654d8de..35d03ca2 100644 --- a/api/latest/classUException-members.html +++ b/api/latest/classUException-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUException.html b/api/latest/classUException.html index c505faee..d6332ded 100644 --- a/api/latest/classUException.html +++ b/api/latest/classUException.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUFile-members.html b/api/latest/classUFile-members.html index b7d0b18a..109c0d85 100644 --- a/api/latest/classUFile-members.html +++ b/api/latest/classUFile-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUFile.html b/api/latest/classUFile.html index 046c1d9b..b4f4c792 100644 --- a/api/latest/classUFile.html +++ b/api/latest/classUFile.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classULogEvent-members.html b/api/latest/classULogEvent-members.html index 2972890a..6dc24137 100644 --- a/api/latest/classULogEvent-members.html +++ b/api/latest/classULogEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classULogEvent.html b/api/latest/classULogEvent.html index 97cddf8c..74e727dd 100644 --- a/api/latest/classULogEvent.html +++ b/api/latest/classULogEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classULogger-members.html b/api/latest/classULogger-members.html index 06a8d159..e49a8f69 100644 --- a/api/latest/classULogger-members.html +++ b/api/latest/classULogger-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classULogger.html b/api/latest/classULogger.html index 8aed1a02..1bccad78 100644 --- a/api/latest/classULogger.html +++ b/api/latest/classULogger.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUMutex-members.html b/api/latest/classUMutex-members.html index 9b168ea6..3e4c1cbf 100644 --- a/api/latest/classUMutex-members.html +++ b/api/latest/classUMutex-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUMutex.html b/api/latest/classUMutex.html index 309a84ba..bca4b0fe 100644 --- a/api/latest/classUMutex.html +++ b/api/latest/classUMutex.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUObjDeletedEvent-members.html b/api/latest/classUObjDeletedEvent-members.html index 3ba2b8b3..d977f35e 100644 --- a/api/latest/classUObjDeletedEvent-members.html +++ b/api/latest/classUObjDeletedEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUObjDeletedEvent.html b/api/latest/classUObjDeletedEvent.html index 803ecc6a..a730ad8d 100644 --- a/api/latest/classUObjDeletedEvent.html +++ b/api/latest/classUObjDeletedEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUObjDeletionThread-members.html b/api/latest/classUObjDeletionThread-members.html index 0a31c456..c9438c56 100644 --- a/api/latest/classUObjDeletionThread-members.html +++ b/api/latest/classUObjDeletionThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUObjDeletionThread.html b/api/latest/classUObjDeletionThread.html index 3402c0b6..95c3df57 100644 --- a/api/latest/classUObjDeletionThread.html +++ b/api/latest/classUObjDeletionThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUProcessInfo-members.html b/api/latest/classUProcessInfo-members.html index 58b5957c..dea1c2ee 100644 --- a/api/latest/classUProcessInfo-members.html +++ b/api/latest/classUProcessInfo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUProcessInfo.html b/api/latest/classUProcessInfo.html index 564c0786..006ca148 100644 --- a/api/latest/classUProcessInfo.html +++ b/api/latest/classUProcessInfo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUScopeMutex-members.html b/api/latest/classUScopeMutex-members.html index 389cbcab..8f4a87db 100644 --- a/api/latest/classUScopeMutex-members.html +++ b/api/latest/classUScopeMutex-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUScopeMutex.html b/api/latest/classUScopeMutex.html index eb0eb790..c5c8bd22 100644 --- a/api/latest/classUScopeMutex.html +++ b/api/latest/classUScopeMutex.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUSemaphore-members.html b/api/latest/classUSemaphore-members.html index e4ceb93c..d58ce245 100644 --- a/api/latest/classUSemaphore-members.html +++ b/api/latest/classUSemaphore-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUSemaphore.html b/api/latest/classUSemaphore.html index c39fdf11..95693698 100644 --- a/api/latest/classUSemaphore.html +++ b/api/latest/classUSemaphore.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThread-members.html b/api/latest/classUThread-members.html index 0f224070..ef72810c 100644 --- a/api/latest/classUThread-members.html +++ b/api/latest/classUThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThread.html b/api/latest/classUThread.html index 9f0aac13..81b4ac3d 100644 --- a/api/latest/classUThread.html +++ b/api/latest/classUThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThreadC-members.html b/api/latest/classUThreadC-members.html index b73110fc..2b9c6396 100644 --- a/api/latest/classUThreadC-members.html +++ b/api/latest/classUThreadC-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThreadC.html b/api/latest/classUThreadC.html index 06dda73e..7625b629 100644 --- a/api/latest/classUThreadC.html +++ b/api/latest/classUThreadC.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThreadC_3_01void_01_4-members.html b/api/latest/classUThreadC_3_01void_01_4-members.html index d4af8f16..44bcc621 100644 --- a/api/latest/classUThreadC_3_01void_01_4-members.html +++ b/api/latest/classUThreadC_3_01void_01_4-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThreadC_3_01void_01_4.html b/api/latest/classUThreadC_3_01void_01_4.html index 9f6d395e..e1c26749 100644 --- a/api/latest/classUThreadC_3_01void_01_4.html +++ b/api/latest/classUThreadC_3_01void_01_4.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUTimer-members.html b/api/latest/classUTimer-members.html index 079b1b4c..6e785ae2 100644 --- a/api/latest/classUTimer-members.html +++ b/api/latest/classUTimer-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUTimer.html b/api/latest/classUTimer.html index 85ecf92c..a60a6f2e 100644 --- a/api/latest/classUTimer.html +++ b/api/latest/classUTimer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUVariant-members.html b/api/latest/classUVariant-members.html index 52d7b218..18c8d69b 100644 --- a/api/latest/classUVariant-members.html +++ b/api/latest/classUVariant-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUVariant.html b/api/latest/classUVariant.html index 8501aec8..6496b55e 100644 --- a/api/latest/classUVariant.html +++ b/api/latest/classUVariant.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html b/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html index 8efcf0ce..7b136dc6 100644 --- a/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html +++ b/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1DiscreteDepthDistortionModel.html b/api/latest/classclams_1_1DiscreteDepthDistortionModel.html index d04c4e37..caea378c 100644 --- a/api/latest/classclams_1_1DiscreteDepthDistortionModel.html +++ b/api/latest/classclams_1_1DiscreteDepthDistortionModel.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1DiscreteFrustum-members.html b/api/latest/classclams_1_1DiscreteFrustum-members.html index 5e6fd493..8c39e32f 100644 --- a/api/latest/classclams_1_1DiscreteFrustum-members.html +++ b/api/latest/classclams_1_1DiscreteFrustum-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1DiscreteFrustum.html b/api/latest/classclams_1_1DiscreteFrustum.html index 9e313c78..72c3f479 100644 --- a/api/latest/classclams_1_1DiscreteFrustum.html +++ b/api/latest/classclams_1_1DiscreteFrustum.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1FrameProjector-members.html b/api/latest/classclams_1_1FrameProjector-members.html index b91730c7..4b5e1bea 100644 --- a/api/latest/classclams_1_1FrameProjector-members.html +++ b/api/latest/classclams_1_1FrameProjector-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1FrameProjector.html b/api/latest/classclams_1_1FrameProjector.html index 91fe96d6..dc027fe3 100644 --- a/api/latest/classclams_1_1FrameProjector.html +++ b/api/latest/classclams_1_1FrameProjector.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1ProjectivePoint-members.html b/api/latest/classclams_1_1ProjectivePoint-members.html index 8358fcf6..b7bf4f1a 100644 --- a/api/latest/classclams_1_1ProjectivePoint-members.html +++ b/api/latest/classclams_1_1ProjectivePoint-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1ProjectivePoint.html b/api/latest/classclams_1_1ProjectivePoint.html index d50b4634..cb1ed3ac 100644 --- a/api/latest/classclams_1_1ProjectivePoint.html +++ b/api/latest/classclams_1_1ProjectivePoint.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classes.html b/api/latest/classes.html index 7719d021..ee10be8c 100644 --- a/api/latest/classes.html +++ b/api/latest/classes.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -123,7 +123,7 @@ $(document).ready(function(){initNavTree('classes.html',''); initResizable(); })
GainCompensator (rtabmap)
GeodeticCoords (rtabmap)
GFTT (rtabmap)
GFTT_BRIEF (rtabmap)
GFTT_DAISY (rtabmap)
GFTT_FREAK (rtabmap)
GFTT_ORB (rtabmap)
GlobalDescriptor (rtabmap)
GlobalDescriptorExtractor (rtabmap)
GlobalMap (rtabmap)
GPS (rtabmap)
GridMap (rtabmap)
I
-
IMU (rtabmap)
IMUEvent (rtabmap)
IMUFilter (rtabmap)
IMUThread (rtabmap)
+
IMU (rtabmap)
IMUEvent (rtabmap)
IMUFilter (rtabmap)
ImuMotionPredictor (rtabmap)
IMUThread (rtabmap)
K
KAZE (rtabmap)
diff --git a/api/latest/classrtabmap_1_1BRISK-members.html b/api/latest/classrtabmap_1_1BRISK-members.html index c95cdd1b..5ef23560 100644 --- a/api/latest/classrtabmap_1_1BRISK-members.html +++ b/api/latest/classrtabmap_1_1BRISK-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1BRISK.html b/api/latest/classrtabmap_1_1BRISK.html index cd124aeb..9b2aef6e 100644 --- a/api/latest/classrtabmap_1_1BRISK.html +++ b/api/latest/classrtabmap_1_1BRISK.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1BayesFilter-members.html b/api/latest/classrtabmap_1_1BayesFilter-members.html index f3df7720..1d679e54 100644 --- a/api/latest/classrtabmap_1_1BayesFilter-members.html +++ b/api/latest/classrtabmap_1_1BayesFilter-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1BayesFilter.html b/api/latest/classrtabmap_1_1BayesFilter.html index 55be3a3a..53024942 100644 --- a/api/latest/classrtabmap_1_1BayesFilter.html +++ b/api/latest/classrtabmap_1_1BayesFilter.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Camera-members.html b/api/latest/classrtabmap_1_1Camera-members.html index b528b417..0e97013f 100644 --- a/api/latest/classrtabmap_1_1Camera-members.html +++ b/api/latest/classrtabmap_1_1Camera-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Camera.html b/api/latest/classrtabmap_1_1Camera.html index 0cf20e04..3c48b8df 100644 --- a/api/latest/classrtabmap_1_1Camera.html +++ b/api/latest/classrtabmap_1_1Camera.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraDepthAI-members.html b/api/latest/classrtabmap_1_1CameraDepthAI-members.html index fe4260ec..b46dd416 100644 --- a/api/latest/classrtabmap_1_1CameraDepthAI-members.html +++ b/api/latest/classrtabmap_1_1CameraDepthAI-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraDepthAI.html b/api/latest/classrtabmap_1_1CameraDepthAI.html index 695be7d3..88cbbcd8 100644 --- a/api/latest/classrtabmap_1_1CameraDepthAI.html +++ b/api/latest/classrtabmap_1_1CameraDepthAI.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraFreenect-members.html b/api/latest/classrtabmap_1_1CameraFreenect-members.html index 622ce5cf..887c86dd 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect-members.html +++ b/api/latest/classrtabmap_1_1CameraFreenect-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraFreenect.html b/api/latest/classrtabmap_1_1CameraFreenect.html index c640a053..2c20da25 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect.html +++ b/api/latest/classrtabmap_1_1CameraFreenect.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraFreenect2-members.html b/api/latest/classrtabmap_1_1CameraFreenect2-members.html index f2ed847a..5c33d7ed 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect2-members.html +++ b/api/latest/classrtabmap_1_1CameraFreenect2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraFreenect2.html b/api/latest/classrtabmap_1_1CameraFreenect2.html index 90921eb6..78f7f808 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect2.html +++ b/api/latest/classrtabmap_1_1CameraFreenect2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraImages-members.html b/api/latest/classrtabmap_1_1CameraImages-members.html index dfeb2543..8f7f7da2 100644 --- a/api/latest/classrtabmap_1_1CameraImages-members.html +++ b/api/latest/classrtabmap_1_1CameraImages-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraImages.html b/api/latest/classrtabmap_1_1CameraImages.html index 634a347b..b2e34a9e 100644 --- a/api/latest/classrtabmap_1_1CameraImages.html +++ b/api/latest/classrtabmap_1_1CameraImages.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraK4A-members.html b/api/latest/classrtabmap_1_1CameraK4A-members.html index 6aa4cf24..0603f7b1 100644 --- a/api/latest/classrtabmap_1_1CameraK4A-members.html +++ b/api/latest/classrtabmap_1_1CameraK4A-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraK4A.html b/api/latest/classrtabmap_1_1CameraK4A.html index db77a218..4d47b4b2 100644 --- a/api/latest/classrtabmap_1_1CameraK4A.html +++ b/api/latest/classrtabmap_1_1CameraK4A.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraK4W2-members.html b/api/latest/classrtabmap_1_1CameraK4W2-members.html index b514e9cc..ff282ee7 100644 --- a/api/latest/classrtabmap_1_1CameraK4W2-members.html +++ b/api/latest/classrtabmap_1_1CameraK4W2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraK4W2.html b/api/latest/classrtabmap_1_1CameraK4W2.html index 79f179b6..c1f6b233 100644 --- a/api/latest/classrtabmap_1_1CameraK4W2.html +++ b/api/latest/classrtabmap_1_1CameraK4W2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraModel-members.html b/api/latest/classrtabmap_1_1CameraModel-members.html index 35e676af..e5732774 100644 --- a/api/latest/classrtabmap_1_1CameraModel-members.html +++ b/api/latest/classrtabmap_1_1CameraModel-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraModel.html b/api/latest/classrtabmap_1_1CameraModel.html index 8d0da020..41fae541 100644 --- a/api/latest/classrtabmap_1_1CameraModel.html +++ b/api/latest/classrtabmap_1_1CameraModel.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraMyntEye-members.html b/api/latest/classrtabmap_1_1CameraMyntEye-members.html index 3962031d..db5a6f6f 100644 --- a/api/latest/classrtabmap_1_1CameraMyntEye-members.html +++ b/api/latest/classrtabmap_1_1CameraMyntEye-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraMyntEye.html b/api/latest/classrtabmap_1_1CameraMyntEye.html index b560bd46..196d4b11 100644 --- a/api/latest/classrtabmap_1_1CameraMyntEye.html +++ b/api/latest/classrtabmap_1_1CameraMyntEye.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenNI2-members.html b/api/latest/classrtabmap_1_1CameraOpenNI2-members.html index c5997f4b..999fe524 100644 --- a/api/latest/classrtabmap_1_1CameraOpenNI2-members.html +++ b/api/latest/classrtabmap_1_1CameraOpenNI2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenNI2.html b/api/latest/classrtabmap_1_1CameraOpenNI2.html index b6d2a527..f0e2d92d 100644 --- a/api/latest/classrtabmap_1_1CameraOpenNI2.html +++ b/api/latest/classrtabmap_1_1CameraOpenNI2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenNICV-members.html b/api/latest/classrtabmap_1_1CameraOpenNICV-members.html index 4ba7fcf6..f6bd11e7 100644 --- a/api/latest/classrtabmap_1_1CameraOpenNICV-members.html +++ b/api/latest/classrtabmap_1_1CameraOpenNICV-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenNICV.html b/api/latest/classrtabmap_1_1CameraOpenNICV.html index 6f501853..9951a98f 100644 --- a/api/latest/classrtabmap_1_1CameraOpenNICV.html +++ b/api/latest/classrtabmap_1_1CameraOpenNICV.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenni-members.html b/api/latest/classrtabmap_1_1CameraOpenni-members.html index 4b0729a6..8fae56ed 100644 --- a/api/latest/classrtabmap_1_1CameraOpenni-members.html +++ b/api/latest/classrtabmap_1_1CameraOpenni-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOpenni.html b/api/latest/classrtabmap_1_1CameraOpenni.html index 3dfaeb9a..fa4f13d9 100644 --- a/api/latest/classrtabmap_1_1CameraOpenni.html +++ b/api/latest/classrtabmap_1_1CameraOpenni.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html b/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html index d80ea2ad..dd2e9bcd 100644 --- a/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html +++ b/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraOrbbecSDK.html b/api/latest/classrtabmap_1_1CameraOrbbecSDK.html index 42405a57..1e7003ca 100644 --- a/api/latest/classrtabmap_1_1CameraOrbbecSDK.html +++ b/api/latest/classrtabmap_1_1CameraOrbbecSDK.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRGBDImages-members.html b/api/latest/classrtabmap_1_1CameraRGBDImages-members.html index a1082011..9c1fe3db 100644 --- a/api/latest/classrtabmap_1_1CameraRGBDImages-members.html +++ b/api/latest/classrtabmap_1_1CameraRGBDImages-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRGBDImages.html b/api/latest/classrtabmap_1_1CameraRGBDImages.html index 2343be0f..7cf7f063 100644 --- a/api/latest/classrtabmap_1_1CameraRGBDImages.html +++ b/api/latest/classrtabmap_1_1CameraRGBDImages.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRealSense-members.html b/api/latest/classrtabmap_1_1CameraRealSense-members.html index 492ddfc6..28454a9f 100644 --- a/api/latest/classrtabmap_1_1CameraRealSense-members.html +++ b/api/latest/classrtabmap_1_1CameraRealSense-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRealSense.html b/api/latest/classrtabmap_1_1CameraRealSense.html index 58d2576e..8ff2e28e 100644 --- a/api/latest/classrtabmap_1_1CameraRealSense.html +++ b/api/latest/classrtabmap_1_1CameraRealSense.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRealSense2-members.html b/api/latest/classrtabmap_1_1CameraRealSense2-members.html index f4d1ee8d..01532a0a 100644 --- a/api/latest/classrtabmap_1_1CameraRealSense2-members.html +++ b/api/latest/classrtabmap_1_1CameraRealSense2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraRealSense2.html b/api/latest/classrtabmap_1_1CameraRealSense2.html index 6845684a..a2690a12 100644 --- a/api/latest/classrtabmap_1_1CameraRealSense2.html +++ b/api/latest/classrtabmap_1_1CameraRealSense2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraSeerSense-members.html b/api/latest/classrtabmap_1_1CameraSeerSense-members.html index 9b7a5950..f360fb79 100644 --- a/api/latest/classrtabmap_1_1CameraSeerSense-members.html +++ b/api/latest/classrtabmap_1_1CameraSeerSense-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraSeerSense.html b/api/latest/classrtabmap_1_1CameraSeerSense.html index 15313ac5..371250a8 100644 --- a/api/latest/classrtabmap_1_1CameraSeerSense.html +++ b/api/latest/classrtabmap_1_1CameraSeerSense.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html b/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html index e5ec7c11..d4c222de 100644 --- a/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoDC1394.html b/api/latest/classrtabmap_1_1CameraStereoDC1394.html index a2a7a170..5ab56740 100644 --- a/api/latest/classrtabmap_1_1CameraStereoDC1394.html +++ b/api/latest/classrtabmap_1_1CameraStereoDC1394.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html b/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html index 09c73d3b..2ea2efd3 100644 --- a/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html b/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html index cc6e54ab..b526898e 100644 --- a/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html +++ b/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoImages-members.html b/api/latest/classrtabmap_1_1CameraStereoImages-members.html index e8148e80..683d285e 100644 --- a/api/latest/classrtabmap_1_1CameraStereoImages-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoImages-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoImages.html b/api/latest/classrtabmap_1_1CameraStereoImages.html index 1f258842..732eeb89 100644 --- a/api/latest/classrtabmap_1_1CameraStereoImages.html +++ b/api/latest/classrtabmap_1_1CameraStereoImages.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoTara-members.html b/api/latest/classrtabmap_1_1CameraStereoTara-members.html index 2ca88be6..399e7f76 100644 --- a/api/latest/classrtabmap_1_1CameraStereoTara-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoTara-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoTara.html b/api/latest/classrtabmap_1_1CameraStereoTara.html index 135ec19c..626284ca 100644 --- a/api/latest/classrtabmap_1_1CameraStereoTara.html +++ b/api/latest/classrtabmap_1_1CameraStereoTara.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoVideo-members.html b/api/latest/classrtabmap_1_1CameraStereoVideo-members.html index 376895ee..01807743 100644 --- a/api/latest/classrtabmap_1_1CameraStereoVideo-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoVideo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoVideo.html b/api/latest/classrtabmap_1_1CameraStereoVideo.html index 73550ede..e2158b88 100644 --- a/api/latest/classrtabmap_1_1CameraStereoVideo.html +++ b/api/latest/classrtabmap_1_1CameraStereoVideo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoZed-members.html b/api/latest/classrtabmap_1_1CameraStereoZed-members.html index e5de3b90..09d605e4 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZed-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoZed-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoZed.html b/api/latest/classrtabmap_1_1CameraStereoZed.html index a49fa9f5..4aa93cec 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZed.html +++ b/api/latest/classrtabmap_1_1CameraStereoZed.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html b/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html index e7e9e2e9..d3da876c 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraStereoZedOC.html b/api/latest/classrtabmap_1_1CameraStereoZedOC.html index 01613981..af2424d7 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZedOC.html +++ b/api/latest/classrtabmap_1_1CameraStereoZedOC.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraVideo-members.html b/api/latest/classrtabmap_1_1CameraVideo-members.html index 22bb2b5d..380a0609 100644 --- a/api/latest/classrtabmap_1_1CameraVideo-members.html +++ b/api/latest/classrtabmap_1_1CameraVideo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CameraVideo.html b/api/latest/classrtabmap_1_1CameraVideo.html index 45769214..0ea46d2e 100644 --- a/api/latest/classrtabmap_1_1CameraVideo.html +++ b/api/latest/classrtabmap_1_1CameraVideo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CloudMap-members.html b/api/latest/classrtabmap_1_1CloudMap-members.html index 6d5e366f..6f0dbf65 100644 --- a/api/latest/classrtabmap_1_1CloudMap-members.html +++ b/api/latest/classrtabmap_1_1CloudMap-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CloudMap.html b/api/latest/classrtabmap_1_1CloudMap.html index 87a44264..f9c234e1 100644 --- a/api/latest/classrtabmap_1_1CloudMap.html +++ b/api/latest/classrtabmap_1_1CloudMap.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CompressionThread-members.html b/api/latest/classrtabmap_1_1CompressionThread-members.html index dadca74f..5a45ba97 100644 --- a/api/latest/classrtabmap_1_1CompressionThread-members.html +++ b/api/latest/classrtabmap_1_1CompressionThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1CompressionThread.html b/api/latest/classrtabmap_1_1CompressionThread.html index 96d6e7ed..49d8dde0 100644 --- a/api/latest/classrtabmap_1_1CompressionThread.html +++ b/api/latest/classrtabmap_1_1CompressionThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBDriver-members.html b/api/latest/classrtabmap_1_1DBDriver-members.html index a6896e9c..e6a60f9f 100644 --- a/api/latest/classrtabmap_1_1DBDriver-members.html +++ b/api/latest/classrtabmap_1_1DBDriver-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBDriver.html b/api/latest/classrtabmap_1_1DBDriver.html index d041374f..f8b58567 100644 --- a/api/latest/classrtabmap_1_1DBDriver.html +++ b/api/latest/classrtabmap_1_1DBDriver.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html b/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html index 5badc30f..0302892f 100644 --- a/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html +++ b/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBDriverSqlite3.html b/api/latest/classrtabmap_1_1DBDriverSqlite3.html index a1eba450..0542c41b 100644 --- a/api/latest/classrtabmap_1_1DBDriverSqlite3.html +++ b/api/latest/classrtabmap_1_1DBDriverSqlite3.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBReader-members.html b/api/latest/classrtabmap_1_1DBReader-members.html index 3954f2ad..062b41d6 100644 --- a/api/latest/classrtabmap_1_1DBReader-members.html +++ b/api/latest/classrtabmap_1_1DBReader-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1DBReader.html b/api/latest/classrtabmap_1_1DBReader.html index 56fada14..c3ed2277 100644 --- a/api/latest/classrtabmap_1_1DBReader.html +++ b/api/latest/classrtabmap_1_1DBReader.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1EnvSensor-members.html b/api/latest/classrtabmap_1_1EnvSensor-members.html index eb9a5d75..13a8e817 100644 --- a/api/latest/classrtabmap_1_1EnvSensor-members.html +++ b/api/latest/classrtabmap_1_1EnvSensor-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1EnvSensor.html b/api/latest/classrtabmap_1_1EnvSensor.html index 6e9f5ce8..f737c7be 100644 --- a/api/latest/classrtabmap_1_1EnvSensor.html +++ b/api/latest/classrtabmap_1_1EnvSensor.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1EpipolarGeometry-members.html b/api/latest/classrtabmap_1_1EpipolarGeometry-members.html index 52a62617..17f35b54 100644 --- a/api/latest/classrtabmap_1_1EpipolarGeometry-members.html +++ b/api/latest/classrtabmap_1_1EpipolarGeometry-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1EpipolarGeometry.html b/api/latest/classrtabmap_1_1EpipolarGeometry.html index 44ce6ea9..9f2cce8b 100644 --- a/api/latest/classrtabmap_1_1EpipolarGeometry.html +++ b/api/latest/classrtabmap_1_1EpipolarGeometry.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST-members.html b/api/latest/classrtabmap_1_1FAST-members.html index 94d1c83f..5d63fa62 100644 --- a/api/latest/classrtabmap_1_1FAST-members.html +++ b/api/latest/classrtabmap_1_1FAST-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST.html b/api/latest/classrtabmap_1_1FAST.html index a41996b4..a55d6d72 100644 --- a/api/latest/classrtabmap_1_1FAST.html +++ b/api/latest/classrtabmap_1_1FAST.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST__BRIEF-members.html b/api/latest/classrtabmap_1_1FAST__BRIEF-members.html index 8f3413e4..38f1f6a6 100644 --- a/api/latest/classrtabmap_1_1FAST__BRIEF-members.html +++ b/api/latest/classrtabmap_1_1FAST__BRIEF-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST__BRIEF.html b/api/latest/classrtabmap_1_1FAST__BRIEF.html index 02e09c8a..316b0ec2 100644 --- a/api/latest/classrtabmap_1_1FAST__BRIEF.html +++ b/api/latest/classrtabmap_1_1FAST__BRIEF.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST__FREAK-members.html b/api/latest/classrtabmap_1_1FAST__FREAK-members.html index 9e9b9c15..252e8b4c 100644 --- a/api/latest/classrtabmap_1_1FAST__FREAK-members.html +++ b/api/latest/classrtabmap_1_1FAST__FREAK-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FAST__FREAK.html b/api/latest/classrtabmap_1_1FAST__FREAK.html index e91d8189..fd4fccb3 100644 --- a/api/latest/classrtabmap_1_1FAST__FREAK.html +++ b/api/latest/classrtabmap_1_1FAST__FREAK.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Feature2D-members.html b/api/latest/classrtabmap_1_1Feature2D-members.html index fdeb6fad..94347e25 100644 --- a/api/latest/classrtabmap_1_1Feature2D-members.html +++ b/api/latest/classrtabmap_1_1Feature2D-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Feature2D.html b/api/latest/classrtabmap_1_1Feature2D.html index 8ef0147a..51847154 100644 --- a/api/latest/classrtabmap_1_1Feature2D.html +++ b/api/latest/classrtabmap_1_1Feature2D.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FeatureBA-members.html b/api/latest/classrtabmap_1_1FeatureBA-members.html index 7b9c3856..28baeef7 100644 --- a/api/latest/classrtabmap_1_1FeatureBA-members.html +++ b/api/latest/classrtabmap_1_1FeatureBA-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FeatureBA.html b/api/latest/classrtabmap_1_1FeatureBA.html index 3bce558a..94c5af79 100644 --- a/api/latest/classrtabmap_1_1FeatureBA.html +++ b/api/latest/classrtabmap_1_1FeatureBA.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FlannIndex-members.html b/api/latest/classrtabmap_1_1FlannIndex-members.html index 62b8c7cb..2d79c6f5 100644 --- a/api/latest/classrtabmap_1_1FlannIndex-members.html +++ b/api/latest/classrtabmap_1_1FlannIndex-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1FlannIndex.html b/api/latest/classrtabmap_1_1FlannIndex.html index 28d83ecb..b484817e 100644 --- a/api/latest/classrtabmap_1_1FlannIndex.html +++ b/api/latest/classrtabmap_1_1FlannIndex.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1GFTT-members.html b/api/latest/classrtabmap_1_1GFTT-members.html index f3c9ebdb..092cd7f9 100644 --- a/api/latest/classrtabmap_1_1GFTT-members.html +++ b/api/latest/classrtabmap_1_1GFTT-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1GFTT.html b/api/latest/classrtabmap_1_1GFTT.html index 39d72433..9fdd3b82 100644 --- a/api/latest/classrtabmap_1_1GFTT.html +++ b/api/latest/classrtabmap_1_1GFTT.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html b/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html index 26f44dcc..0b165cb2 100644 --- a/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html +++ b/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1GFTT__BRIEF.html b/api/latest/classrtabmap_1_1GFTT__BRIEF.html index f778af3b..862b71f2 100644 --- a/api/latest/classrtabmap_1_1GFTT__BRIEF.html +++ b/api/latest/classrtabmap_1_1GFTT__BRIEF.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1GFTT__DAISY-members.html b/api/latest/classrtabmap_1_1GFTT__DAISY-members.html index f19e50c7..2d09b86f 100644 --- a/api/latest/classrtabmap_1_1GFTT__DAISY-members.html +++ b/api/latest/classrtabmap_1_1GFTT__DAISY-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
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rtabmap::ImuMotionPredictor Member List
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+ +

This is the complete list of members for rtabmap::ImuMotionPredictor, including all inherited members.

+ + + + + + + + + + + + + + + +
addImu(double stamp, const IMU &imu)rtabmap::ImuMotionPredictor
addPose(double stamp, const rtabmap::Transform &pose)rtabmap::ImuMotionPredictor
gravity() constrtabmap::ImuMotionPredictorinline
gravityWindows() constrtabmap::ImuMotionPredictorinline
hasPose() constrtabmap::ImuMotionPredictor
ImuMotionPredictor(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)rtabmap::ImuMotionPredictorexplicit
isGravityEstimated() constrtabmap::ImuMotionPredictorinline
lastPoseStamp() constrtabmap::ImuMotionPredictor
maxPoseInterval() const (defined in rtabmap::ImuMotionPredictor)rtabmap::ImuMotionPredictorinline
predict(double stamp) constrtabmap::ImuMotionPredictor
reset()rtabmap::ImuMotionPredictor
samples() constrtabmap::ImuMotionPredictor
velocity() constrtabmap::ImuMotionPredictor
velocityWindow() const (defined in rtabmap::ImuMotionPredictor)rtabmap::ImuMotionPredictorinline
+
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+Classes | +Public Member Functions | +List of all members
+
rtabmap::ImuMotionPredictor Class Reference
+
+
+ +

Predicts the pose of the base frame from the last odometry pose and the IMU. + More...

+ +

#include <ImuMotionPredictor.h>

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+Public Member Functions

 ImuMotionPredictor (double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)
 
double maxPoseInterval () const
 
double velocityWindow () const
 
double gravity () const
 Gravity (m/s^2) removed from the specific force: the one given, or the estimate.
 
bool isGravityEstimated () const
 Whether the gravity is estimated from the IMU (see the constructor)
 
size_t gravityWindows () const
 Number of quiet IMU windows the gravity estimate is from (0: not estimated yet)
 
void addImu (double stamp, const IMU &imu)
 Adds an IMU measurement.
 
void addPose (double stamp, const rtabmap::Transform &pose)
 Adds an odometry pose, from which the next poses are predicted.
 
void reset ()
 
rtabmap::Transform predict (double stamp) const
 Predicts the pose of the base frame in the odometry frame.
 
+bool hasPose () const
 Whether there is a pose to predict from (none yet, or the last one was null).
 
+double lastPoseStamp () const
 Stamp of the last pose added, 0 if there is none.
 
+Eigen::Vector3d velocity () const
 Velocity (m/s) of the base in the odometry frame at the last pose.
 
+size_t samples () const
 Number of IMU samples kept.
 
+

Detailed Description

+

Predicts the pose of the base frame from the last odometry pose and the IMU.

+

Between two odometry updates, the pose is propagated with the IMU: the orientation is the IMU's own, re-expressed in the odometry frame, and the position is integrated from the velocity at the last odometry update and the gravity-compensated acceleration. That velocity is re-estimated at every odometry update, from the displacement since an odometry pose a short window back (see velocityWindow) corrected by the acceleration measured in between, so the position never drifts for long: only the motion since the last update is predicted.

+

This is what lidar deskewing needs: the pose at every point's time, during a sweep that started after the last pose odometry estimated.

+

The IMU samples are given as they are measured (see addImu()): the orientation of the IMU in its world frame and its specific force, from which gravity is removed here. That world frame must be gravity aligned with +z up, as in ROS (REP-103, e.g. ENU); its yaw doesn't matter. An orientation given in a frame with z down (NED) must be converted first, otherwise gravity is added instead of removed. The lever arm between the IMU and the base origin is ignored: its centripetal and tangential accelerations are small over the fraction of a second this predicts.

+

The gravity removed can be estimated from the IMU itself (see the constructor): an accelerometer can read a few percent off at rest (scale or bias), and that error, integrated as an acceleration, would bias the predicted velocity along gravity. The accelerometer is averaged over the windows where it is quiet: with a gyro and an accelerometer that barely change, the IMU is not accelerating (at rest or at constant velocity), so it only measures gravity. The IMU must then be held still (or at constant velocity) for a moment, e.g., before moving: until then, standard gravity is used, and a steady acceleration without rotation would be taken for gravity. Only the error along gravity is corrected, which is all of it for an IMU that stays about level; one changing attitude would need its axes calibrated.

+

Not thread-safe: a caller sharing it between threads must lock around every call.

+ +

Definition at line 77 of file ImuMotionPredictor.h.

+

Constructor & Destructor Documentation

+ +

◆ ImuMotionPredictor()

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rtabmap::ImuMotionPredictor::ImuMotionPredictor (double maxPoseInterval = 1.0,
double velocityWindow = 0.5,
double gravity = 9.80665 
)
+ 		+explicit
+
+

The IMU acceleration is used only with a velocity window (> 0): over a single frame, the velocity is too noisy to be carried forward with it. Without it (window of 0, or no acceleration in the IMU samples), the position follows the last velocity (constant velocity model).

+
Parameters
+ + + + +
maxPoseIntervalodometry poses older (s) than this are not used to estimate the velocity, which is null without one
velocityWindowthe velocity is estimated from the displacement since the newest pose at least this old (s), corrected by the acceleration measured since, so that it is the velocity at the last pose, not an average. Over a single frame interval, the noise of the odometry poses would be of the order of the velocity itself. 0: the displacement since the previous pose, without acceleration.
gravitymagnitude (m/s^2) of the gravity removed from the specific force given to addImu(), standard gravity by default. <= 0: estimated from the IMU when it is still (see the class description), with standard gravity until then.
+
+
+

These are fixed for the life of the predictor (there is no setter): changing them while it estimates would mix poses and samples taken under different settings.

+ +
+
+

Member Function Documentation

+ +

◆ maxPoseInterval()

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+
+ + + + + +
+ + + + + + + +
double rtabmap::ImuMotionPredictor::maxPoseInterval () const
+ 		+inline
+
+ +

Definition at line 108 of file ImuMotionPredictor.h.

+ +
+
+ +

◆ velocityWindow()

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+
+ + + + + +
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double rtabmap::ImuMotionPredictor::velocityWindow () const
+ 		+inline
+
+ +

Definition at line 109 of file ImuMotionPredictor.h.

+ +
+
+ +

◆ gravity()

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+
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+ + + + + + + +
double rtabmap::ImuMotionPredictor::gravity () const
+ 		+inline
+
+ +

Gravity (m/s^2) removed from the specific force: the one given, or the estimate.

+ +

Definition at line 111 of file ImuMotionPredictor.h.

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+
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◆ isGravityEstimated()

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+
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bool rtabmap::ImuMotionPredictor::isGravityEstimated () const
+ 		+inline
+
+ +

Whether the gravity is estimated from the IMU (see the constructor)

+ +

Definition at line 113 of file ImuMotionPredictor.h.

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+ +

◆ gravityWindows()

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size_t rtabmap::ImuMotionPredictor::gravityWindows () const
+ 		+inline
+
+ +

Number of quiet IMU windows the gravity estimate is from (0: not estimated yet)

+ +

Definition at line 115 of file ImuMotionPredictor.h.

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◆ addImu()

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void rtabmap::ImuMotionPredictor::addImu (double stamp,
const IMU & imu 
)
+
+ +

Adds an IMU measurement.

+
Parameters
+ + + +
stamptime of the measurement (s)
imuorientation of the IMU in its world frame (gravity aligned, +z up), linear acceleration as measured (the specific force, which includes the reaction to gravity) and the transform from the base frame to the IMU. Without orientation, the measurement is ignored; without linear acceleration (all zeros, or a covariance of -1), only its orientation is used.
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+ +

◆ addPose()

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void rtabmap::ImuMotionPredictor::addPose (double stamp,
const rtabmap::Transform & pose 
)
+
+ +

Adds an odometry pose, from which the next poses are predicted.

+
Parameters
+ + + +
stamptime of the pose (s)
posepose of the base frame in the odometry frame; a null pose (odometry lost) resets the prediction until the next valid pose
+
+
+ +
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+ +

◆ reset()

+ +
+
+ + + + + + + +
void rtabmap::ImuMotionPredictor::reset ()
+
+

Forgets the poses and the IMU samples. The gravity estimate is kept: it is the sensor's.

+ +
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+ +

◆ predict()

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rtabmap::Transform rtabmap::ImuMotionPredictor::predict (double stamp) const
+
+ +

Predicts the pose of the base frame in the odometry frame.

+
Parameters
+ + +
stamptime (s) of the prediction, normally after the last pose
+
+
+
Returns
the predicted pose, null if there is no IMU sample yet. Without a pose (none yet, or the last one was null), the orientation alone is predicted, in the IMU's world frame and at the origin: still the relative rotation between two stamps, which is what deskewing needs most.
+ +
+
+
The documentation for this class was generated from the following file: +
+
+ + + + diff --git a/api/latest/classrtabmap_1_1ImuMotionPredictor.js b/api/latest/classrtabmap_1_1ImuMotionPredictor.js new file mode 100644 index 00000000..b765ebcf --- /dev/null +++ b/api/latest/classrtabmap_1_1ImuMotionPredictor.js @@ -0,0 +1,15 @@ +var classrtabmap_1_1ImuMotionPredictor = +[ + [ "ImuMotionPredictor", "classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb", null ], + [ "gravity", "classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4", null ], + [ "isGravityEstimated", "classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10", null ], + [ "gravityWindows", "classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112", null ], + [ "addImu", "classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04", null ], + [ "addPose", "classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47", null ], + [ "reset", "classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4", null ], + [ "predict", "classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0", null ], + [ "hasPose", "classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb", null ], + [ "lastPoseStamp", "classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95", null ], + [ "velocity", "classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff", null ], + [ "samples", "classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245", null ] +]; \ No newline at end of file diff --git a/api/latest/classrtabmap_1_1KAZE-members.html b/api/latest/classrtabmap_1_1KAZE-members.html index eb9c3de4..dff3e682 100644 --- a/api/latest/classrtabmap_1_1KAZE-members.html +++ b/api/latest/classrtabmap_1_1KAZE-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1KAZE.html b/api/latest/classrtabmap_1_1KAZE.html index 94874506..c72493a5 100644 --- a/api/latest/classrtabmap_1_1KAZE.html +++ b/api/latest/classrtabmap_1_1KAZE.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Landmark-members.html b/api/latest/classrtabmap_1_1Landmark-members.html index d905fe26..bae770e8 100644 --- a/api/latest/classrtabmap_1_1Landmark-members.html +++ b/api/latest/classrtabmap_1_1Landmark-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Landmark.html b/api/latest/classrtabmap_1_1Landmark.html index 738ee450..21652910 100644 --- a/api/latest/classrtabmap_1_1Landmark.html +++ b/api/latest/classrtabmap_1_1Landmark.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LaserScan-members.html b/api/latest/classrtabmap_1_1LaserScan-members.html index 976aa59c..0c632a5c 100644 --- a/api/latest/classrtabmap_1_1LaserScan-members.html +++ b/api/latest/classrtabmap_1_1LaserScan-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LaserScan.html b/api/latest/classrtabmap_1_1LaserScan.html index 4091c77e..1f4e7eca 100644 --- a/api/latest/classrtabmap_1_1LaserScan.html +++ b/api/latest/classrtabmap_1_1LaserScan.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Lidar-members.html b/api/latest/classrtabmap_1_1Lidar-members.html index 1aae9b51..30555407 100644 --- a/api/latest/classrtabmap_1_1Lidar-members.html +++ b/api/latest/classrtabmap_1_1Lidar-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Lidar.html b/api/latest/classrtabmap_1_1Lidar.html index 7730cabd..64e6a1d7 100644 --- a/api/latest/classrtabmap_1_1Lidar.html +++ b/api/latest/classrtabmap_1_1Lidar.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LidarVLP16-members.html b/api/latest/classrtabmap_1_1LidarVLP16-members.html index d32ca5e5..1d4fc2d6 100644 --- a/api/latest/classrtabmap_1_1LidarVLP16-members.html +++ b/api/latest/classrtabmap_1_1LidarVLP16-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LidarVLP16.html b/api/latest/classrtabmap_1_1LidarVLP16.html index f26bc8d2..6b37655e 100644 --- a/api/latest/classrtabmap_1_1LidarVLP16.html +++ b/api/latest/classrtabmap_1_1LidarVLP16.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Link-members.html b/api/latest/classrtabmap_1_1Link-members.html index 2831f891..f7a6998e 100644 --- a/api/latest/classrtabmap_1_1Link-members.html +++ b/api/latest/classrtabmap_1_1Link-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Link.html b/api/latest/classrtabmap_1_1Link.html index f32794cc..b8f3c8f1 100644 --- a/api/latest/classrtabmap_1_1Link.html +++ b/api/latest/classrtabmap_1_1Link.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGrid-members.html b/api/latest/classrtabmap_1_1LocalGrid-members.html index 8795de78..f3ef213b 100644 --- a/api/latest/classrtabmap_1_1LocalGrid-members.html +++ b/api/latest/classrtabmap_1_1LocalGrid-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGrid.html b/api/latest/classrtabmap_1_1LocalGrid.html index 353c1ff2..ca93f069 100644 --- a/api/latest/classrtabmap_1_1LocalGrid.html +++ b/api/latest/classrtabmap_1_1LocalGrid.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGridCache-members.html b/api/latest/classrtabmap_1_1LocalGridCache-members.html index 388efb20..612dc22b 100644 --- a/api/latest/classrtabmap_1_1LocalGridCache-members.html +++ b/api/latest/classrtabmap_1_1LocalGridCache-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGridCache.html b/api/latest/classrtabmap_1_1LocalGridCache.html index df26e3c4..8479cbb7 100644 --- a/api/latest/classrtabmap_1_1LocalGridCache.html +++ b/api/latest/classrtabmap_1_1LocalGridCache.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGridMaker-members.html b/api/latest/classrtabmap_1_1LocalGridMaker-members.html index abe03611..1a3dcc8b 100644 --- a/api/latest/classrtabmap_1_1LocalGridMaker-members.html +++ b/api/latest/classrtabmap_1_1LocalGridMaker-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1LocalGridMaker.html b/api/latest/classrtabmap_1_1LocalGridMaker.html index 4030b05d..4698000e 100644 --- a/api/latest/classrtabmap_1_1LocalGridMaker.html +++ b/api/latest/classrtabmap_1_1LocalGridMaker.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1MarkerDetector-members.html b/api/latest/classrtabmap_1_1MarkerDetector-members.html index 8a3d4f59..3fb3d20a 100644 --- a/api/latest/classrtabmap_1_1MarkerDetector-members.html +++ b/api/latest/classrtabmap_1_1MarkerDetector-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1MarkerDetector.html b/api/latest/classrtabmap_1_1MarkerDetector.html index c393cde6..789f48d0 100644 --- a/api/latest/classrtabmap_1_1MarkerDetector.html +++ b/api/latest/classrtabmap_1_1MarkerDetector.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1MarkerInfo-members.html b/api/latest/classrtabmap_1_1MarkerInfo-members.html index 6ae12f46..32a300b5 100644 --- a/api/latest/classrtabmap_1_1MarkerInfo-members.html +++ b/api/latest/classrtabmap_1_1MarkerInfo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1MarkerInfo.html b/api/latest/classrtabmap_1_1MarkerInfo.html index 890c9f29..c265c741 100644 --- a/api/latest/classrtabmap_1_1MarkerInfo.html +++ b/api/latest/classrtabmap_1_1MarkerInfo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Memory-members.html b/api/latest/classrtabmap_1_1Memory-members.html index 17e5a9e0..790236b6 100644 --- a/api/latest/classrtabmap_1_1Memory-members.html +++ b/api/latest/classrtabmap_1_1Memory-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Memory.html b/api/latest/classrtabmap_1_1Memory.html index 099ad5a6..d34df0be 100644 --- a/api/latest/classrtabmap_1_1Memory.html +++ b/api/latest/classrtabmap_1_1Memory.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ORB-members.html b/api/latest/classrtabmap_1_1ORB-members.html index b36fbafd..2937421f 100644 --- a/api/latest/classrtabmap_1_1ORB-members.html +++ b/api/latest/classrtabmap_1_1ORB-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ORB.html b/api/latest/classrtabmap_1_1ORB.html index 56dd54cc..3a9282d7 100644 --- a/api/latest/classrtabmap_1_1ORB.html +++ b/api/latest/classrtabmap_1_1ORB.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ORBOctree-members.html b/api/latest/classrtabmap_1_1ORBOctree-members.html index ef958d2d..1de303aa 100644 --- a/api/latest/classrtabmap_1_1ORBOctree-members.html +++ b/api/latest/classrtabmap_1_1ORBOctree-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ORBOctree.html b/api/latest/classrtabmap_1_1ORBOctree.html index 7a685efc..72680d02 100644 --- a/api/latest/classrtabmap_1_1ORBOctree.html +++ b/api/latest/classrtabmap_1_1ORBOctree.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OccupancyGrid-members.html b/api/latest/classrtabmap_1_1OccupancyGrid-members.html index 0ea5c546..5c8c2aa2 100644 --- a/api/latest/classrtabmap_1_1OccupancyGrid-members.html +++ b/api/latest/classrtabmap_1_1OccupancyGrid-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OccupancyGrid.html b/api/latest/classrtabmap_1_1OccupancyGrid.html index 49217ab0..53c7e8f6 100644 --- a/api/latest/classrtabmap_1_1OccupancyGrid.html +++ b/api/latest/classrtabmap_1_1OccupancyGrid.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OctoMap-members.html b/api/latest/classrtabmap_1_1OctoMap-members.html index a8ba1f64..ba776528 100644 --- a/api/latest/classrtabmap_1_1OctoMap-members.html +++ b/api/latest/classrtabmap_1_1OctoMap-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OctoMap.html b/api/latest/classrtabmap_1_1OctoMap.html index 49a457c5..8bb29f02 100644 --- a/api/latest/classrtabmap_1_1OctoMap.html +++ b/api/latest/classrtabmap_1_1OctoMap.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Odometry-members.html b/api/latest/classrtabmap_1_1Odometry-members.html index 62d272eb..408c85ff 100644 --- a/api/latest/classrtabmap_1_1Odometry-members.html +++ b/api/latest/classrtabmap_1_1Odometry-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Odometry.html b/api/latest/classrtabmap_1_1Odometry.html index b957b2ec..94934a49 100644 --- a/api/latest/classrtabmap_1_1Odometry.html +++ b/api/latest/classrtabmap_1_1Odometry.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -240,7 +240,7 @@ Protected Member Functions
OdometryInfo
-

Definition at line 56 of file Odometry.h.

+

Definition at line 57 of file Odometry.h.

Member Enumeration Documentation

◆ Type

@@ -290,7 +290,7 @@ Protected Member Functions -

Definition at line 60 of file Odometry.h.

+

Definition at line 61 of file Odometry.h.

@@ -547,7 +547,7 @@ Protected Member Functions

Reimplemented in rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, and rtabmap::OdometryVINSFusion.

-

Definition at line 117 of file Odometry.h.

+

Definition at line 118 of file Odometry.h.

@@ -577,7 +577,7 @@ Protected Member Functions

Reimplemented in rtabmap::OdometryLIOSAM, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM3, and rtabmap::OdometryVINSFusion.

-

Definition at line 119 of file Odometry.h.

+

Definition at line 120 of file Odometry.h.

@@ -605,7 +605,7 @@ Protected Member Functions
Returns
Current integrated odometry pose.
-

Definition at line 122 of file Odometry.h.

+

Definition at line 123 of file Odometry.h.

@@ -633,7 +633,7 @@ Protected Member Functions
Returns
True if OdometryInfo debug/statistics fields are filled in process().
-

Definition at line 124 of file Odometry.h.

+

Definition at line 125 of file Odometry.h.

@@ -679,7 +679,7 @@ Protected Member Functions
Returns
Last estimated velocity used for motion guessing (may be null).
-

Definition at line 128 of file Odometry.h.

+

Definition at line 129 of file Odometry.h.

@@ -707,7 +707,7 @@ Protected Member Functions
Returns
Timestamp of the previously processed frame.
-

Definition at line 130 of file Odometry.h.

+

Definition at line 131 of file Odometry.h.

@@ -735,7 +735,7 @@ Protected Member Functions
Returns
Number of frames processed since the last reset().
-

Definition at line 132 of file Odometry.h.

+

Definition at line 133 of file Odometry.h.

@@ -763,7 +763,7 @@ Protected Member Functions
Returns
True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()).
-

Definition at line 134 of file Odometry.h.

+

Definition at line 135 of file Odometry.h.

@@ -791,7 +791,7 @@ Protected Member Functions
Returns
IMU orientations cached from recent frames (stamp → transform).
-

Definition at line 138 of file Odometry.h.

+

Definition at line 139 of file Odometry.h.

diff --git a/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html b/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html index 5308ee1d..8fedaa7a 100644 --- a/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html +++ b/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryCuVSLAM.html b/api/latest/classrtabmap_1_1OdometryCuVSLAM.html index 0fcac38e..54853698 100644 --- a/api/latest/classrtabmap_1_1OdometryCuVSLAM.html +++ b/api/latest/classrtabmap_1_1OdometryCuVSLAM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryDVO-members.html b/api/latest/classrtabmap_1_1OdometryDVO-members.html index 8b159e99..a6707c1c 100644 --- a/api/latest/classrtabmap_1_1OdometryDVO-members.html +++ b/api/latest/classrtabmap_1_1OdometryDVO-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryDVO.html b/api/latest/classrtabmap_1_1OdometryDVO.html index ba127b02..f8c0f9bb 100644 --- a/api/latest/classrtabmap_1_1OdometryDVO.html +++ b/api/latest/classrtabmap_1_1OdometryDVO.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryEvent-members.html b/api/latest/classrtabmap_1_1OdometryEvent-members.html index 8265b03f..01b7ed38 100644 --- a/api/latest/classrtabmap_1_1OdometryEvent-members.html +++ b/api/latest/classrtabmap_1_1OdometryEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryEvent.html b/api/latest/classrtabmap_1_1OdometryEvent.html index 3a93a252..8bf94373 100644 --- a/api/latest/classrtabmap_1_1OdometryEvent.html +++ b/api/latest/classrtabmap_1_1OdometryEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryF2F-members.html b/api/latest/classrtabmap_1_1OdometryF2F-members.html index 3bd53817..e196c2aa 100644 --- a/api/latest/classrtabmap_1_1OdometryF2F-members.html +++ b/api/latest/classrtabmap_1_1OdometryF2F-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryF2F.html b/api/latest/classrtabmap_1_1OdometryF2F.html index 1efd8648..c20a9cf5 100644 --- a/api/latest/classrtabmap_1_1OdometryF2F.html +++ b/api/latest/classrtabmap_1_1OdometryF2F.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryF2M-members.html b/api/latest/classrtabmap_1_1OdometryF2M-members.html index c51bee35..78721bcc 100644 --- a/api/latest/classrtabmap_1_1OdometryF2M-members.html +++ b/api/latest/classrtabmap_1_1OdometryF2M-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryF2M.html b/api/latest/classrtabmap_1_1OdometryF2M.html index 29f50c20..138793d9 100644 --- a/api/latest/classrtabmap_1_1OdometryF2M.html +++ b/api/latest/classrtabmap_1_1OdometryF2M.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryFLOAM-members.html b/api/latest/classrtabmap_1_1OdometryFLOAM-members.html index 1cdb4cea..0c451b8b 100644 --- a/api/latest/classrtabmap_1_1OdometryFLOAM-members.html +++ b/api/latest/classrtabmap_1_1OdometryFLOAM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryFLOAM.html b/api/latest/classrtabmap_1_1OdometryFLOAM.html index e00456ec..4ec9fa6d 100644 --- a/api/latest/classrtabmap_1_1OdometryFLOAM.html +++ b/api/latest/classrtabmap_1_1OdometryFLOAM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryFovis-members.html b/api/latest/classrtabmap_1_1OdometryFovis-members.html index d042a728..3769f132 100644 --- a/api/latest/classrtabmap_1_1OdometryFovis-members.html +++ b/api/latest/classrtabmap_1_1OdometryFovis-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryFovis.html b/api/latest/classrtabmap_1_1OdometryFovis.html index f059a145..67b74a54 100644 --- a/api/latest/classrtabmap_1_1OdometryFovis.html +++ b/api/latest/classrtabmap_1_1OdometryFovis.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryInfo-members.html b/api/latest/classrtabmap_1_1OdometryInfo-members.html index 44232c7e..e33de105 100644 --- a/api/latest/classrtabmap_1_1OdometryInfo-members.html +++ b/api/latest/classrtabmap_1_1OdometryInfo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryInfo.html b/api/latest/classrtabmap_1_1OdometryInfo.html index 946b4547..3e6a16ef 100644 --- a/api/latest/classrtabmap_1_1OdometryInfo.html +++ b/api/latest/classrtabmap_1_1OdometryInfo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryLIOSAM-members.html b/api/latest/classrtabmap_1_1OdometryLIOSAM-members.html index f3812ca5..5a39e69b 100644 --- a/api/latest/classrtabmap_1_1OdometryLIOSAM-members.html +++ b/api/latest/classrtabmap_1_1OdometryLIOSAM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryLIOSAM.html b/api/latest/classrtabmap_1_1OdometryLIOSAM.html index 0cf46551..325d1754 100644 --- a/api/latest/classrtabmap_1_1OdometryLIOSAM.html +++ b/api/latest/classrtabmap_1_1OdometryLIOSAM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryLOAM-members.html b/api/latest/classrtabmap_1_1OdometryLOAM-members.html index c371ff79..f72b5ace 100644 --- a/api/latest/classrtabmap_1_1OdometryLOAM-members.html +++ b/api/latest/classrtabmap_1_1OdometryLOAM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryLOAM.html b/api/latest/classrtabmap_1_1OdometryLOAM.html index 5b3fb4ac..7f84a4b7 100644 --- a/api/latest/classrtabmap_1_1OdometryLOAM.html +++ b/api/latest/classrtabmap_1_1OdometryLOAM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryMSCKF-members.html b/api/latest/classrtabmap_1_1OdometryMSCKF-members.html index 0e33bcb8..f12f252e 100644 --- a/api/latest/classrtabmap_1_1OdometryMSCKF-members.html +++ b/api/latest/classrtabmap_1_1OdometryMSCKF-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryMSCKF.html b/api/latest/classrtabmap_1_1OdometryMSCKF.html index e1726ac9..f070da04 100644 --- a/api/latest/classrtabmap_1_1OdometryMSCKF.html +++ b/api/latest/classrtabmap_1_1OdometryMSCKF.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryMono-members.html b/api/latest/classrtabmap_1_1OdometryMono-members.html index 2748bbc5..3a0c4dd6 100644 --- a/api/latest/classrtabmap_1_1OdometryMono-members.html +++ b/api/latest/classrtabmap_1_1OdometryMono-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryMono.html b/api/latest/classrtabmap_1_1OdometryMono.html index 39938908..866446fa 100644 --- a/api/latest/classrtabmap_1_1OdometryMono.html +++ b/api/latest/classrtabmap_1_1OdometryMono.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html b/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html index 15ba04ff..3a8504bf 100644 --- a/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html +++ b/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryORBSLAM2.html b/api/latest/classrtabmap_1_1OdometryORBSLAM2.html index b9daac28..2ef11ec0 100644 --- a/api/latest/classrtabmap_1_1OdometryORBSLAM2.html +++ b/api/latest/classrtabmap_1_1OdometryORBSLAM2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html b/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html index 2c8553bd..e162cf4d 100644 --- a/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html +++ b/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryORBSLAM3.html b/api/latest/classrtabmap_1_1OdometryORBSLAM3.html index 8a7e527c..dec5cbe4 100644 --- a/api/latest/classrtabmap_1_1OdometryORBSLAM3.html +++ b/api/latest/classrtabmap_1_1OdometryORBSLAM3.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOkvis-members.html b/api/latest/classrtabmap_1_1OdometryOkvis-members.html index 6afec02e..8f612546 100644 --- a/api/latest/classrtabmap_1_1OdometryOkvis-members.html +++ b/api/latest/classrtabmap_1_1OdometryOkvis-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOkvis.html b/api/latest/classrtabmap_1_1OdometryOkvis.html index f0455684..4ab81119 100644 --- a/api/latest/classrtabmap_1_1OdometryOkvis.html +++ b/api/latest/classrtabmap_1_1OdometryOkvis.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOpen3D-members.html b/api/latest/classrtabmap_1_1OdometryOpen3D-members.html index 9475732d..eeb11d65 100644 --- a/api/latest/classrtabmap_1_1OdometryOpen3D-members.html +++ b/api/latest/classrtabmap_1_1OdometryOpen3D-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOpen3D.html b/api/latest/classrtabmap_1_1OdometryOpen3D.html index 233493f3..d18edafc 100644 --- a/api/latest/classrtabmap_1_1OdometryOpen3D.html +++ b/api/latest/classrtabmap_1_1OdometryOpen3D.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html b/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html index 659dfda0..38db7ddd 100644 --- a/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html +++ b/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryOpenVINS.html b/api/latest/classrtabmap_1_1OdometryOpenVINS.html index e06cd7dc..9f335cb6 100644 --- a/api/latest/classrtabmap_1_1OdometryOpenVINS.html +++ b/api/latest/classrtabmap_1_1OdometryOpenVINS.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryResetEvent-members.html b/api/latest/classrtabmap_1_1OdometryResetEvent-members.html index 2e9af5b4..5b834a34 100644 --- a/api/latest/classrtabmap_1_1OdometryResetEvent-members.html +++ b/api/latest/classrtabmap_1_1OdometryResetEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryResetEvent.html b/api/latest/classrtabmap_1_1OdometryResetEvent.html index 0dcb5b83..5b50b1dc 100644 --- a/api/latest/classrtabmap_1_1OdometryResetEvent.html +++ b/api/latest/classrtabmap_1_1OdometryResetEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryThread-members.html b/api/latest/classrtabmap_1_1OdometryThread-members.html index c25e0600..a0c8b44e 100644 --- a/api/latest/classrtabmap_1_1OdometryThread-members.html +++ b/api/latest/classrtabmap_1_1OdometryThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryThread.html b/api/latest/classrtabmap_1_1OdometryThread.html index b671a271..95947104 100644 --- a/api/latest/classrtabmap_1_1OdometryThread.html +++ b/api/latest/classrtabmap_1_1OdometryThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html b/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html index 6eab117b..a1a22e3c 100644 --- a/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html +++ b/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryVINSFusion.html b/api/latest/classrtabmap_1_1OdometryVINSFusion.html index 9391d77d..4968749a 100644 --- a/api/latest/classrtabmap_1_1OdometryVINSFusion.html +++ b/api/latest/classrtabmap_1_1OdometryVINSFusion.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryViso2-members.html b/api/latest/classrtabmap_1_1OdometryViso2-members.html index b263e8da..2bd79336 100644 --- a/api/latest/classrtabmap_1_1OdometryViso2-members.html +++ b/api/latest/classrtabmap_1_1OdometryViso2-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OdometryViso2.html b/api/latest/classrtabmap_1_1OdometryViso2.html index 1ed45c7b..ae4fc410 100644 --- a/api/latest/classrtabmap_1_1OdometryViso2.html +++ b/api/latest/classrtabmap_1_1OdometryViso2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Optimizer-members.html b/api/latest/classrtabmap_1_1Optimizer-members.html index 1e107b27..0f0e11c5 100644 --- a/api/latest/classrtabmap_1_1Optimizer-members.html +++ b/api/latest/classrtabmap_1_1Optimizer-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Optimizer.html b/api/latest/classrtabmap_1_1Optimizer.html index a36d3909..7a6bf4ac 100644 --- a/api/latest/classrtabmap_1_1Optimizer.html +++ b/api/latest/classrtabmap_1_1Optimizer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html b/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html index 061aed71..43c52d01 100644 --- a/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html +++ b/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerCVSBA.html b/api/latest/classrtabmap_1_1OptimizerCVSBA.html index 61314f84..51f2c44e 100644 --- a/api/latest/classrtabmap_1_1OptimizerCVSBA.html +++ b/api/latest/classrtabmap_1_1OptimizerCVSBA.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerCeres-members.html b/api/latest/classrtabmap_1_1OptimizerCeres-members.html index 143a1471..30776b33 100644 --- a/api/latest/classrtabmap_1_1OptimizerCeres-members.html +++ b/api/latest/classrtabmap_1_1OptimizerCeres-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerCeres.html b/api/latest/classrtabmap_1_1OptimizerCeres.html index 3e7b64f7..851879fe 100644 --- a/api/latest/classrtabmap_1_1OptimizerCeres.html +++ b/api/latest/classrtabmap_1_1OptimizerCeres.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerG2O-members.html b/api/latest/classrtabmap_1_1OptimizerG2O-members.html index df57407a..27dec0e4 100644 --- a/api/latest/classrtabmap_1_1OptimizerG2O-members.html +++ b/api/latest/classrtabmap_1_1OptimizerG2O-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerG2O.html b/api/latest/classrtabmap_1_1OptimizerG2O.html index d39a4fd3..6f0fbaca 100644 --- a/api/latest/classrtabmap_1_1OptimizerG2O.html +++ b/api/latest/classrtabmap_1_1OptimizerG2O.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html b/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html index 27e8b4f1..ef8b1c44 100644 --- a/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html +++ b/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerGTSAM.html b/api/latest/classrtabmap_1_1OptimizerGTSAM.html index 333c55df..9adc0461 100644 --- a/api/latest/classrtabmap_1_1OptimizerGTSAM.html +++ b/api/latest/classrtabmap_1_1OptimizerGTSAM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerTORO-members.html b/api/latest/classrtabmap_1_1OptimizerTORO-members.html index 6e2caf7b..1bf10020 100644 --- a/api/latest/classrtabmap_1_1OptimizerTORO-members.html +++ b/api/latest/classrtabmap_1_1OptimizerTORO-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1OptimizerTORO.html b/api/latest/classrtabmap_1_1OptimizerTORO.html index b84964aa..8b7010e7b 100644 --- a/api/latest/classrtabmap_1_1OptimizerTORO.html +++ b/api/latest/classrtabmap_1_1OptimizerTORO.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ParamEvent-members.html b/api/latest/classrtabmap_1_1ParamEvent-members.html index f617b2cd..b976b6e9 100644 --- a/api/latest/classrtabmap_1_1ParamEvent-members.html +++ b/api/latest/classrtabmap_1_1ParamEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ParamEvent.html b/api/latest/classrtabmap_1_1ParamEvent.html index 3c968fc8..c6374983 100644 --- a/api/latest/classrtabmap_1_1ParamEvent.html +++ b/api/latest/classrtabmap_1_1ParamEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Parameters-members.html b/api/latest/classrtabmap_1_1Parameters-members.html index 61fe48cf..1d20e499 100644 --- a/api/latest/classrtabmap_1_1Parameters-members.html +++ b/api/latest/classrtabmap_1_1Parameters-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -359,635 +359,637 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1Parameters.html',''); defaultOdomHolonomic()rtabmap::Parametersinlinestatic defaultOdomImageBufferSize()rtabmap::Parametersinlinestatic defaultOdomImageDecimation()rtabmap::Parametersinlinestatic - defaultOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic - defaultOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic - defaultOdomKeyFrameThr()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMNScan()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMSensor()rtabmap::Parametersinlinestatic - defaultOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic - defaultOdomLOAMAngVar()rtabmap::Parametersinlinestatic - defaultOdomLOAMLinVar()rtabmap::Parametersinlinestatic - defaultOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic - defaultOdomLOAMResolution()rtabmap::Parametersinlinestatic - defaultOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic - defaultOdomLOAMSensor()rtabmap::Parametersinlinestatic - defaultOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic - defaultOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic - defaultOdomMonoMaxVariance()rtabmap::Parametersinlinestatic - defaultOdomMonoMinTranslation()rtabmap::Parametersinlinestatic - defaultOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFGridCol()rtabmap::Parametersinlinestatic - defaultOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic - defaultOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic - defaultOdomMSCKFGridRow()rtabmap::Parametersinlinestatic - defaultOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic - defaultOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic - defaultOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic - defaultOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic - defaultOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic - defaultOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic - defaultOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic - defaultOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic - defaultOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic - defaultOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic - defaultOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic - defaultOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic - defaultOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic - defaultOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic - defaultOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic - defaultOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic - defaultOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic - defaultOdomOKVISConfigPath()rtabmap::Parametersinlinestatic - defaultOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic - defaultOdomOpen3DMethod()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic - defaultOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMBf()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMFps()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMInertial()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic - defaultOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic - defaultOdomParticleLambdaR()rtabmap::Parametersinlinestatic - defaultOdomParticleLambdaT()rtabmap::Parametersinlinestatic - defaultOdomParticleNoiseR()rtabmap::Parametersinlinestatic - defaultOdomParticleNoiseT()rtabmap::Parametersinlinestatic - defaultOdomParticleSize()rtabmap::Parametersinlinestatic - defaultOdomResetCountdown()rtabmap::Parametersinlinestatic - defaultOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic - defaultOdomStrategy()rtabmap::Parametersinlinestatic - defaultOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic - defaultOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic - defaultOdomViso2BucketHeight()rtabmap::Parametersinlinestatic - defaultOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic - defaultOdomViso2BucketWidth()rtabmap::Parametersinlinestatic - defaultOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchRadius()rtabmap::Parametersinlinestatic - defaultOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic - defaultOdomViso2RansacIters()rtabmap::Parametersinlinestatic - defaultOdomViso2Reweighting()rtabmap::Parametersinlinestatic - defaultOptimizerBaseline()rtabmap::Parametersinlinestatic - defaultOptimizerDisparityVariance()rtabmap::Parametersinlinestatic - defaultOptimizerEpsilon()rtabmap::Parametersinlinestatic - defaultOptimizerGravitySigma()rtabmap::Parametersinlinestatic - defaultOptimizerIterations()rtabmap::Parametersinlinestatic - defaultOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic - defaultOptimizerPixelVariance()rtabmap::Parametersinlinestatic - defaultOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic - defaultOptimizerRobust()rtabmap::Parametersinlinestatic - defaultOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic - defaultOptimizerStrategy()rtabmap::Parametersinlinestatic - defaultOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic - defaultORBEdgeThreshold()rtabmap::Parametersinlinestatic - defaultORBFirstLevel()rtabmap::Parametersinlinestatic - defaultORBGpu()rtabmap::Parametersinlinestatic - defaultORBNLevels()rtabmap::Parametersinlinestatic - defaultORBPatchSize()rtabmap::Parametersinlinestatic - defaultORBScaleFactor()rtabmap::Parametersinlinestatic - defaultORBScoreType()rtabmap::Parametersinlinestatic - defaultORBWTA_K()rtabmap::Parametersinlinestatic - defaultPyDescriptorDim()rtabmap::Parametersinlinestatic - defaultPyDescriptorPath()rtabmap::Parametersinlinestatic - defaultPyDetectorCuda()rtabmap::Parametersinlinestatic - defaultPyDetectorPath()rtabmap::Parametersinlinestatic - defaultPyMatcherCuda()rtabmap::Parametersinlinestatic - defaultPyMatcherIterations()rtabmap::Parametersinlinestatic - defaultPyMatcherModel()rtabmap::Parametersinlinestatic - defaultPyMatcherPath()rtabmap::Parametersinlinestatic - defaultPyMatcherThreshold()rtabmap::Parametersinlinestatic - defaultRegForce3DoF()rtabmap::Parametersinlinestatic - defaultRegRepeatOnce()rtabmap::Parametersinlinestatic - defaultRegStrategy()rtabmap::Parametersinlinestatic - defaultRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic - defaultRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic - defaultRGBDAngularUpdate()rtabmap::Parametersinlinestatic - defaultRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic - defaultRGBDEnabled()rtabmap::Parametersinlinestatic - defaultRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic - defaultRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic - defaultRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic - defaultRGBDInvertedReg()rtabmap::Parametersinlinestatic - defaultRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic - defaultRGBDLinearUpdate()rtabmap::Parametersinlinestatic - defaultRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic - defaultRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic - defaultRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic - defaultRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic - defaultRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic - defaultRGBDLocalRadius()rtabmap::Parametersinlinestatic - defaultRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic - defaultRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic - defaultRGBDLoopCovLimited()rtabmap::Parametersinlinestatic - defaultRGBDMarkerDetection()rtabmap::Parametersinlinestatic - defaultRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic - defaultRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic - defaultRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic - defaultRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic - defaultRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic - defaultRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic - defaultRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic - defaultRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic - defaultRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic - defaultRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic - defaultRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic - defaultRGBDProximityAngle()rtabmap::Parametersinlinestatic - defaultRGBDProximityBySpace()rtabmap::Parametersinlinestatic - defaultRGBDProximityByTime()rtabmap::Parametersinlinestatic - defaultRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic - defaultRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic - defaultRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic - defaultRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic - defaultRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic - defaultRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic - defaultRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic - defaultRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic - defaultRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic - defaultRGBDStartAtOrigin()rtabmap::Parametersinlinestatic - defaultRtabmapComputeRMSE()rtabmap::Parametersinlinestatic - defaultRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic - defaultRtabmapDetectionRate()rtabmap::Parametersinlinestatic - defaultRtabmapImageBufferSize()rtabmap::Parametersinlinestatic - defaultRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic - defaultRtabmapLoopGPS()rtabmap::Parametersinlinestatic - defaultRtabmapLoopRatio()rtabmap::Parametersinlinestatic - defaultRtabmapLoopThr()rtabmap::Parametersinlinestatic - defaultRtabmapMaxRepublished()rtabmap::Parametersinlinestatic - defaultRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic - defaultRtabmapMemoryThr()rtabmap::Parametersinlinestatic - defaultRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic - defaultRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic - defaultRtabmapPublishPdf()rtabmap::Parametersinlinestatic - defaultRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic - defaultRtabmapPublishStats()rtabmap::Parametersinlinestatic - defaultRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic - defaultRtabmapSaveWMState()rtabmap::Parametersinlinestatic - defaultRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic - defaultRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic - defaultRtabmapStatisticLogged()rtabmap::Parametersinlinestatic - defaultRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic - defaultRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic - defaultRtabmapTimeThr()rtabmap::Parametersinlinestatic - defaultRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic - defaultRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic - defaultSIFTContrastThreshold()rtabmap::Parametersinlinestatic - defaultSIFTEdgeThreshold()rtabmap::Parametersinlinestatic - defaultSIFTGaussianThreshold()rtabmap::Parametersinlinestatic - defaultSIFTGpu()rtabmap::Parametersinlinestatic - defaultSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic - defaultSIFTNOctaveLayers()rtabmap::Parametersinlinestatic - defaultSIFTPreciseUpscale()rtabmap::Parametersinlinestatic - defaultSIFTRootSIFT()rtabmap::Parametersinlinestatic - defaultSIFTSigma()rtabmap::Parametersinlinestatic - defaultSIFTUpscale()rtabmap::Parametersinlinestatic - defaultStereoBMBlockSize()rtabmap::Parametersinlinestatic - defaultStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic - defaultStereoBMMinDisparity()rtabmap::Parametersinlinestatic - defaultStereoBMNumDisparities()rtabmap::Parametersinlinestatic - defaultStereoBMPreFilterCap()rtabmap::Parametersinlinestatic - defaultStereoBMPreFilterSize()rtabmap::Parametersinlinestatic - defaultStereoBMSpeckleRange()rtabmap::Parametersinlinestatic - defaultStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic - defaultStereoBMTextureThreshold()rtabmap::Parametersinlinestatic - defaultStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic - defaultStereoDenseStrategy()rtabmap::Parametersinlinestatic - defaultStereoEps()rtabmap::Parametersinlinestatic - defaultStereoErrorThreshold()rtabmap::Parametersinlinestatic - defaultStereoGpu()rtabmap::Parametersinlinestatic - defaultStereoIterations()rtabmap::Parametersinlinestatic - defaultStereoMaxDisparity()rtabmap::Parametersinlinestatic - defaultStereoMaxLevel()rtabmap::Parametersinlinestatic - defaultStereoMinDisparity()rtabmap::Parametersinlinestatic - defaultStereoMinEigThreshold()rtabmap::Parametersinlinestatic - defaultStereoOpticalFlow()rtabmap::Parametersinlinestatic - defaultStereoSGBMBlockSize()rtabmap::Parametersinlinestatic - defaultStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic - defaultStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic - defaultStereoSGBMMode()rtabmap::Parametersinlinestatic - defaultStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic - defaultStereoSGBMP1()rtabmap::Parametersinlinestatic - defaultStereoSGBMP2()rtabmap::Parametersinlinestatic - defaultStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic - defaultStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic - defaultStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic - defaultStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic - defaultStereoSSD()rtabmap::Parametersinlinestatic - defaultStereoUseMinEigenVals()rtabmap::Parametersinlinestatic - defaultStereoWinHeight()rtabmap::Parametersinlinestatic - defaultStereoWinWidth()rtabmap::Parametersinlinestatic - defaultSuperPointCuda()rtabmap::Parametersinlinestatic - defaultSuperPointModelPath()rtabmap::Parametersinlinestatic - defaultSuperPointNMS()rtabmap::Parametersinlinestatic - defaultSuperPointNMSRadius()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratCuda()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratNMS()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic - defaultSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic - defaultSuperPointThreshold()rtabmap::Parametersinlinestatic - defaultSURFExtended()rtabmap::Parametersinlinestatic - defaultSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic - defaultSURFGpuVersion()rtabmap::Parametersinlinestatic - defaultSURFHessianThreshold()rtabmap::Parametersinlinestatic - defaultSURFOctaveLayers()rtabmap::Parametersinlinestatic - defaultSURFOctaves()rtabmap::Parametersinlinestatic - defaultSURFUpright()rtabmap::Parametersinlinestatic - defaultVhEpEnabled()rtabmap::Parametersinlinestatic - defaultVhEpMatchCountMin()rtabmap::Parametersinlinestatic - defaultVhEpRansacParam1()rtabmap::Parametersinlinestatic - defaultVhEpRansacParam2()rtabmap::Parametersinlinestatic - defaultVisBundleAdjustment()rtabmap::Parametersinlinestatic - defaultVisCorFlowEps()rtabmap::Parametersinlinestatic - defaultVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic - defaultVisCorFlowGpu()rtabmap::Parametersinlinestatic - defaultVisCorFlowIterations()rtabmap::Parametersinlinestatic - defaultVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic - defaultVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic - defaultVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic - defaultVisCorFlowWinSize()rtabmap::Parametersinlinestatic - defaultVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic - defaultVisCorGuessWinSize()rtabmap::Parametersinlinestatic - defaultVisCorNNDR()rtabmap::Parametersinlinestatic - defaultVisCorNNType()rtabmap::Parametersinlinestatic - defaultVisCorType()rtabmap::Parametersinlinestatic - defaultVisDepthAsMask()rtabmap::Parametersinlinestatic - defaultVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic - defaultVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic - defaultVisEstimationType()rtabmap::Parametersinlinestatic - defaultVisFeatureType()rtabmap::Parametersinlinestatic - defaultVisGridCols()rtabmap::Parametersinlinestatic - defaultVisGridRows()rtabmap::Parametersinlinestatic - defaultVisInlierDistance()rtabmap::Parametersinlinestatic - defaultVisIterations()rtabmap::Parametersinlinestatic - defaultVisMaxDepth()rtabmap::Parametersinlinestatic - defaultVisMaxFeatures()rtabmap::Parametersinlinestatic - defaultVisMeanInliersDistance()rtabmap::Parametersinlinestatic - defaultVisMinDepth()rtabmap::Parametersinlinestatic - defaultVisMinInliers()rtabmap::Parametersinlinestatic - defaultVisMinInliersDistribution()rtabmap::Parametersinlinestatic - defaultVisPnPFlags()rtabmap::Parametersinlinestatic - defaultVisPnPMaxVariance()rtabmap::Parametersinlinestatic - defaultVisPnPRefineIterations()rtabmap::Parametersinlinestatic - defaultVisPnPReprojError()rtabmap::Parametersinlinestatic - defaultVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic - defaultVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic - defaultVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic - defaultVisRefineIterations()rtabmap::Parametersinlinestatic - defaultVisRoiRatios()rtabmap::Parametersinlinestatic - defaultVisSSC()rtabmap::Parametersinlinestatic - defaultVisSubPixEps()rtabmap::Parametersinlinestatic - defaultVisSubPixIterations()rtabmap::Parametersinlinestatic - defaultVisSubPixWinSize()rtabmap::Parametersinlinestatic - deserialize(const std::string &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic - filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)rtabmap::Parametersstatic - getBackwardCompatibilityMap()rtabmap::Parametersstatic - getDefaultDatabaseName() (defined in rtabmap::Parameters)rtabmap::Parametersstatic - getDefaultOdometryParameters(bool stereo=false, bool vis=true, bool icp=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic - getDefaultParameters()rtabmap::Parametersinlinestatic - getDefaultParameters(const std::string &group) (defined in rtabmap::Parameters)rtabmap::Parametersstatic - getDescription(const std::string &paramKey)rtabmap::Parametersstatic - getRemovedParameters()rtabmap::Parametersstatic - getType(const std::string &paramKey)rtabmap::Parametersstatic - getVersion() (defined in rtabmap::Parameters)rtabmap::Parametersstatic - isFeatureParameter(const std::string &param) (defined in rtabmap::Parameters)rtabmap::Parametersstatic - kBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic - kBayesPredictionLC()rtabmap::Parametersinlinestatic - kBayesSparsePrediction()rtabmap::Parametersinlinestatic - kBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic - kBRIEFBytes()rtabmap::Parametersinlinestatic - kBRISKOctaves()rtabmap::Parametersinlinestatic - kBRISKPatternScale()rtabmap::Parametersinlinestatic - kBRISKThresh()rtabmap::Parametersinlinestatic - kDbSqlite3CacheSize()rtabmap::Parametersinlinestatic - kDbSqlite3InMemory()rtabmap::Parametersinlinestatic - kDbSqlite3JournalMode()rtabmap::Parametersinlinestatic - kDbSqlite3Synchronous()rtabmap::Parametersinlinestatic - kDbSqlite3TempStore()rtabmap::Parametersinlinestatic - kDbTargetVersion()rtabmap::Parametersinlinestatic - kFASTCV()rtabmap::Parametersinlinestatic - kFASTGpu()rtabmap::Parametersinlinestatic - kFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic - kFASTGridCols()rtabmap::Parametersinlinestatic - kFASTGridRows()rtabmap::Parametersinlinestatic - kFASTMaxThreshold()rtabmap::Parametersinlinestatic - kFASTMinThreshold()rtabmap::Parametersinlinestatic - kFASTNonmaxSuppression()rtabmap::Parametersinlinestatic - kFASTThreshold()rtabmap::Parametersinlinestatic - kFREAKNOctaves()rtabmap::Parametersinlinestatic - kFREAKOrientationNormalized()rtabmap::Parametersinlinestatic - kFREAKPatternScale()rtabmap::Parametersinlinestatic - kFREAKScaleNormalized()rtabmap::Parametersinlinestatic - kg2oOptimizer()rtabmap::Parametersinlinestatic - kg2oSolver()rtabmap::Parametersinlinestatic - kGFTTBlockSize()rtabmap::Parametersinlinestatic - kGFTTGpu()rtabmap::Parametersinlinestatic - kGFTTK()rtabmap::Parametersinlinestatic - kGFTTMinDistance()rtabmap::Parametersinlinestatic - kGFTTQualityLevel()rtabmap::Parametersinlinestatic - kGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic - kGMSThresholdFactor()rtabmap::Parametersinlinestatic - kGMSWithRotation()rtabmap::Parametersinlinestatic - kGMSWithScale()rtabmap::Parametersinlinestatic - kGrid3D()rtabmap::Parametersinlinestatic - kGridCellSize()rtabmap::Parametersinlinestatic - kGridClusterRadius()rtabmap::Parametersinlinestatic - kGridDepthDecimation()rtabmap::Parametersinlinestatic - kGridDepthRoiRatios()rtabmap::Parametersinlinestatic - kGridFlatObstacleDetected()rtabmap::Parametersinlinestatic - kGridFootprintHeight()rtabmap::Parametersinlinestatic - kGridFootprintLength()rtabmap::Parametersinlinestatic - kGridFootprintWidth()rtabmap::Parametersinlinestatic - kGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic - kGridGlobalEroded()rtabmap::Parametersinlinestatic - kGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic - kGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic - kGridGlobalMaxNodes()rtabmap::Parametersinlinestatic - kGridGlobalMinSize()rtabmap::Parametersinlinestatic - kGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic - kGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic - kGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic - kGridGlobalProbHit()rtabmap::Parametersinlinestatic - kGridGlobalProbMiss()rtabmap::Parametersinlinestatic - kGridGlobalUpdateError()rtabmap::Parametersinlinestatic - kGridGroundIsObstacle()rtabmap::Parametersinlinestatic - kGridMapFrameProjection()rtabmap::Parametersinlinestatic - kGridMaxGroundAngle()rtabmap::Parametersinlinestatic - kGridMaxGroundHeight()rtabmap::Parametersinlinestatic - kGridMaxObstacleHeight()rtabmap::Parametersinlinestatic - kGridMinClusterSize()rtabmap::Parametersinlinestatic - kGridMinGroundHeight()rtabmap::Parametersinlinestatic - kGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic - kGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic - kGridNormalK()rtabmap::Parametersinlinestatic - kGridNormalsSegmentation()rtabmap::Parametersinlinestatic - kGridPreVoxelFiltering()rtabmap::Parametersinlinestatic - kGridRangeMax()rtabmap::Parametersinlinestatic - kGridRangeMin()rtabmap::Parametersinlinestatic - kGridRayTracing()rtabmap::Parametersinlinestatic - kGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic - kGridScanDecimation()rtabmap::Parametersinlinestatic - kGridSensor()rtabmap::Parametersinlinestatic - kGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic - kGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic - kGTSAMIncremental()rtabmap::Parametersinlinestatic - kGTSAMOptimizer()rtabmap::Parametersinlinestatic - kIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic - kIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic - kIcpCCSamplingLimit()rtabmap::Parametersinlinestatic - kIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic - kIcpDebugExportFormat()rtabmap::Parametersinlinestatic - kIcpDownsamplingStep()rtabmap::Parametersinlinestatic - kIcpEpsilon()rtabmap::Parametersinlinestatic - kIcpFiltersEnabled()rtabmap::Parametersinlinestatic - kIcpForce4DoF()rtabmap::Parametersinlinestatic - kIcpIterations()rtabmap::Parametersinlinestatic - kIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic - kIcpMaxRotation()rtabmap::Parametersinlinestatic - kIcpMaxTranslation()rtabmap::Parametersinlinestatic - kIcpOutlierRatio()rtabmap::Parametersinlinestatic - kIcpPMConfig()rtabmap::Parametersinlinestatic - kIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic - kIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic - kIcpPMMatcherKnn()rtabmap::Parametersinlinestatic - kIcpPointToPlane()rtabmap::Parametersinlinestatic - kIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic - kIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic - kIcpPointToPlaneK()rtabmap::Parametersinlinestatic - kIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic - kIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic - kIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic - kIcpRangeMax()rtabmap::Parametersinlinestatic - kIcpRangeMin()rtabmap::Parametersinlinestatic - kIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic - kIcpStrategy()rtabmap::Parametersinlinestatic - kIcpVoxelSize()rtabmap::Parametersinlinestatic - kImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic - kImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic - kImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic - kImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic - kImuFilterMadgwickGain()rtabmap::Parametersinlinestatic - kImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic - kKAZEDiffusivity()rtabmap::Parametersinlinestatic - kKAZEExtended()rtabmap::Parametersinlinestatic - kKAZENOctaveLayers()rtabmap::Parametersinlinestatic - kKAZENOctaves()rtabmap::Parametersinlinestatic - kKAZEThreshold()rtabmap::Parametersinlinestatic - kKAZEUpright()rtabmap::Parametersinlinestatic - kKpBadSignRatio()rtabmap::Parametersinlinestatic - kKpByteToFloat()rtabmap::Parametersinlinestatic - kKpDetectorStrategy()rtabmap::Parametersinlinestatic - kKpDictionaryPath()rtabmap::Parametersinlinestatic - kKpFlannIndexSaved()rtabmap::Parametersinlinestatic - kKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic - kKpFlannThreads()rtabmap::Parametersinlinestatic - kKpGridCols()rtabmap::Parametersinlinestatic - kKpGridRows()rtabmap::Parametersinlinestatic - kKpIncrementalDictionary()rtabmap::Parametersinlinestatic - kKpIncrementalFlann()rtabmap::Parametersinlinestatic - kKpMaxDepth()rtabmap::Parametersinlinestatic - kKpMaxFeatures()rtabmap::Parametersinlinestatic - kKpMinDepth()rtabmap::Parametersinlinestatic - kKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic - kKpNndrRatio()rtabmap::Parametersinlinestatic - kKpNNStrategy()rtabmap::Parametersinlinestatic - kKpParallelized()rtabmap::Parametersinlinestatic - kKpRoiRatios()rtabmap::Parametersinlinestatic - kKpSerializeWithChecksum()rtabmap::Parametersinlinestatic - kKpSSC()rtabmap::Parametersinlinestatic - kKpSubPixEps()rtabmap::Parametersinlinestatic - kKpSubPixIterations()rtabmap::Parametersinlinestatic - kKpSubPixWinSize()rtabmap::Parametersinlinestatic - kKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic - kMarkerAprilTagDebug()rtabmap::Parametersinlinestatic - kMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic - kMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic - kMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic - kMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic - kMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic - kMarkerDictionary()rtabmap::Parametersinlinestatic - kMarkerLength()rtabmap::Parametersinlinestatic - kMarkerLengths()rtabmap::Parametersinlinestatic - kMarkerMaxDepthError()rtabmap::Parametersinlinestatic - kMarkerMaxRange()rtabmap::Parametersinlinestatic - kMarkerMinRange()rtabmap::Parametersinlinestatic - kMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic - kMarkerPriors()rtabmap::Parametersinlinestatic - kMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic - kMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic - kMarkerStrategy()rtabmap::Parametersinlinestatic - kMarkerVarianceAngular()rtabmap::Parametersinlinestatic - kMarkerVarianceLinear()rtabmap::Parametersinlinestatic - kMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic - kMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic - kMemBinDataKept()rtabmap::Parametersinlinestatic - kMemCompressionParallelized()rtabmap::Parametersinlinestatic - kMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic - kMemDepthAsMask()rtabmap::Parametersinlinestatic - kMemDepthCompressionFormat()rtabmap::Parametersinlinestatic - kMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic - kMemGenerateIds()rtabmap::Parametersinlinestatic - kMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic - kMemImageCompressionFormat()rtabmap::Parametersinlinestatic - kMemImageKept()rtabmap::Parametersinlinestatic - kMemImagePostDecimation()rtabmap::Parametersinlinestatic - kMemImagePreDecimation()rtabmap::Parametersinlinestatic - kMemIncrementalMemory()rtabmap::Parametersinlinestatic - kMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic - kMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic - kMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic - kMemLaserScanNormalK()rtabmap::Parametersinlinestatic - kMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic - kMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic - kMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic - kMemLocalizationDataSaved()rtabmap::Parametersinlinestatic - kMemLocalizationReadOnly()rtabmap::Parametersinlinestatic - kMemMapLabelsAdded()rtabmap::Parametersinlinestatic - kMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic - kMemRawDescriptorsKept()rtabmap::Parametersinlinestatic - kMemRecentWmRatio()rtabmap::Parametersinlinestatic - kMemReduceGraph()rtabmap::Parametersinlinestatic - kMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic - kMemRehearsalSimilarity()rtabmap::Parametersinlinestatic - kMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic - kMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic - kMemSaveDepth16Format()rtabmap::Parametersinlinestatic - kMemStereoFromMotion()rtabmap::Parametersinlinestatic - kMemSTMSize()rtabmap::Parametersinlinestatic - kMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic - kMemUseOdomFeatures()rtabmap::Parametersinlinestatic - kMemUseOdomGravity()rtabmap::Parametersinlinestatic - kOdomAlignWithGround()rtabmap::Parametersinlinestatic - kOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic - kOdomDeskewing()rtabmap::Parametersinlinestatic - kOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic - kOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic - kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic - kOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic - kOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic - kOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic - kOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic - kOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic - kOdomF2MMaxSize()rtabmap::Parametersinlinestatic - kOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic - kOdomF2MScanRange()rtabmap::Parametersinlinestatic - kOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic - kOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic - kOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic - kOdomFillInfoData()rtabmap::Parametersinlinestatic - kOdomFilteringStrategy()rtabmap::Parametersinlinestatic - kOdomFovisBucketHeight()rtabmap::Parametersinlinestatic - kOdomFovisBucketWidth()rtabmap::Parametersinlinestatic - kOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic - kOdomFovisFastThreshold()rtabmap::Parametersinlinestatic - kOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic - kOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic - kOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic - kOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic - kOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic - kOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic - kOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic - kOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic - kOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic - kOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic - kOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic - kOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic - kOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic - kOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic - kOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic - kOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic - kOdomFovisUseBucketing()rtabmap::Parametersinlinestatic - kOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic - kOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic - kOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic - kOdomGuessMotion()rtabmap::Parametersinlinestatic - kOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic - kOdomHolonomic()rtabmap::Parametersinlinestatic - kOdomImageBufferSize()rtabmap::Parametersinlinestatic - kOdomImageDecimation()rtabmap::Parametersinlinestatic + defaultOdomImuGravity()rtabmap::Parametersinlinestatic + defaultOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic + defaultOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic + defaultOdomKeyFrameThr()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMNScan()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMSensor()rtabmap::Parametersinlinestatic + defaultOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic + defaultOdomLOAMAngVar()rtabmap::Parametersinlinestatic + defaultOdomLOAMLinVar()rtabmap::Parametersinlinestatic + defaultOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic + defaultOdomLOAMResolution()rtabmap::Parametersinlinestatic + defaultOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic + defaultOdomLOAMSensor()rtabmap::Parametersinlinestatic + defaultOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic + defaultOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic + defaultOdomMonoMaxVariance()rtabmap::Parametersinlinestatic + defaultOdomMonoMinTranslation()rtabmap::Parametersinlinestatic + defaultOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFGridCol()rtabmap::Parametersinlinestatic + defaultOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic + defaultOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic + defaultOdomMSCKFGridRow()rtabmap::Parametersinlinestatic + defaultOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic + defaultOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic + defaultOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic + defaultOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic + defaultOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic + defaultOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic + defaultOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic + defaultOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic + defaultOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic + defaultOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic + defaultOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic + defaultOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic + defaultOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic + defaultOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic + defaultOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic + defaultOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic + defaultOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic + defaultOdomOKVISConfigPath()rtabmap::Parametersinlinestatic + defaultOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic + defaultOdomOpen3DMethod()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic + defaultOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMBf()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMFps()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMInertial()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic + defaultOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic + defaultOdomParticleLambdaR()rtabmap::Parametersinlinestatic + defaultOdomParticleLambdaT()rtabmap::Parametersinlinestatic + defaultOdomParticleNoiseR()rtabmap::Parametersinlinestatic + defaultOdomParticleNoiseT()rtabmap::Parametersinlinestatic + defaultOdomParticleSize()rtabmap::Parametersinlinestatic + defaultOdomResetCountdown()rtabmap::Parametersinlinestatic + defaultOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic + defaultOdomStrategy()rtabmap::Parametersinlinestatic + defaultOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic + defaultOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic + defaultOdomViso2BucketHeight()rtabmap::Parametersinlinestatic + defaultOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic + defaultOdomViso2BucketWidth()rtabmap::Parametersinlinestatic + defaultOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchRadius()rtabmap::Parametersinlinestatic + defaultOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic + defaultOdomViso2RansacIters()rtabmap::Parametersinlinestatic + defaultOdomViso2Reweighting()rtabmap::Parametersinlinestatic + defaultOptimizerBaseline()rtabmap::Parametersinlinestatic + defaultOptimizerDisparityVariance()rtabmap::Parametersinlinestatic + defaultOptimizerEpsilon()rtabmap::Parametersinlinestatic + defaultOptimizerGravitySigma()rtabmap::Parametersinlinestatic + defaultOptimizerIterations()rtabmap::Parametersinlinestatic + defaultOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic + defaultOptimizerPixelVariance()rtabmap::Parametersinlinestatic + defaultOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic + defaultOptimizerRobust()rtabmap::Parametersinlinestatic + defaultOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic + defaultOptimizerStrategy()rtabmap::Parametersinlinestatic + defaultOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic + defaultORBEdgeThreshold()rtabmap::Parametersinlinestatic + defaultORBFirstLevel()rtabmap::Parametersinlinestatic + defaultORBGpu()rtabmap::Parametersinlinestatic + defaultORBNLevels()rtabmap::Parametersinlinestatic + defaultORBPatchSize()rtabmap::Parametersinlinestatic + defaultORBScaleFactor()rtabmap::Parametersinlinestatic + defaultORBScoreType()rtabmap::Parametersinlinestatic + defaultORBWTA_K()rtabmap::Parametersinlinestatic + defaultPyDescriptorDim()rtabmap::Parametersinlinestatic + defaultPyDescriptorPath()rtabmap::Parametersinlinestatic + defaultPyDetectorCuda()rtabmap::Parametersinlinestatic + defaultPyDetectorPath()rtabmap::Parametersinlinestatic + defaultPyMatcherCuda()rtabmap::Parametersinlinestatic + defaultPyMatcherIterations()rtabmap::Parametersinlinestatic + defaultPyMatcherModel()rtabmap::Parametersinlinestatic + defaultPyMatcherPath()rtabmap::Parametersinlinestatic + defaultPyMatcherThreshold()rtabmap::Parametersinlinestatic + defaultRegForce3DoF()rtabmap::Parametersinlinestatic + defaultRegRepeatOnce()rtabmap::Parametersinlinestatic + defaultRegStrategy()rtabmap::Parametersinlinestatic + defaultRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic + defaultRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic + defaultRGBDAngularUpdate()rtabmap::Parametersinlinestatic + defaultRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic + defaultRGBDEnabled()rtabmap::Parametersinlinestatic + defaultRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic + defaultRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic + defaultRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic + defaultRGBDInvertedReg()rtabmap::Parametersinlinestatic + defaultRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic + defaultRGBDLinearUpdate()rtabmap::Parametersinlinestatic + defaultRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic + defaultRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic + defaultRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic + defaultRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic + defaultRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic + defaultRGBDLocalRadius()rtabmap::Parametersinlinestatic + defaultRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic + defaultRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic + defaultRGBDLoopCovLimited()rtabmap::Parametersinlinestatic + defaultRGBDMarkerDetection()rtabmap::Parametersinlinestatic + defaultRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic + defaultRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic + defaultRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic + defaultRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic + defaultRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic + defaultRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic + defaultRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic + defaultRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic + defaultRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic + defaultRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic + defaultRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic + defaultRGBDProximityAngle()rtabmap::Parametersinlinestatic + defaultRGBDProximityBySpace()rtabmap::Parametersinlinestatic + defaultRGBDProximityByTime()rtabmap::Parametersinlinestatic + defaultRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic + defaultRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic + defaultRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic + defaultRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic + defaultRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic + defaultRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic + defaultRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic + defaultRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic + defaultRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic + defaultRGBDStartAtOrigin()rtabmap::Parametersinlinestatic + defaultRtabmapComputeRMSE()rtabmap::Parametersinlinestatic + defaultRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic + defaultRtabmapDetectionRate()rtabmap::Parametersinlinestatic + defaultRtabmapImageBufferSize()rtabmap::Parametersinlinestatic + defaultRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic + defaultRtabmapLoopGPS()rtabmap::Parametersinlinestatic + defaultRtabmapLoopRatio()rtabmap::Parametersinlinestatic + defaultRtabmapLoopThr()rtabmap::Parametersinlinestatic + defaultRtabmapMaxRepublished()rtabmap::Parametersinlinestatic + defaultRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic + defaultRtabmapMemoryThr()rtabmap::Parametersinlinestatic + defaultRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic + defaultRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic + defaultRtabmapPublishPdf()rtabmap::Parametersinlinestatic + defaultRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic + defaultRtabmapPublishStats()rtabmap::Parametersinlinestatic + defaultRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic + defaultRtabmapSaveWMState()rtabmap::Parametersinlinestatic + defaultRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic + defaultRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic + defaultRtabmapStatisticLogged()rtabmap::Parametersinlinestatic + defaultRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic + defaultRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic + defaultRtabmapTimeThr()rtabmap::Parametersinlinestatic + defaultRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic + defaultRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic + defaultSIFTContrastThreshold()rtabmap::Parametersinlinestatic + defaultSIFTEdgeThreshold()rtabmap::Parametersinlinestatic + defaultSIFTGaussianThreshold()rtabmap::Parametersinlinestatic + defaultSIFTGpu()rtabmap::Parametersinlinestatic + defaultSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic + defaultSIFTNOctaveLayers()rtabmap::Parametersinlinestatic + defaultSIFTPreciseUpscale()rtabmap::Parametersinlinestatic + defaultSIFTRootSIFT()rtabmap::Parametersinlinestatic + defaultSIFTSigma()rtabmap::Parametersinlinestatic + defaultSIFTUpscale()rtabmap::Parametersinlinestatic + defaultStereoBMBlockSize()rtabmap::Parametersinlinestatic + defaultStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic + defaultStereoBMMinDisparity()rtabmap::Parametersinlinestatic + defaultStereoBMNumDisparities()rtabmap::Parametersinlinestatic + defaultStereoBMPreFilterCap()rtabmap::Parametersinlinestatic + defaultStereoBMPreFilterSize()rtabmap::Parametersinlinestatic + defaultStereoBMSpeckleRange()rtabmap::Parametersinlinestatic + defaultStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic + defaultStereoBMTextureThreshold()rtabmap::Parametersinlinestatic + defaultStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic + defaultStereoDenseStrategy()rtabmap::Parametersinlinestatic + defaultStereoEps()rtabmap::Parametersinlinestatic + defaultStereoErrorThreshold()rtabmap::Parametersinlinestatic + defaultStereoGpu()rtabmap::Parametersinlinestatic + defaultStereoIterations()rtabmap::Parametersinlinestatic + defaultStereoMaxDisparity()rtabmap::Parametersinlinestatic + defaultStereoMaxLevel()rtabmap::Parametersinlinestatic + defaultStereoMinDisparity()rtabmap::Parametersinlinestatic + defaultStereoMinEigThreshold()rtabmap::Parametersinlinestatic + defaultStereoOpticalFlow()rtabmap::Parametersinlinestatic + defaultStereoSGBMBlockSize()rtabmap::Parametersinlinestatic + defaultStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic + defaultStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic + defaultStereoSGBMMode()rtabmap::Parametersinlinestatic + defaultStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic + defaultStereoSGBMP1()rtabmap::Parametersinlinestatic + defaultStereoSGBMP2()rtabmap::Parametersinlinestatic + defaultStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic + defaultStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic + defaultStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic + defaultStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic + defaultStereoSSD()rtabmap::Parametersinlinestatic + defaultStereoUseMinEigenVals()rtabmap::Parametersinlinestatic + defaultStereoWinHeight()rtabmap::Parametersinlinestatic + defaultStereoWinWidth()rtabmap::Parametersinlinestatic + defaultSuperPointCuda()rtabmap::Parametersinlinestatic + defaultSuperPointModelPath()rtabmap::Parametersinlinestatic + defaultSuperPointNMS()rtabmap::Parametersinlinestatic + defaultSuperPointNMSRadius()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratCuda()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratNMS()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic + defaultSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic + defaultSuperPointThreshold()rtabmap::Parametersinlinestatic + defaultSURFExtended()rtabmap::Parametersinlinestatic + defaultSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic + defaultSURFGpuVersion()rtabmap::Parametersinlinestatic + defaultSURFHessianThreshold()rtabmap::Parametersinlinestatic + defaultSURFOctaveLayers()rtabmap::Parametersinlinestatic + defaultSURFOctaves()rtabmap::Parametersinlinestatic + defaultSURFUpright()rtabmap::Parametersinlinestatic + defaultVhEpEnabled()rtabmap::Parametersinlinestatic + defaultVhEpMatchCountMin()rtabmap::Parametersinlinestatic + defaultVhEpRansacParam1()rtabmap::Parametersinlinestatic + defaultVhEpRansacParam2()rtabmap::Parametersinlinestatic + defaultVisBundleAdjustment()rtabmap::Parametersinlinestatic + defaultVisCorFlowEps()rtabmap::Parametersinlinestatic + defaultVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic + defaultVisCorFlowGpu()rtabmap::Parametersinlinestatic + defaultVisCorFlowIterations()rtabmap::Parametersinlinestatic + defaultVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic + defaultVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic + defaultVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic + defaultVisCorFlowWinSize()rtabmap::Parametersinlinestatic + defaultVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic + defaultVisCorGuessWinSize()rtabmap::Parametersinlinestatic + defaultVisCorNNDR()rtabmap::Parametersinlinestatic + defaultVisCorNNType()rtabmap::Parametersinlinestatic + defaultVisCorType()rtabmap::Parametersinlinestatic + defaultVisDepthAsMask()rtabmap::Parametersinlinestatic + defaultVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic + defaultVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic + defaultVisEstimationType()rtabmap::Parametersinlinestatic + defaultVisFeatureType()rtabmap::Parametersinlinestatic + defaultVisGridCols()rtabmap::Parametersinlinestatic + defaultVisGridRows()rtabmap::Parametersinlinestatic + defaultVisInlierDistance()rtabmap::Parametersinlinestatic + defaultVisIterations()rtabmap::Parametersinlinestatic + defaultVisMaxDepth()rtabmap::Parametersinlinestatic + defaultVisMaxFeatures()rtabmap::Parametersinlinestatic + defaultVisMeanInliersDistance()rtabmap::Parametersinlinestatic + defaultVisMinDepth()rtabmap::Parametersinlinestatic + defaultVisMinInliers()rtabmap::Parametersinlinestatic + defaultVisMinInliersDistribution()rtabmap::Parametersinlinestatic + defaultVisPnPFlags()rtabmap::Parametersinlinestatic + defaultVisPnPMaxVariance()rtabmap::Parametersinlinestatic + defaultVisPnPRefineIterations()rtabmap::Parametersinlinestatic + defaultVisPnPReprojError()rtabmap::Parametersinlinestatic + defaultVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic + defaultVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic + defaultVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic + defaultVisRefineIterations()rtabmap::Parametersinlinestatic + defaultVisRoiRatios()rtabmap::Parametersinlinestatic + defaultVisSSC()rtabmap::Parametersinlinestatic + defaultVisSubPixEps()rtabmap::Parametersinlinestatic + defaultVisSubPixIterations()rtabmap::Parametersinlinestatic + defaultVisSubPixWinSize()rtabmap::Parametersinlinestatic + deserialize(const std::string &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic + filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)rtabmap::Parametersstatic + getBackwardCompatibilityMap()rtabmap::Parametersstatic + getDefaultDatabaseName() (defined in rtabmap::Parameters)rtabmap::Parametersstatic + getDefaultOdometryParameters(bool stereo=false, bool vis=true, bool icp=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic + getDefaultParameters()rtabmap::Parametersinlinestatic + getDefaultParameters(const std::string &group) (defined in rtabmap::Parameters)rtabmap::Parametersstatic + getDescription(const std::string &paramKey)rtabmap::Parametersstatic + getRemovedParameters()rtabmap::Parametersstatic + getType(const std::string &paramKey)rtabmap::Parametersstatic + getVersion() (defined in rtabmap::Parameters)rtabmap::Parametersstatic + isFeatureParameter(const std::string &param) (defined in rtabmap::Parameters)rtabmap::Parametersstatic + kBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic + kBayesPredictionLC()rtabmap::Parametersinlinestatic + kBayesSparsePrediction()rtabmap::Parametersinlinestatic + kBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic + kBRIEFBytes()rtabmap::Parametersinlinestatic + kBRISKOctaves()rtabmap::Parametersinlinestatic + kBRISKPatternScale()rtabmap::Parametersinlinestatic + kBRISKThresh()rtabmap::Parametersinlinestatic + kDbSqlite3CacheSize()rtabmap::Parametersinlinestatic + kDbSqlite3InMemory()rtabmap::Parametersinlinestatic + kDbSqlite3JournalMode()rtabmap::Parametersinlinestatic + kDbSqlite3Synchronous()rtabmap::Parametersinlinestatic + kDbSqlite3TempStore()rtabmap::Parametersinlinestatic + kDbTargetVersion()rtabmap::Parametersinlinestatic + kFASTCV()rtabmap::Parametersinlinestatic + kFASTGpu()rtabmap::Parametersinlinestatic + kFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic + kFASTGridCols()rtabmap::Parametersinlinestatic + kFASTGridRows()rtabmap::Parametersinlinestatic + kFASTMaxThreshold()rtabmap::Parametersinlinestatic + kFASTMinThreshold()rtabmap::Parametersinlinestatic + kFASTNonmaxSuppression()rtabmap::Parametersinlinestatic + kFASTThreshold()rtabmap::Parametersinlinestatic + kFREAKNOctaves()rtabmap::Parametersinlinestatic + kFREAKOrientationNormalized()rtabmap::Parametersinlinestatic + kFREAKPatternScale()rtabmap::Parametersinlinestatic + kFREAKScaleNormalized()rtabmap::Parametersinlinestatic + kg2oOptimizer()rtabmap::Parametersinlinestatic + kg2oSolver()rtabmap::Parametersinlinestatic + kGFTTBlockSize()rtabmap::Parametersinlinestatic + kGFTTGpu()rtabmap::Parametersinlinestatic + kGFTTK()rtabmap::Parametersinlinestatic + kGFTTMinDistance()rtabmap::Parametersinlinestatic + kGFTTQualityLevel()rtabmap::Parametersinlinestatic + kGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic + kGMSThresholdFactor()rtabmap::Parametersinlinestatic + kGMSWithRotation()rtabmap::Parametersinlinestatic + kGMSWithScale()rtabmap::Parametersinlinestatic + kGrid3D()rtabmap::Parametersinlinestatic + kGridCellSize()rtabmap::Parametersinlinestatic + kGridClusterRadius()rtabmap::Parametersinlinestatic + kGridDepthDecimation()rtabmap::Parametersinlinestatic + kGridDepthRoiRatios()rtabmap::Parametersinlinestatic + kGridFlatObstacleDetected()rtabmap::Parametersinlinestatic + kGridFootprintHeight()rtabmap::Parametersinlinestatic + kGridFootprintLength()rtabmap::Parametersinlinestatic + kGridFootprintWidth()rtabmap::Parametersinlinestatic + kGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic + kGridGlobalEroded()rtabmap::Parametersinlinestatic + kGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic + kGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic + kGridGlobalMaxNodes()rtabmap::Parametersinlinestatic + kGridGlobalMinSize()rtabmap::Parametersinlinestatic + kGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic + kGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic + kGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic + kGridGlobalProbHit()rtabmap::Parametersinlinestatic + kGridGlobalProbMiss()rtabmap::Parametersinlinestatic + kGridGlobalUpdateError()rtabmap::Parametersinlinestatic + kGridGroundIsObstacle()rtabmap::Parametersinlinestatic + kGridMapFrameProjection()rtabmap::Parametersinlinestatic + kGridMaxGroundAngle()rtabmap::Parametersinlinestatic + kGridMaxGroundHeight()rtabmap::Parametersinlinestatic + kGridMaxObstacleHeight()rtabmap::Parametersinlinestatic + kGridMinClusterSize()rtabmap::Parametersinlinestatic + kGridMinGroundHeight()rtabmap::Parametersinlinestatic + kGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic + kGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic + kGridNormalK()rtabmap::Parametersinlinestatic + kGridNormalsSegmentation()rtabmap::Parametersinlinestatic + kGridPreVoxelFiltering()rtabmap::Parametersinlinestatic + kGridRangeMax()rtabmap::Parametersinlinestatic + kGridRangeMin()rtabmap::Parametersinlinestatic + kGridRayTracing()rtabmap::Parametersinlinestatic + kGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic + kGridScanDecimation()rtabmap::Parametersinlinestatic + kGridSensor()rtabmap::Parametersinlinestatic + kGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic + kGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic + kGTSAMIncremental()rtabmap::Parametersinlinestatic + kGTSAMOptimizer()rtabmap::Parametersinlinestatic + kIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic + kIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic + kIcpCCSamplingLimit()rtabmap::Parametersinlinestatic + kIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic + kIcpDebugExportFormat()rtabmap::Parametersinlinestatic + kIcpDownsamplingStep()rtabmap::Parametersinlinestatic + kIcpEpsilon()rtabmap::Parametersinlinestatic + kIcpFiltersEnabled()rtabmap::Parametersinlinestatic + kIcpForce4DoF()rtabmap::Parametersinlinestatic + kIcpIterations()rtabmap::Parametersinlinestatic + kIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic + kIcpMaxRotation()rtabmap::Parametersinlinestatic + kIcpMaxTranslation()rtabmap::Parametersinlinestatic + kIcpOutlierRatio()rtabmap::Parametersinlinestatic + kIcpPMConfig()rtabmap::Parametersinlinestatic + kIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic + kIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic + kIcpPMMatcherKnn()rtabmap::Parametersinlinestatic + kIcpPointToPlane()rtabmap::Parametersinlinestatic + kIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic + kIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic + kIcpPointToPlaneK()rtabmap::Parametersinlinestatic + kIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic + kIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic + kIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic + kIcpRangeMax()rtabmap::Parametersinlinestatic + kIcpRangeMin()rtabmap::Parametersinlinestatic + kIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic + kIcpStrategy()rtabmap::Parametersinlinestatic + kIcpVoxelSize()rtabmap::Parametersinlinestatic + kImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic + kImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic + kImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic + kImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic + kImuFilterMadgwickGain()rtabmap::Parametersinlinestatic + kImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic + kKAZEDiffusivity()rtabmap::Parametersinlinestatic + kKAZEExtended()rtabmap::Parametersinlinestatic + kKAZENOctaveLayers()rtabmap::Parametersinlinestatic + kKAZENOctaves()rtabmap::Parametersinlinestatic + kKAZEThreshold()rtabmap::Parametersinlinestatic + kKAZEUpright()rtabmap::Parametersinlinestatic + kKpBadSignRatio()rtabmap::Parametersinlinestatic + kKpByteToFloat()rtabmap::Parametersinlinestatic + kKpDetectorStrategy()rtabmap::Parametersinlinestatic + kKpDictionaryPath()rtabmap::Parametersinlinestatic + kKpFlannIndexSaved()rtabmap::Parametersinlinestatic + kKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic + kKpFlannThreads()rtabmap::Parametersinlinestatic + kKpGridCols()rtabmap::Parametersinlinestatic + kKpGridRows()rtabmap::Parametersinlinestatic + kKpIncrementalDictionary()rtabmap::Parametersinlinestatic + kKpIncrementalFlann()rtabmap::Parametersinlinestatic + kKpMaxDepth()rtabmap::Parametersinlinestatic + kKpMaxFeatures()rtabmap::Parametersinlinestatic + kKpMinDepth()rtabmap::Parametersinlinestatic + kKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic + kKpNndrRatio()rtabmap::Parametersinlinestatic + kKpNNStrategy()rtabmap::Parametersinlinestatic + kKpParallelized()rtabmap::Parametersinlinestatic + kKpRoiRatios()rtabmap::Parametersinlinestatic + kKpSerializeWithChecksum()rtabmap::Parametersinlinestatic + kKpSSC()rtabmap::Parametersinlinestatic + kKpSubPixEps()rtabmap::Parametersinlinestatic + kKpSubPixIterations()rtabmap::Parametersinlinestatic + kKpSubPixWinSize()rtabmap::Parametersinlinestatic + kKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic + kMarkerAprilTagDebug()rtabmap::Parametersinlinestatic + kMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic + kMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic + kMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic + kMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic + kMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic + kMarkerDictionary()rtabmap::Parametersinlinestatic + kMarkerLength()rtabmap::Parametersinlinestatic + kMarkerLengths()rtabmap::Parametersinlinestatic + kMarkerMaxDepthError()rtabmap::Parametersinlinestatic + kMarkerMaxRange()rtabmap::Parametersinlinestatic + kMarkerMinRange()rtabmap::Parametersinlinestatic + kMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic + kMarkerPriors()rtabmap::Parametersinlinestatic + kMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic + kMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic + kMarkerStrategy()rtabmap::Parametersinlinestatic + kMarkerVarianceAngular()rtabmap::Parametersinlinestatic + kMarkerVarianceLinear()rtabmap::Parametersinlinestatic + kMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic + kMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic + kMemBinDataKept()rtabmap::Parametersinlinestatic + kMemCompressionParallelized()rtabmap::Parametersinlinestatic + kMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic + kMemDepthAsMask()rtabmap::Parametersinlinestatic + kMemDepthCompressionFormat()rtabmap::Parametersinlinestatic + kMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic + kMemGenerateIds()rtabmap::Parametersinlinestatic + kMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic + kMemImageCompressionFormat()rtabmap::Parametersinlinestatic + kMemImageKept()rtabmap::Parametersinlinestatic + kMemImagePostDecimation()rtabmap::Parametersinlinestatic + kMemImagePreDecimation()rtabmap::Parametersinlinestatic + kMemIncrementalMemory()rtabmap::Parametersinlinestatic + kMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic + kMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic + kMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic + kMemLaserScanNormalK()rtabmap::Parametersinlinestatic + kMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic + 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kOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic + kOdomHolonomic()rtabmap::Parametersinlinestatic + kOdomImageBufferSize()rtabmap::Parametersinlinestatic + kOdomImageDecimation()rtabmap::Parametersinlinestatic + kOdomImuGravity()rtabmap::Parametersinlinestatic kOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic kOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic kOdomKeyFrameThr()rtabmap::Parametersinlinestatic @@ -1617,371 +1619,372 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1Parameters.html',''); typeOdomHolonomic()rtabmap::Parametersinlinestatic typeOdomImageBufferSize()rtabmap::Parametersinlinestatic typeOdomImageDecimation()rtabmap::Parametersinlinestatic - typeOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic - typeOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic - typeOdomKeyFrameThr()rtabmap::Parametersinlinestatic - typeOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic - 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typeStereoBMTextureThreshold()rtabmap::Parametersinlinestatic - typeStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic - typeStereoDenseStrategy()rtabmap::Parametersinlinestatic - typeStereoEps()rtabmap::Parametersinlinestatic - typeStereoErrorThreshold()rtabmap::Parametersinlinestatic - typeStereoGpu()rtabmap::Parametersinlinestatic - typeStereoIterations()rtabmap::Parametersinlinestatic - typeStereoMaxDisparity()rtabmap::Parametersinlinestatic - typeStereoMaxLevel()rtabmap::Parametersinlinestatic - typeStereoMinDisparity()rtabmap::Parametersinlinestatic - typeStereoMinEigThreshold()rtabmap::Parametersinlinestatic - typeStereoOpticalFlow()rtabmap::Parametersinlinestatic - typeStereoSGBMBlockSize()rtabmap::Parametersinlinestatic - typeStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic - typeStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic - typeStereoSGBMMode()rtabmap::Parametersinlinestatic - typeStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic - typeStereoSGBMP1()rtabmap::Parametersinlinestatic - typeStereoSGBMP2()rtabmap::Parametersinlinestatic - typeStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic - typeStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic - typeStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic - typeStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic - typeStereoSSD()rtabmap::Parametersinlinestatic - typeStereoUseMinEigenVals()rtabmap::Parametersinlinestatic - typeStereoWinHeight()rtabmap::Parametersinlinestatic - typeStereoWinWidth()rtabmap::Parametersinlinestatic - typeSuperPointCuda()rtabmap::Parametersinlinestatic - typeSuperPointModelPath()rtabmap::Parametersinlinestatic - typeSuperPointNMS()rtabmap::Parametersinlinestatic - typeSuperPointNMSRadius()rtabmap::Parametersinlinestatic - typeSuperPointRpautratCuda()rtabmap::Parametersinlinestatic - typeSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic - typeSuperPointRpautratNMS()rtabmap::Parametersinlinestatic - typeSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic - typeSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic - typeSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic - typeSuperPointThreshold()rtabmap::Parametersinlinestatic - typeSURFExtended()rtabmap::Parametersinlinestatic - typeSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic - typeSURFGpuVersion()rtabmap::Parametersinlinestatic - typeSURFHessianThreshold()rtabmap::Parametersinlinestatic - typeSURFOctaveLayers()rtabmap::Parametersinlinestatic - typeSURFOctaves()rtabmap::Parametersinlinestatic - typeSURFUpright()rtabmap::Parametersinlinestatic - typeVhEpEnabled()rtabmap::Parametersinlinestatic - typeVhEpMatchCountMin()rtabmap::Parametersinlinestatic - typeVhEpRansacParam1()rtabmap::Parametersinlinestatic - typeVhEpRansacParam2()rtabmap::Parametersinlinestatic - typeVisBundleAdjustment()rtabmap::Parametersinlinestatic - typeVisCorFlowEps()rtabmap::Parametersinlinestatic - typeVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic - typeVisCorFlowGpu()rtabmap::Parametersinlinestatic - typeVisCorFlowIterations()rtabmap::Parametersinlinestatic - typeVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic - typeVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic - typeVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic - typeVisCorFlowWinSize()rtabmap::Parametersinlinestatic - typeVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic - typeVisCorGuessWinSize()rtabmap::Parametersinlinestatic - typeVisCorNNDR()rtabmap::Parametersinlinestatic - typeVisCorNNType()rtabmap::Parametersinlinestatic - typeVisCorType()rtabmap::Parametersinlinestatic - typeVisDepthAsMask()rtabmap::Parametersinlinestatic - typeVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic - typeVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic - typeVisEstimationType()rtabmap::Parametersinlinestatic - typeVisFeatureType()rtabmap::Parametersinlinestatic - typeVisGridCols()rtabmap::Parametersinlinestatic - typeVisGridRows()rtabmap::Parametersinlinestatic - typeVisInlierDistance()rtabmap::Parametersinlinestatic - typeVisIterations()rtabmap::Parametersinlinestatic - typeVisMaxDepth()rtabmap::Parametersinlinestatic - typeVisMaxFeatures()rtabmap::Parametersinlinestatic - typeVisMeanInliersDistance()rtabmap::Parametersinlinestatic - typeVisMinDepth()rtabmap::Parametersinlinestatic - typeVisMinInliers()rtabmap::Parametersinlinestatic - typeVisMinInliersDistribution()rtabmap::Parametersinlinestatic - typeVisPnPFlags()rtabmap::Parametersinlinestatic - typeVisPnPMaxVariance()rtabmap::Parametersinlinestatic - typeVisPnPRefineIterations()rtabmap::Parametersinlinestatic - typeVisPnPReprojError()rtabmap::Parametersinlinestatic - typeVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic - typeVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic - typeVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic - typeVisRefineIterations()rtabmap::Parametersinlinestatic - typeVisRoiRatios()rtabmap::Parametersinlinestatic - typeVisSSC()rtabmap::Parametersinlinestatic - typeVisSubPixEps()rtabmap::Parametersinlinestatic - typeVisSubPixIterations()rtabmap::Parametersinlinestatic - typeVisSubPixWinSize()rtabmap::Parametersinlinestatic - writeINI(const std::string &configFile, const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic - ~Parameters() (defined in rtabmap::Parameters)rtabmap::Parametersvirtual + typeOdomImuGravity()rtabmap::Parametersinlinestatic + typeOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic + typeOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic + typeOdomKeyFrameThr()rtabmap::Parametersinlinestatic + typeOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic + typeOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic + typeOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic + typeOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic + typeOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic + typeOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic + typeOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic + typeOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic + typeOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic + typeOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic + typeOdomLIOSAMNScan()rtabmap::Parametersinlinestatic + typeOdomLIOSAMSensor()rtabmap::Parametersinlinestatic + typeOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic + typeOdomLOAMAngVar()rtabmap::Parametersinlinestatic + typeOdomLOAMLinVar()rtabmap::Parametersinlinestatic + typeOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic + typeOdomLOAMResolution()rtabmap::Parametersinlinestatic + typeOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic + typeOdomLOAMSensor()rtabmap::Parametersinlinestatic + typeOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic + typeOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic + typeOdomMonoMaxVariance()rtabmap::Parametersinlinestatic + typeOdomMonoMinTranslation()rtabmap::Parametersinlinestatic + typeOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFGridCol()rtabmap::Parametersinlinestatic + typeOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic + typeOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic + typeOdomMSCKFGridRow()rtabmap::Parametersinlinestatic + typeOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic + typeOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic + typeOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic + typeOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic + typeOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic + typeOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic + typeOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic + typeOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic + typeOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic + typeOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic + typeOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic + typeOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic + typeOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic + typeOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic + typeOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic + typeOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic + typeOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic + typeOdomOKVISConfigPath()rtabmap::Parametersinlinestatic + typeOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic + typeOdomOpen3DMethod()rtabmap::Parametersinlinestatic + typeOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic + typeOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic + typeOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic + typeOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic + typeOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic + typeOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic + typeOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic + typeOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic + typeOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic + typeOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic + typeOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic + typeOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic + typeOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic + typeOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic + typeOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic + typeOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic + typeOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic + typeOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic + typeOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic + typeOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic + typeOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic + typeOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic + typeOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic + typeOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic + typeOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic + typeOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic + typeOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic + typeOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic + typeOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic + typeOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic + typeOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic + typeOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic + typeOdomORBSLAMBf()rtabmap::Parametersinlinestatic + typeOdomORBSLAMFps()rtabmap::Parametersinlinestatic + typeOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic + typeOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic + typeOdomORBSLAMInertial()rtabmap::Parametersinlinestatic + typeOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic + typeOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic + typeOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic + typeOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic + typeOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic + typeOdomParticleLambdaR()rtabmap::Parametersinlinestatic + typeOdomParticleLambdaT()rtabmap::Parametersinlinestatic + typeOdomParticleNoiseR()rtabmap::Parametersinlinestatic + typeOdomParticleNoiseT()rtabmap::Parametersinlinestatic + typeOdomParticleSize()rtabmap::Parametersinlinestatic + typeOdomResetCountdown()rtabmap::Parametersinlinestatic + typeOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic + typeOdomStrategy()rtabmap::Parametersinlinestatic + typeOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic + typeOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic + typeOdomViso2BucketHeight()rtabmap::Parametersinlinestatic + typeOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic + typeOdomViso2BucketWidth()rtabmap::Parametersinlinestatic + typeOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic + typeOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic + typeOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic + typeOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic + typeOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic + typeOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic + typeOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic + typeOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic + typeOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic + typeOdomViso2MatchRadius()rtabmap::Parametersinlinestatic + typeOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic + typeOdomViso2RansacIters()rtabmap::Parametersinlinestatic + typeOdomViso2Reweighting()rtabmap::Parametersinlinestatic + typeOptimizerBaseline()rtabmap::Parametersinlinestatic + typeOptimizerDisparityVariance()rtabmap::Parametersinlinestatic + typeOptimizerEpsilon()rtabmap::Parametersinlinestatic + typeOptimizerGravitySigma()rtabmap::Parametersinlinestatic + typeOptimizerIterations()rtabmap::Parametersinlinestatic + typeOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic + typeOptimizerPixelVariance()rtabmap::Parametersinlinestatic + typeOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic + typeOptimizerRobust()rtabmap::Parametersinlinestatic + typeOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic + typeOptimizerStrategy()rtabmap::Parametersinlinestatic + typeOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic + typeORBEdgeThreshold()rtabmap::Parametersinlinestatic + typeORBFirstLevel()rtabmap::Parametersinlinestatic + typeORBGpu()rtabmap::Parametersinlinestatic + typeORBNLevels()rtabmap::Parametersinlinestatic + typeORBPatchSize()rtabmap::Parametersinlinestatic + typeORBScaleFactor()rtabmap::Parametersinlinestatic + typeORBScoreType()rtabmap::Parametersinlinestatic + typeORBWTA_K()rtabmap::Parametersinlinestatic + typePyDescriptorDim()rtabmap::Parametersinlinestatic + typePyDescriptorPath()rtabmap::Parametersinlinestatic + typePyDetectorCuda()rtabmap::Parametersinlinestatic + typePyDetectorPath()rtabmap::Parametersinlinestatic + typePyMatcherCuda()rtabmap::Parametersinlinestatic + typePyMatcherIterations()rtabmap::Parametersinlinestatic + typePyMatcherModel()rtabmap::Parametersinlinestatic + typePyMatcherPath()rtabmap::Parametersinlinestatic + typePyMatcherThreshold()rtabmap::Parametersinlinestatic + typeRegForce3DoF()rtabmap::Parametersinlinestatic + typeRegRepeatOnce()rtabmap::Parametersinlinestatic + typeRegStrategy()rtabmap::Parametersinlinestatic + typeRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic + typeRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic + typeRGBDAngularUpdate()rtabmap::Parametersinlinestatic + typeRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic + typeRGBDEnabled()rtabmap::Parametersinlinestatic + typeRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic + typeRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic + typeRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic + typeRGBDInvertedReg()rtabmap::Parametersinlinestatic + typeRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic + typeRGBDLinearUpdate()rtabmap::Parametersinlinestatic + typeRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic + typeRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic + typeRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic + typeRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic + typeRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic + typeRGBDLocalRadius()rtabmap::Parametersinlinestatic + typeRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic + typeRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic + typeRGBDLoopCovLimited()rtabmap::Parametersinlinestatic + typeRGBDMarkerDetection()rtabmap::Parametersinlinestatic + typeRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic + typeRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic + typeRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic + typeRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic + typeRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic + typeRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic + typeRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic + typeRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic + typeRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic + typeRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic + typeRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic + typeRGBDProximityAngle()rtabmap::Parametersinlinestatic + typeRGBDProximityBySpace()rtabmap::Parametersinlinestatic + typeRGBDProximityByTime()rtabmap::Parametersinlinestatic + typeRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic + typeRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic + typeRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic + typeRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic + typeRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic + typeRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic + typeRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic + typeRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic + typeRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic + typeRGBDStartAtOrigin()rtabmap::Parametersinlinestatic + typeRtabmapComputeRMSE()rtabmap::Parametersinlinestatic + typeRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic + typeRtabmapDetectionRate()rtabmap::Parametersinlinestatic + typeRtabmapImageBufferSize()rtabmap::Parametersinlinestatic + typeRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic + typeRtabmapLoopGPS()rtabmap::Parametersinlinestatic + typeRtabmapLoopRatio()rtabmap::Parametersinlinestatic + typeRtabmapLoopThr()rtabmap::Parametersinlinestatic + typeRtabmapMaxRepublished()rtabmap::Parametersinlinestatic + typeRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic + typeRtabmapMemoryThr()rtabmap::Parametersinlinestatic + typeRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic + typeRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic + typeRtabmapPublishPdf()rtabmap::Parametersinlinestatic + typeRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic + typeRtabmapPublishStats()rtabmap::Parametersinlinestatic + typeRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic + typeRtabmapSaveWMState()rtabmap::Parametersinlinestatic + typeRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic + typeRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic + typeRtabmapStatisticLogged()rtabmap::Parametersinlinestatic + typeRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic + typeRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic + typeRtabmapTimeThr()rtabmap::Parametersinlinestatic + typeRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic + typeRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic + typeSIFTContrastThreshold()rtabmap::Parametersinlinestatic + typeSIFTEdgeThreshold()rtabmap::Parametersinlinestatic + typeSIFTGaussianThreshold()rtabmap::Parametersinlinestatic + typeSIFTGpu()rtabmap::Parametersinlinestatic + typeSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic + typeSIFTNOctaveLayers()rtabmap::Parametersinlinestatic + typeSIFTPreciseUpscale()rtabmap::Parametersinlinestatic + typeSIFTRootSIFT()rtabmap::Parametersinlinestatic + typeSIFTSigma()rtabmap::Parametersinlinestatic + typeSIFTUpscale()rtabmap::Parametersinlinestatic + typeStereoBMBlockSize()rtabmap::Parametersinlinestatic + typeStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic + typeStereoBMMinDisparity()rtabmap::Parametersinlinestatic + typeStereoBMNumDisparities()rtabmap::Parametersinlinestatic + typeStereoBMPreFilterCap()rtabmap::Parametersinlinestatic + typeStereoBMPreFilterSize()rtabmap::Parametersinlinestatic + typeStereoBMSpeckleRange()rtabmap::Parametersinlinestatic + typeStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic + typeStereoBMTextureThreshold()rtabmap::Parametersinlinestatic + typeStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic + typeStereoDenseStrategy()rtabmap::Parametersinlinestatic + typeStereoEps()rtabmap::Parametersinlinestatic + typeStereoErrorThreshold()rtabmap::Parametersinlinestatic + typeStereoGpu()rtabmap::Parametersinlinestatic + typeStereoIterations()rtabmap::Parametersinlinestatic + typeStereoMaxDisparity()rtabmap::Parametersinlinestatic + typeStereoMaxLevel()rtabmap::Parametersinlinestatic + typeStereoMinDisparity()rtabmap::Parametersinlinestatic + typeStereoMinEigThreshold()rtabmap::Parametersinlinestatic + typeStereoOpticalFlow()rtabmap::Parametersinlinestatic + typeStereoSGBMBlockSize()rtabmap::Parametersinlinestatic + typeStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic + typeStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic + typeStereoSGBMMode()rtabmap::Parametersinlinestatic + typeStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic + typeStereoSGBMP1()rtabmap::Parametersinlinestatic + typeStereoSGBMP2()rtabmap::Parametersinlinestatic + typeStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic + typeStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic + typeStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic + typeStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic + typeStereoSSD()rtabmap::Parametersinlinestatic + typeStereoUseMinEigenVals()rtabmap::Parametersinlinestatic + typeStereoWinHeight()rtabmap::Parametersinlinestatic + typeStereoWinWidth()rtabmap::Parametersinlinestatic + typeSuperPointCuda()rtabmap::Parametersinlinestatic + typeSuperPointModelPath()rtabmap::Parametersinlinestatic + typeSuperPointNMS()rtabmap::Parametersinlinestatic + typeSuperPointNMSRadius()rtabmap::Parametersinlinestatic + typeSuperPointRpautratCuda()rtabmap::Parametersinlinestatic + typeSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic + typeSuperPointRpautratNMS()rtabmap::Parametersinlinestatic + typeSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic + typeSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic + typeSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic + typeSuperPointThreshold()rtabmap::Parametersinlinestatic + typeSURFExtended()rtabmap::Parametersinlinestatic + typeSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic + typeSURFGpuVersion()rtabmap::Parametersinlinestatic + typeSURFHessianThreshold()rtabmap::Parametersinlinestatic + typeSURFOctaveLayers()rtabmap::Parametersinlinestatic + typeSURFOctaves()rtabmap::Parametersinlinestatic + typeSURFUpright()rtabmap::Parametersinlinestatic + typeVhEpEnabled()rtabmap::Parametersinlinestatic + typeVhEpMatchCountMin()rtabmap::Parametersinlinestatic + typeVhEpRansacParam1()rtabmap::Parametersinlinestatic + typeVhEpRansacParam2()rtabmap::Parametersinlinestatic + typeVisBundleAdjustment()rtabmap::Parametersinlinestatic + typeVisCorFlowEps()rtabmap::Parametersinlinestatic + typeVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic + typeVisCorFlowGpu()rtabmap::Parametersinlinestatic + typeVisCorFlowIterations()rtabmap::Parametersinlinestatic + typeVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic + typeVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic + typeVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic + typeVisCorFlowWinSize()rtabmap::Parametersinlinestatic + typeVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic + typeVisCorGuessWinSize()rtabmap::Parametersinlinestatic + typeVisCorNNDR()rtabmap::Parametersinlinestatic + typeVisCorNNType()rtabmap::Parametersinlinestatic + typeVisCorType()rtabmap::Parametersinlinestatic + typeVisDepthAsMask()rtabmap::Parametersinlinestatic + typeVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic + typeVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic + typeVisEstimationType()rtabmap::Parametersinlinestatic + typeVisFeatureType()rtabmap::Parametersinlinestatic + typeVisGridCols()rtabmap::Parametersinlinestatic + typeVisGridRows()rtabmap::Parametersinlinestatic + typeVisInlierDistance()rtabmap::Parametersinlinestatic + typeVisIterations()rtabmap::Parametersinlinestatic + typeVisMaxDepth()rtabmap::Parametersinlinestatic + typeVisMaxFeatures()rtabmap::Parametersinlinestatic + typeVisMeanInliersDistance()rtabmap::Parametersinlinestatic + typeVisMinDepth()rtabmap::Parametersinlinestatic + typeVisMinInliers()rtabmap::Parametersinlinestatic + typeVisMinInliersDistribution()rtabmap::Parametersinlinestatic + typeVisPnPFlags()rtabmap::Parametersinlinestatic + typeVisPnPMaxVariance()rtabmap::Parametersinlinestatic + typeVisPnPRefineIterations()rtabmap::Parametersinlinestatic + typeVisPnPReprojError()rtabmap::Parametersinlinestatic + typeVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic + typeVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic + typeVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic + typeVisRefineIterations()rtabmap::Parametersinlinestatic + typeVisRoiRatios()rtabmap::Parametersinlinestatic + typeVisSSC()rtabmap::Parametersinlinestatic + typeVisSubPixEps()rtabmap::Parametersinlinestatic + typeVisSubPixIterations()rtabmap::Parametersinlinestatic + typeVisSubPixWinSize()rtabmap::Parametersinlinestatic + writeINI(const std::string &configFile, const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic + ~Parameters() (defined in rtabmap::Parameters)rtabmap::Parametersvirtual
diff --git a/api/latest/classrtabmap_1_1Parameters.html b/api/latest/classrtabmap_1_1Parameters.html index 8e28f54a..2217c2ee 100644 --- a/api/latest/classrtabmap_1_1Parameters.html +++ b/api/latest/classrtabmap_1_1Parameters.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -2154,7 +2154,7 @@ Static Public Member Functions  Type of parameter Optimizer/PixelVariance , as a string: double .
  static std::string kOptimizerDisparityVariance () - Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).
+ Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo." Default value: 1.0 ( double ).
  static double defaultOptimizerDisparityVariance ()  Default value of parameter Optimizer/DisparityVariance : 1.0 .
@@ -2333,8 +2333,17 @@ Static Public Member Functions static std::string typeOdomGuessMotion ()  Type of parameter Odom/GuessMotion , as a string: bool .
  +static std::string kOdomImuGravity () + Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" > 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.", kOdomGuessSmoothingDelay().c_str()) Default value: 9.80665 ( float ).
+  +static float defaultOdomImuGravity () + Default value of parameter Odom/ImuGravity : 9.80665 .
+  +static std::string typeOdomImuGravity () + Type of parameter Odom/ImuGravity , as a string: float .
+  static std::string kOdomGuessSmoothingDelay () - Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).
+ Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay > 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.", kOdomFilteringStrategy().c_str(), kOdomDeskewing().c_str()) Default value: 0 ( float ).
  static float defaultOdomGuessSmoothingDelay ()  Default value of parameter Odom/GuessSmoothingDelay : 0 .
@@ -2388,7 +2397,7 @@ Static Public Member Functions  Type of parameter Odom/AlignWithGround , as a string: bool .
  static std::string kOdomDeskewing () - Key of parameter Odom/Deskewing : "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided)." Default value: true ( bool ).
+ Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" > 0). Without IMU, with a constant motion model (or the guess if provided).", kOdomGuessSmoothingDelay().c_str()) Default value: true ( bool ).
  static bool defaultOdomDeskewing ()  Default value of parameter Odom/Deskewing : true .
@@ -5744,7 +5753,7 @@ static std::string createD
int width = Parameters::defaultVideoImageWidth(); // theDefaultValue = 640
std::string theKey = Parameters::kVideoImageWidth(); // theKey = "Video/ImageWidth"
std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"
-
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:992
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:993
See also
getDefaultParameters()
The Parameter reference page, which lists every parameter with its type, default value and description.
@@ -25523,7 +25532,7 @@ The Parameter reference page, which lis
-

Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).

+

Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo." Default value: 1.0 ( double ).

Definition at line 492 of file Parameters.h.

@@ -27238,6 +27247,93 @@ The Parameter reference page, which lis

Definition at line 514 of file Parameters.h.

+
+
+ +

◆ kOdomImuGravity()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string rtabmap::Parameters::kOdomImuGravity ()
+ 		+inlinestatic
+
+ +

Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" > 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.", kOdomGuessSmoothingDelay().c_str()) Default value: 9.80665 ( float ).

+ +

Definition at line 515 of file Parameters.h.

+ +
+
+ +

◆ defaultOdomImuGravity()

+ +
+
+ + + + + +
+ + + + + + + +
static float rtabmap::Parameters::defaultOdomImuGravity ()
+ 		+inlinestatic
+
+ +

Default value of parameter Odom/ImuGravity : 9.80665 .

+ +

Definition at line 515 of file Parameters.h.

+ +
+
+ +

◆ typeOdomImuGravity()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string rtabmap::Parameters::typeOdomImuGravity ()
+ 		+inlinestatic
+
+ +

Type of parameter Odom/ImuGravity , as a string: float .

+ +

Definition at line 515 of file Parameters.h.

+
@@ -27263,9 +27359,9 @@ The Parameter reference page, which lis
-

Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).

+

Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay > 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.", kOdomFilteringStrategy().c_str(), kOdomDeskewing().c_str()) Default value: 0 ( float ).

-

Definition at line 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27294,7 +27390,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/GuessSmoothingDelay : 0 .

-

Definition at line 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27323,7 +27419,7 @@ The Parameter reference page, which lis

Type of parameter Odom/GuessSmoothingDelay , as a string: float .

-

Definition at line 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27352,7 +27448,7 @@ The Parameter reference page, which lis

Key of parameter Odom/KeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.3 ( float ).

-

Definition at line 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27381,7 +27477,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/KeyFrameThr : 0.3 .

-

Definition at line 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27410,7 +27506,7 @@ The Parameter reference page, which lis

Type of parameter Odom/KeyFrameThr , as a string: float .

-

Definition at line 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27439,7 +27535,7 @@ The Parameter reference page, which lis

Key of parameter Odom/VisKeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 150 ( int ).

-

Definition at line 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27468,7 +27564,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/VisKeyFrameThr : 150 .

-

Definition at line 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27497,7 +27593,7 @@ The Parameter reference page, which lis

Type of parameter Odom/VisKeyFrameThr , as a string: int .

-

Definition at line 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27526,7 +27622,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ScanKeyFrameThr : "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.9 ( float ).

-

Definition at line 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27555,7 +27651,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ScanKeyFrameThr : 0.9 .

-

Definition at line 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27584,7 +27680,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ScanKeyFrameThr , as a string: float .

-

Definition at line 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27613,7 +27709,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ImageDecimation : uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()) Default value: 1 ( unsigned int ).

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27642,7 +27738,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ImageDecimation : 1 .

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27671,7 +27767,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ImageDecimation , as a string: unsigned int .

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27700,7 +27796,7 @@ The Parameter reference page, which lis

Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).

-

Definition at line 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27729,7 +27825,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/AlignWithGround : false .

-

Definition at line 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27758,7 +27854,7 @@ The Parameter reference page, which lis

Type of parameter Odom/AlignWithGround , as a string: bool .

-

Definition at line 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27785,9 +27881,9 @@ The Parameter reference page, which lis
-

Key of parameter Odom/Deskewing : "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided)." Default value: true ( bool ).

+

Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" > 0). Without IMU, with a constant motion model (or the guess if provided).", kOdomGuessSmoothingDelay().c_str()) Default value: true ( bool ).

-

Definition at line 521 of file Parameters.h.

+

Definition at line 522 of file Parameters.h.

@@ -27816,7 +27912,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/Deskewing : true .

-

Definition at line 521 of file Parameters.h.

+

Definition at line 522 of file Parameters.h.

@@ -27845,7 +27941,7 @@ The Parameter reference page, which lis

Type of parameter Odom/Deskewing , as a string: bool .

-

Definition at line 521 of file Parameters.h.

+

Definition at line 522 of file Parameters.h.

@@ -27874,7 +27970,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/MaxSize : "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words." Default value: 2000 ( int ).

-

Definition at line 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27903,7 +27999,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/MaxSize : 2000 .

-

Definition at line 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27932,7 +28028,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/MaxSize , as a string: int .

-

Definition at line 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27961,7 +28057,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/MaxNewFeatures : "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit." Default value: 0 ( int ).

-

Definition at line 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -27990,7 +28086,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/MaxNewFeatures : 0 .

-

Definition at line 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -28019,7 +28115,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/MaxNewFeatures , as a string: int .

-

Definition at line 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -28048,7 +28144,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/InitDepthFactor : "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx." Default value: 0.05 ( float ).

-

Definition at line 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28077,7 +28173,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/InitDepthFactor : 0.05 .

-

Definition at line 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28106,7 +28202,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/InitDepthFactor , as a string: float .

-

Definition at line 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28135,7 +28231,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/FloorThreshold : "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled." Default value: 0.0 ( float ).

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28164,7 +28260,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/FloorThreshold : 0.0 .

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28193,7 +28289,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/FloorThreshold , as a string: float .

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28222,7 +28318,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).

-

Definition at line 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28251,7 +28347,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanMaxSize : 2000 .

-

Definition at line 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28280,7 +28376,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanMaxSize , as a string: int .

-

Definition at line 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28309,7 +28405,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ScanSubtractRadius : "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans." Default value: 0.05 ( float ).

-

Definition at line 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28338,7 +28434,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .

-

Definition at line 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28367,7 +28463,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .

-

Definition at line 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28396,7 +28492,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ScanSubtractAngle : uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str() Default value: 45 ( float ).

-

Definition at line 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28425,7 +28521,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanSubtractAngle : 45 .

-

Definition at line 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28454,7 +28550,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .

-

Definition at line 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28483,7 +28579,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ScanRange : "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range." Default value: 0 ( float ).

-

Definition at line 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28512,7 +28608,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanRange : 0 .

-

Definition at line 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28541,7 +28637,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanRange , as a string: float .

-

Definition at line 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28570,7 +28666,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ValidDepthRatio : "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map." Default value: 0.75 ( float ).

-

Definition at line 532 of file Parameters.h.

+

Definition at line 533 of file Parameters.h.

@@ -28599,7 +28695,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .

-

Definition at line 532 of file Parameters.h.

+

Definition at line 533 of file Parameters.h.

@@ -28628,7 +28724,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ValidDepthRatio , as a string: float .

-

Definition at line 532 of file Parameters.h.

+

Definition at line 533 of file Parameters.h.

@@ -28657,7 +28753,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleAdjustment : uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

-

Definition at line 536 of file Parameters.h.

+

Definition at line 537 of file Parameters.h.

@@ -28686,7 +28782,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustment : 0 .

-

Definition at line 536 of file Parameters.h.

+

Definition at line 537 of file Parameters.h.

@@ -28715,7 +28811,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustment , as a string: int .

-

Definition at line 536 of file Parameters.h.

+

Definition at line 537 of file Parameters.h.

@@ -28744,7 +28840,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleAdjustmentMaxFrames : "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)." Default value: 10 ( int ).

-

Definition at line 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28773,7 +28869,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .

-

Definition at line 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28802,7 +28898,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .

-

Definition at line 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28831,7 +28927,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleAdjustmentMinMotion : "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame." Default value: 0.0 ( float ).

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28860,7 +28956,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28889,7 +28985,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28918,7 +29014,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).

-

Definition at line 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -28947,7 +29043,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .

-

Definition at line 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -28976,7 +29072,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .

-

Definition at line 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -29005,7 +29101,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()) Default value: false ( bool ).

-

Definition at line 541 of file Parameters.h.

+

Definition at line 542 of file Parameters.h.

@@ -29034,7 +29130,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .

-

Definition at line 541 of file Parameters.h.

+

Definition at line 542 of file Parameters.h.

@@ -29063,7 +29159,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .

-

Definition at line 541 of file Parameters.h.

+

Definition at line 542 of file Parameters.h.

@@ -29092,7 +29188,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29121,7 +29217,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/InitMinFlow : 100 .

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29150,7 +29246,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/InitMinFlow , as a string: float .

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29179,7 +29275,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).

-

Definition at line 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29208,7 +29304,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/InitMinTranslation : 0.1 .

-

Definition at line 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29237,7 +29333,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/InitMinTranslation , as a string: float .

-

Definition at line 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29266,7 +29362,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/MinTranslation : "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum." Default value: 0.02 ( float ).

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29295,7 +29391,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/MinTranslation : 0.02 .

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29324,7 +29420,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/MinTranslation , as a string: float .

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29353,7 +29449,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).

-

Definition at line 547 of file Parameters.h.

+

Definition at line 548 of file Parameters.h.

@@ -29382,7 +29478,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/MaxVariance : 0.01 .

-

Definition at line 547 of file Parameters.h.

+

Definition at line 548 of file Parameters.h.

@@ -29411,7 +29507,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/MaxVariance , as a string: float .

-

Definition at line 547 of file Parameters.h.

+

Definition at line 548 of file Parameters.h.

@@ -29440,7 +29536,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FeatureWindowSize : "The size of the n x n image patch surrounding each feature, used for keypoint matching." Default value: 9 ( int ).

-

Definition at line 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29469,7 +29565,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FeatureWindowSize : 9 .

-

Definition at line 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29498,7 +29594,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FeatureWindowSize , as a string: int .

-

Definition at line 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29527,7 +29623,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MaxPyramidLevel : "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image." Default value: 3 ( int ).

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29556,7 +29652,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxPyramidLevel : 3 .

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29585,7 +29681,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29614,7 +29710,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).

-

Definition at line 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29643,7 +29739,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MinPyramidLevel : 0 .

-

Definition at line 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29672,7 +29768,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MinPyramidLevel , as a string: int .

-

Definition at line 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29701,7 +29797,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/TargetPixelsPerFeature : "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding." Default value: 250 ( int ).

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29730,7 +29826,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29759,7 +29855,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29788,7 +29884,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29817,7 +29913,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FastThreshold : 20 .

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29846,7 +29942,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FastThreshold , as a string: int .

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29875,7 +29971,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29904,7 +30000,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseAdaptiveThreshold : true .

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29933,7 +30029,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29962,7 +30058,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -29991,7 +30087,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -30020,7 +30116,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -30049,7 +30145,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).

-

Definition at line 557 of file Parameters.h.

+

Definition at line 558 of file Parameters.h.

@@ -30078,7 +30174,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseHomographyInitialization : true .

-

Definition at line 557 of file Parameters.h.

+

Definition at line 558 of file Parameters.h.

@@ -30107,7 +30203,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .

-

Definition at line 557 of file Parameters.h.

+

Definition at line 558 of file Parameters.h.

@@ -30136,7 +30232,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30165,7 +30261,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseBucketing : true .

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30194,7 +30290,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseBucketing , as a string: bool .

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30223,7 +30319,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30252,7 +30348,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/BucketWidth : 80 .

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30281,7 +30377,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/BucketWidth , as a string: int .

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30310,7 +30406,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30339,7 +30435,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/BucketHeight : 80 .

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30368,7 +30464,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/BucketHeight , as a string: int .

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30397,7 +30493,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30426,7 +30522,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30455,7 +30551,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30484,7 +30580,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).

-

Definition at line 563 of file Parameters.h.

+

Definition at line 564 of file Parameters.h.

@@ -30513,7 +30609,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseImageNormalization : false .

-

Definition at line 563 of file Parameters.h.

+

Definition at line 564 of file Parameters.h.

@@ -30542,7 +30638,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseImageNormalization , as a string: bool .

-

Definition at line 563 of file Parameters.h.

+

Definition at line 564 of file Parameters.h.

@@ -30571,7 +30667,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/InlierMaxReprojectionError : "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation." Default value: 1.5 ( double ).

-

Definition at line 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30600,7 +30696,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .

-

Definition at line 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30629,7 +30725,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .

-

Definition at line 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30658,7 +30754,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/CliqueInlierThreshold : "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters." Default value: 0.1 ( double ).

-

Definition at line 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30687,7 +30783,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .

-

Definition at line 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30716,7 +30812,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .

-

Definition at line 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30745,7 +30841,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MinFeaturesForEstimate : "Minimum number of features in the inlier set for the motion estimate to be considered valid." Default value: 20 ( int ).

-

Definition at line 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30774,7 +30870,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .

-

Definition at line 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30803,7 +30899,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .

-

Definition at line 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30832,7 +30928,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MaxMeanReprojectionError : "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid." Default value: 10.0 ( double ).

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30861,7 +30957,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30890,7 +30986,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30919,7 +31015,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).

-

Definition at line 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -30948,7 +31044,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseSubpixelRefinement : true .

-

Definition at line 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -30977,7 +31073,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .

-

Definition at line 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -31006,7 +31102,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FeatureSearchWindow : "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate." Default value: 25 ( int ).

-

Definition at line 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31035,7 +31131,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FeatureSearchWindow : 25 .

-

Definition at line 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31064,7 +31160,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .

-

Definition at line 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31093,7 +31189,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UpdateTargetFeaturesWithRefined : "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm." Default value: false ( bool ).

-

Definition at line 571 of file Parameters.h.

+

Definition at line 572 of file Parameters.h.

@@ -31122,7 +31218,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .

-

Definition at line 571 of file Parameters.h.

+

Definition at line 572 of file Parameters.h.

@@ -31151,7 +31247,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .

-

Definition at line 571 of file Parameters.h.

+

Definition at line 572 of file Parameters.h.

@@ -31180,7 +31276,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31209,7 +31305,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoRequireMutualMatch : true .

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31238,7 +31334,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31267,7 +31363,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31296,7 +31392,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31325,7 +31421,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31354,7 +31450,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31383,7 +31479,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31412,7 +31508,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31441,7 +31537,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).

-

Definition at line 576 of file Parameters.h.

+

Definition at line 577 of file Parameters.h.

@@ -31470,7 +31566,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxDisparity : 128 .

-

Definition at line 576 of file Parameters.h.

+

Definition at line 577 of file Parameters.h.

@@ -31499,7 +31595,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .

-

Definition at line 576 of file Parameters.h.

+

Definition at line 577 of file Parameters.h.

@@ -31528,7 +31624,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31557,7 +31653,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/RansacIters : 200 .

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31586,7 +31682,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/RansacIters , as a string: int .

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31615,7 +31711,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31644,7 +31740,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/InlierThreshold : 2.0 .

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31673,7 +31769,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/InlierThreshold , as a string: double .

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31702,7 +31798,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31731,7 +31827,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/Reweighting : true .

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31760,7 +31856,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/Reweighting , as a string: bool .

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31789,7 +31885,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31818,7 +31914,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchNmsN : 3 .

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31847,7 +31943,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchNmsN , as a string: int .

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31876,7 +31972,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31905,7 +32001,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchNmsTau : 50 .

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31934,7 +32030,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchNmsTau , as a string: int .

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31963,7 +32059,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -31992,7 +32088,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchBinsize : 50 .

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -32021,7 +32117,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchBinsize , as a string: int .

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -32050,7 +32146,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32079,7 +32175,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchRadius : 200 .

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32108,7 +32204,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchRadius , as a string: int .

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32137,7 +32233,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32166,7 +32262,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchDispTolerance : 2 .

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32195,7 +32291,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchDispTolerance , as a string: int .

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32224,7 +32320,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32253,7 +32349,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32282,7 +32378,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32311,7 +32407,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32340,7 +32436,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32369,7 +32465,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32398,7 +32494,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32427,7 +32523,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchMultiStage : true .

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32456,7 +32552,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchMultiStage , as a string: bool .

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32485,7 +32581,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32514,7 +32610,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchHalfResolution : true .

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32543,7 +32639,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32572,7 +32668,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32601,7 +32697,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchRefinement : 1 .

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32630,7 +32726,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchRefinement , as a string: int .

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32659,7 +32755,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32688,7 +32784,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketMaxFeatures : 2 .

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32717,7 +32813,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32746,7 +32842,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32775,7 +32871,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketWidth : 50 .

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32804,7 +32900,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketWidth , as a string: double .

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32833,7 +32929,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).

-

Definition at line 594 of file Parameters.h.

+

Definition at line 595 of file Parameters.h.

@@ -32862,7 +32958,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketHeight : 50 .

-

Definition at line 594 of file Parameters.h.

+

Definition at line 595 of file Parameters.h.

@@ -32891,7 +32987,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketHeight , as a string: double .

-

Definition at line 594 of file Parameters.h.

+

Definition at line 595 of file Parameters.h.

@@ -32920,7 +33016,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).

-

Definition at line 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -32949,7 +33045,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/VocPath : "" .

-

Definition at line 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -32978,7 +33074,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/VocPath , as a string: string.

-

Definition at line 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -33007,7 +33103,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/Bf : "Fake IR projector baseline (m) used only when stereo is not used." Default value: 0.076 ( double ).

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33036,7 +33132,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Bf : 0.076 .

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33065,7 +33161,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Bf , as a string: double .

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33094,7 +33190,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33123,7 +33219,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/ThDepth : 40.0 .

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33152,7 +33248,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/ThDepth , as a string: double .

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33181,7 +33277,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33210,7 +33306,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Fps : 0.0 .

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33239,7 +33335,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Fps , as a string: float .

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33268,7 +33364,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).

-

Definition at line 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33297,7 +33393,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .

-

Definition at line 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33326,7 +33422,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/MaxFeatures , as a string: int .

-

Definition at line 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33355,7 +33451,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/MapSize : "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2." Default value: 3000 ( int ).

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33384,7 +33480,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/MapSize : 3000 .

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33413,7 +33509,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/MapSize , as a string: int .

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33442,7 +33538,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33471,7 +33567,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Inertial : false .

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33500,7 +33596,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Inertial , as a string: bool .

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33529,7 +33625,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33558,7 +33654,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33587,7 +33683,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/GyroNoise , as a string: double .

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33616,7 +33712,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33645,7 +33741,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/AccNoise : 0.1 .

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33674,7 +33770,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/AccNoise , as a string: double .

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33703,7 +33799,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33732,7 +33828,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33761,7 +33857,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/GyroWalk , as a string: double .

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33790,7 +33886,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33819,7 +33915,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33848,7 +33944,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/AccWalk , as a string: double .

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33877,7 +33973,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).

-

Definition at line 608 of file Parameters.h.

+

Definition at line 609 of file Parameters.h.

@@ -33906,7 +34002,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/SamplingRate : 0 .

-

Definition at line 608 of file Parameters.h.

+

Definition at line 609 of file Parameters.h.

@@ -33935,7 +34031,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/SamplingRate , as a string: double .

-

Definition at line 608 of file Parameters.h.

+

Definition at line 609 of file Parameters.h.

@@ -33964,7 +34060,7 @@ The Parameter reference page, which lis

Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).

-

Definition at line 612 of file Parameters.h.

+

Definition at line 613 of file Parameters.h.

@@ -33993,7 +34089,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOKVIS/ConfigPath : "" .

-

Definition at line 612 of file Parameters.h.

+

Definition at line 613 of file Parameters.h.

@@ -34022,7 +34118,7 @@ The Parameter reference page, which lis

Type of parameter OdomOKVIS/ConfigPath , as a string: string.

-

Definition at line 612 of file Parameters.h.

+

Definition at line 613 of file Parameters.h.

@@ -34051,7 +34147,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34080,7 +34176,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/Sensor : 2 .

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34109,7 +34205,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/Sensor , as a string: int .

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34138,7 +34234,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34167,7 +34263,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/ScanPeriod : 0.1 .

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34196,7 +34292,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/ScanPeriod , as a string: float .

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34225,7 +34321,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34254,7 +34350,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/Resolution : 0.2 .

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34283,7 +34379,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/Resolution , as a string: float .

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34312,7 +34408,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34341,7 +34437,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/LinVar : 0.01 .

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34370,7 +34466,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/LinVar , as a string: float .

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34399,7 +34495,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

-

Definition at line 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34428,7 +34524,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/AngVar : 0.01 .

-

Definition at line 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34457,7 +34553,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/AngVar , as a string: float .

-

Definition at line 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34486,7 +34582,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/LocalMapping : "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved." Default value: true ( bool ).

-

Definition at line 620 of file Parameters.h.

+

Definition at line 621 of file Parameters.h.

@@ -34515,7 +34611,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/LocalMapping : true .

-

Definition at line 620 of file Parameters.h.

+

Definition at line 621 of file Parameters.h.

@@ -34544,7 +34640,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/LocalMapping , as a string: bool .

-

Definition at line 620 of file Parameters.h.

+

Definition at line 621 of file Parameters.h.

@@ -34573,7 +34669,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34602,7 +34698,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridRow : 4 .

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34631,7 +34727,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridRow , as a string: int .

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34660,7 +34756,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34689,7 +34785,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridCol : 5 .

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34718,7 +34814,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridCol , as a string: int .

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34747,7 +34843,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34776,7 +34872,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34805,7 +34901,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34834,7 +34930,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34863,7 +34959,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34892,7 +34988,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34921,7 +35017,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -34950,7 +35046,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PyramidLevels : 3 .

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -34979,7 +35075,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PyramidLevels , as a string: int .

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -35008,7 +35104,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35037,7 +35133,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PatchSize : 15 .

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35066,7 +35162,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PatchSize , as a string: int .

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35095,7 +35191,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35124,7 +35220,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/FastThreshold : 10 .

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35153,7 +35249,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/FastThreshold , as a string: int .

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35182,7 +35278,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35211,7 +35307,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/MaxIteration : 30 .

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35240,7 +35336,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/MaxIteration , as a string: int .

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35269,7 +35365,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35298,7 +35394,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35327,7 +35423,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TrackPrecision , as a string: double .

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35356,7 +35452,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35385,7 +35481,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/RansacThreshold : 3 .

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35414,7 +35510,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/RansacThreshold , as a string: double .

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35443,7 +35539,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35472,7 +35568,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/StereoThreshold : 5 .

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35501,7 +35597,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/StereoThreshold , as a string: double .

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35530,7 +35626,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35559,7 +35655,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35588,7 +35684,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35617,7 +35713,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35646,7 +35742,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35675,7 +35771,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/RotationThreshold , as a string: double .

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35704,7 +35800,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35733,7 +35829,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35762,7 +35858,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35791,7 +35887,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35820,7 +35916,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35849,7 +35945,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35878,7 +35974,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35907,7 +36003,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35936,7 +36032,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35965,7 +36061,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -35994,7 +36090,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -36023,7 +36119,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseGyro , as a string: double .

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -36052,7 +36148,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36081,7 +36177,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36110,7 +36206,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseAcc , as a string: double .

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36139,7 +36235,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36168,7 +36264,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36197,7 +36293,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36226,7 +36322,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36255,7 +36351,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36284,7 +36380,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36313,7 +36409,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36342,7 +36438,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36371,7 +36467,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseFeature , as a string: double .

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36400,7 +36496,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36429,7 +36525,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovVel : 0.25 .

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36458,7 +36554,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovVel , as a string: double .

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36487,7 +36583,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36516,7 +36612,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36545,7 +36641,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36574,7 +36670,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36603,7 +36699,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36632,7 +36728,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36661,7 +36757,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36690,7 +36786,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36719,7 +36815,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovExRot , as a string: double .

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36748,7 +36844,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36777,7 +36873,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36806,7 +36902,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36835,7 +36931,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).

-

Definition at line 649 of file Parameters.h.

+

Definition at line 650 of file Parameters.h.

@@ -36864,7 +36960,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .

-

Definition at line 649 of file Parameters.h.

+

Definition at line 650 of file Parameters.h.

@@ -36893,7 +36989,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .

-

Definition at line 649 of file Parameters.h.

+

Definition at line 650 of file Parameters.h.

@@ -36922,7 +37018,7 @@ The Parameter reference page, which lis

Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).

-

Definition at line 652 of file Parameters.h.

+

Definition at line 653 of file Parameters.h.

@@ -36951,7 +37047,7 @@ The Parameter reference page, which lis

Default value of parameter OdomVINSFusion/ConfigPath : "" .

-

Definition at line 652 of file Parameters.h.

+

Definition at line 653 of file Parameters.h.

@@ -36980,7 +37076,7 @@ The Parameter reference page, which lis

Type of parameter OdomVINSFusion/ConfigPath , as a string: string.

-

Definition at line 652 of file Parameters.h.

+

Definition at line 653 of file Parameters.h.

@@ -37009,7 +37105,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ConfigPath : "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group." Default value: "" (string).

-

Definition at line 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37038,7 +37134,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ConfigPath : "" .

-

Definition at line 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37067,7 +37163,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ConfigPath , as a string: string.

-

Definition at line 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37096,7 +37192,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UseStereo : "If we have more than 1 camera, if we should try to track stereo constraints between pairs." Default value: true ( bool ).

-

Definition at line 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37125,7 +37221,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseStereo : true .

-

Definition at line 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37154,7 +37250,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseStereo , as a string: bool .

-

Definition at line 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37183,7 +37279,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UseKLT : "If true we will use KLT, otherwise use a ORB descriptor + robust matching." Default value: true ( bool ).

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37212,7 +37308,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseKLT : true .

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37241,7 +37337,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseKLT , as a string: bool .

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37270,7 +37366,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37299,7 +37395,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/NumPts : 200 .

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37328,7 +37424,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/NumPts , as a string: int .

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37357,7 +37453,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37386,7 +37482,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MinPxDist : 15 .

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37415,7 +37511,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MinPxDist , as a string: int .

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37444,7 +37540,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37473,7 +37569,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiTriangulate1d : false .

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37502,7 +37598,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37531,7 +37627,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37560,7 +37656,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiRefineFeatures : true .

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37589,7 +37685,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37618,7 +37714,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37647,7 +37743,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37676,7 +37772,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37705,7 +37801,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37734,7 +37830,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37763,7 +37859,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37792,7 +37888,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).

-

Definition at line 664 of file Parameters.h.

+

Definition at line 665 of file Parameters.h.

@@ -37821,7 +37917,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .

-

Definition at line 664 of file Parameters.h.

+

Definition at line 665 of file Parameters.h.

@@ -37850,7 +37946,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .

-

Definition at line 664 of file Parameters.h.

+

Definition at line 665 of file Parameters.h.

@@ -37879,7 +37975,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).

-

Definition at line 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37908,7 +38004,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseFEJ : true .

-

Definition at line 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37937,7 +38033,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .

-

Definition at line 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37966,7 +38062,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/Integration : "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)." Default value: 1 ( int ).

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -37995,7 +38091,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/Integration : 1 .

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -38024,7 +38120,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/Integration , as a string: int .

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -38053,7 +38149,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38082,7 +38178,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38111,7 +38207,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38140,7 +38236,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).

-

Definition at line 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38169,7 +38265,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .

-

Definition at line 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38198,7 +38294,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .

-

Definition at line 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38227,7 +38323,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibCamTimeoffset : "Bool to determine whether or not to calibrate camera to IMU time offset." Default value: false ( bool ).

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38256,7 +38352,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38285,7 +38381,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38314,7 +38410,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38343,7 +38439,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38372,7 +38468,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38401,7 +38497,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38430,7 +38526,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38459,7 +38555,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38488,7 +38584,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38517,7 +38613,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxClones : 11 .

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38546,7 +38642,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxClones , as a string: int .

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38575,7 +38671,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).

-

Definition at line 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38604,7 +38700,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxSLAM : 50 .

-

Definition at line 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38633,7 +38729,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .

-

Definition at line 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38662,7 +38758,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxSLAMInUpdate : "Max number of SLAM features we allow to be included in a single EKF update.." Default value: 25 ( int ).

-

Definition at line 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38691,7 +38787,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .

-

Definition at line 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38720,7 +38816,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .

-

Definition at line 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38749,7 +38845,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxMSCKFInUpdate : "Max number of MSCKF features we will use at a given image timestep.." Default value: 50 ( int ).

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38778,7 +38874,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38807,7 +38903,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38836,7 +38932,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38865,7 +38961,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38894,7 +38990,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38923,7 +39019,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).

-

Definition at line 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -38952,7 +39048,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .

-

Definition at line 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -38981,7 +39077,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .

-

Definition at line 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -39010,7 +39106,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/DtSLAMDelay : "Delay, in seconds, that we should wait from init before we start estimating SLAM features." Default value: 0.0 ( double ).

-

Definition at line 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39039,7 +39135,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .

-

Definition at line 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39068,7 +39164,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .

-

Definition at line 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39097,7 +39193,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/GravityMag : "Gravity magnitude in the global frame (i.e. should be 9.81 typically)." Default value: 9.81 ( double ).

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39126,7 +39222,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GravityMag : 9.81 .

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39155,7 +39251,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GravityMag , as a string: double .

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39184,7 +39280,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39213,7 +39309,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/LeftMaskPath : "" .

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39242,7 +39338,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39271,7 +39367,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).

-

Definition at line 682 of file Parameters.h.

+

Definition at line 683 of file Parameters.h.

@@ -39300,7 +39396,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/RightMaskPath : "" .

-

Definition at line 682 of file Parameters.h.

+

Definition at line 683 of file Parameters.h.

@@ -39329,7 +39425,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.

-

Definition at line 682 of file Parameters.h.

+

Definition at line 683 of file Parameters.h.

@@ -39358,7 +39454,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39387,7 +39483,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39416,7 +39512,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39445,7 +39541,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39474,7 +39570,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39503,7 +39599,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39532,7 +39628,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39561,7 +39657,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39590,7 +39686,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39619,7 +39715,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39648,7 +39744,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39677,7 +39773,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39706,7 +39802,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39735,7 +39831,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynUse : false .

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39764,7 +39860,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39793,7 +39889,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).

-

Definition at line 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39822,7 +39918,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .

-

Definition at line 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39851,7 +39947,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .

-

Definition at line 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39880,7 +39976,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEMaxIter : "How many iterations the MLE refinement should use (zero to skip the MLE)." Default value: 50 ( int ).

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39909,7 +40005,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39938,7 +40034,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39967,7 +40063,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -39996,7 +40092,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -40025,7 +40121,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -40054,7 +40150,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40083,7 +40179,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40112,7 +40208,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40141,7 +40237,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40170,7 +40266,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40199,7 +40295,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40228,7 +40324,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40257,7 +40353,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40286,7 +40382,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40315,7 +40411,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40344,7 +40440,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40373,7 +40469,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40402,7 +40498,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40431,7 +40527,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40460,7 +40556,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40489,7 +40585,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40518,7 +40614,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40547,7 +40643,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40576,7 +40672,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40605,7 +40701,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40634,7 +40730,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40663,7 +40759,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).

-

Definition at line 699 of file Parameters.h.

+

Definition at line 700 of file Parameters.h.

@@ -40692,7 +40788,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .

-

Definition at line 699 of file Parameters.h.

+

Definition at line 700 of file Parameters.h.

@@ -40721,7 +40817,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .

-

Definition at line 699 of file Parameters.h.

+

Definition at line 700 of file Parameters.h.

@@ -40750,7 +40846,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40779,7 +40875,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/TryZUPT : true .

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40808,7 +40904,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40837,7 +40933,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).

-

Definition at line 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40866,7 +40962,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .

-

Definition at line 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40895,7 +40991,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .

-

Definition at line 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40924,7 +41020,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTMaxVelodicy : "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.1 ( double ).

-

Definition at line 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -40953,7 +41049,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .

-

Definition at line 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -40982,7 +41078,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .

-

Definition at line 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -41011,7 +41107,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTNoiseMultiplier : "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)." Default value: 10.0 ( double ).

-

Definition at line 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41040,7 +41136,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .

-

Definition at line 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41069,7 +41165,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .

-

Definition at line 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41098,7 +41194,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTMaxDisparity : "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.5 ( double ).

-

Definition at line 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41127,7 +41223,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .

-

Definition at line 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41156,7 +41252,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .

-

Definition at line 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41185,7 +41281,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : "If we should only use the zupt at the very beginning static initialization phase." Default value: false ( bool ).

-

Definition at line 706 of file Parameters.h.

+

Definition at line 707 of file Parameters.h.

@@ -41214,7 +41310,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .

-

Definition at line 706 of file Parameters.h.

+

Definition at line 707 of file Parameters.h.

@@ -41243,7 +41339,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .

-

Definition at line 706 of file Parameters.h.

+

Definition at line 707 of file Parameters.h.

@@ -41272,7 +41368,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41301,7 +41397,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41330,7 +41426,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41359,7 +41455,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41388,7 +41484,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41417,7 +41513,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41446,7 +41542,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41475,7 +41571,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41504,7 +41600,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41533,7 +41629,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41562,7 +41658,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41591,7 +41687,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41620,7 +41716,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41649,7 +41745,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41678,7 +41774,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41707,7 +41803,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41736,7 +41832,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41765,7 +41861,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41794,7 +41890,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41823,7 +41919,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41852,7 +41948,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41881,7 +41977,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).

-

Definition at line 715 of file Parameters.h.

+

Definition at line 716 of file Parameters.h.

@@ -41910,7 +42006,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .

-

Definition at line 715 of file Parameters.h.

+

Definition at line 716 of file Parameters.h.

@@ -41939,7 +42035,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .

-

Definition at line 715 of file Parameters.h.

+

Definition at line 716 of file Parameters.h.

@@ -41968,7 +42064,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -41997,7 +42093,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpen3D/MaxDepth : 3.0 .

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -42026,7 +42122,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpen3D/MaxDepth , as a string: float .

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -42055,7 +42151,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).

-

Definition at line 719 of file Parameters.h.

+

Definition at line 720 of file Parameters.h.

@@ -42084,7 +42180,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpen3D/Method : 0 .

-

Definition at line 719 of file Parameters.h.

+

Definition at line 720 of file Parameters.h.

@@ -42113,7 +42209,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpen3D/Method , as a string: int .

-

Definition at line 719 of file Parameters.h.

+

Definition at line 720 of file Parameters.h.

@@ -42142,7 +42238,7 @@ The Parameter reference page, which lis

Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).

-

Definition at line 722 of file Parameters.h.

+

Definition at line 723 of file Parameters.h.

@@ -42171,7 +42267,7 @@ The Parameter reference page, which lis

Default value of parameter OdomCuVSLAM/MulticamMode : 0 .

-

Definition at line 722 of file Parameters.h.

+

Definition at line 723 of file Parameters.h.

@@ -42200,7 +42296,7 @@ The Parameter reference page, which lis

Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .

-

Definition at line 722 of file Parameters.h.

+

Definition at line 723 of file Parameters.h.

@@ -42229,7 +42325,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ConfigPath : "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored." Default value: "" (string).

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42258,7 +42354,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ConfigPath : "" .

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42287,7 +42383,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ConfigPath , as a string: string.

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42316,7 +42412,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42345,7 +42441,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/Sensor : 0 .

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42374,7 +42470,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/Sensor , as a string: int .

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42403,7 +42499,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42432,7 +42528,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/NScan : 16 .

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42461,7 +42557,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/NScan , as a string: int .

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42490,7 +42586,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42519,7 +42615,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/HorizonScan : 1800 .

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42548,7 +42644,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/HorizonScan , as a string: int .

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42577,7 +42673,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42606,7 +42702,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42635,7 +42731,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42664,7 +42760,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42693,7 +42789,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42722,7 +42818,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42751,7 +42847,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42780,7 +42876,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42809,7 +42905,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42838,7 +42934,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42867,7 +42963,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42896,7 +42992,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42925,7 +43021,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -42954,7 +43050,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -42983,7 +43079,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGravity , as a string: float .

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -43012,7 +43108,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43041,7 +43137,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43070,7 +43166,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43099,7 +43195,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43128,7 +43224,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43157,7 +43253,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43186,7 +43282,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43215,7 +43311,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/LinVar : 0.01 .

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43244,7 +43340,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/LinVar , as a string: float .

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43273,7 +43369,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

-

Definition at line 737 of file Parameters.h.

+

Definition at line 738 of file Parameters.h.

@@ -43302,7 +43398,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/AngVar : 0.01 .

-

Definition at line 737 of file Parameters.h.

+

Definition at line 738 of file Parameters.h.

@@ -43331,7 +43427,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/AngVar , as a string: float .

-

Definition at line 737 of file Parameters.h.

+

Definition at line 738 of file Parameters.h.

@@ -43360,7 +43456,7 @@ The Parameter reference page, which lis

Key of parameter Reg/RepeatOnce : "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches." Default value: true ( bool ).

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43389,7 +43485,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/RepeatOnce : true .

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43418,7 +43514,7 @@ The Parameter reference page, which lis

Type of parameter Reg/RepeatOnce , as a string: bool .

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43447,7 +43543,7 @@ The Parameter reference page, which lis

Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).

-

Definition at line 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43476,7 +43572,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/Strategy : 0 .

-

Definition at line 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43505,7 +43601,7 @@ The Parameter reference page, which lis

Type of parameter Reg/Strategy , as a string: int .

-

Definition at line 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43534,7 +43630,7 @@ The Parameter reference page, which lis

Key of parameter Reg/Force3DoF : "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0." Default value: false ( bool ).

-

Definition at line 742 of file Parameters.h.

+

Definition at line 743 of file Parameters.h.

@@ -43563,7 +43659,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/Force3DoF : false .

-

Definition at line 742 of file Parameters.h.

+

Definition at line 743 of file Parameters.h.

@@ -43592,7 +43688,7 @@ The Parameter reference page, which lis

Type of parameter Reg/Force3DoF , as a string: bool .

-

Definition at line 742 of file Parameters.h.

+

Definition at line 743 of file Parameters.h.

@@ -43621,7 +43717,7 @@ The Parameter reference page, which lis

Key of parameter Vis/EstimationType : "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)" Default value: 1 ( int ).

-

Definition at line 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43650,7 +43746,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/EstimationType : 1 .

-

Definition at line 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43679,7 +43775,7 @@ The Parameter reference page, which lis

Type of parameter Vis/EstimationType , as a string: int .

-

Definition at line 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43708,7 +43804,7 @@ The Parameter reference page, which lis

Key of parameter Vis/InlierDistance : uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

-

Definition at line 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43737,7 +43833,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/InlierDistance : 0.1 .

-

Definition at line 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43766,7 +43862,7 @@ The Parameter reference page, which lis

Type of parameter Vis/InlierDistance , as a string: float .

-

Definition at line 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43795,7 +43891,7 @@ The Parameter reference page, which lis

Key of parameter Vis/RefineIterations : uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()) Default value: 5 ( int ).

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43824,7 +43920,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/RefineIterations : 5 .

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43853,7 +43949,7 @@ The Parameter reference page, which lis

Type of parameter Vis/RefineIterations , as a string: int .

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43882,7 +43978,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).

-

Definition at line 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43911,7 +44007,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPReprojError : 2 .

-

Definition at line 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43940,7 +44036,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPReprojError , as a string: float .

-

Definition at line 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43969,7 +44065,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPFlags : uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()) Default value: 0 ( int ).

-

Definition at line 749 of file Parameters.h.

+

Definition at line 750 of file Parameters.h.

@@ -43998,7 +44094,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPFlags : 0 .

-

Definition at line 749 of file Parameters.h.

+

Definition at line 750 of file Parameters.h.

@@ -44027,7 +44123,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPFlags , as a string: int .

-

Definition at line 749 of file Parameters.h.

+

Definition at line 750 of file Parameters.h.

@@ -44056,7 +44152,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPRefineIterations : uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()) Default value: 1 ( int ).

-

Definition at line 753 of file Parameters.h.

+

Definition at line 754 of file Parameters.h.

@@ -44085,7 +44181,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPRefineIterations : 1 .

-

Definition at line 753 of file Parameters.h.

+

Definition at line 754 of file Parameters.h.

@@ -44114,7 +44210,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPRefineIterations , as a string: int .

-

Definition at line 753 of file Parameters.h.

+

Definition at line 754 of file Parameters.h.

@@ -44143,7 +44239,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPVarianceMedianRatio : uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()) Default value: 4 ( int ).

-

Definition at line 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44172,7 +44268,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPVarianceMedianRatio : 4 .

-

Definition at line 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44201,7 +44297,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .

-

Definition at line 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44230,7 +44326,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPMaxVariance : uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()) Default value: 0.0 ( float ).

-

Definition at line 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44259,7 +44355,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPMaxVariance : 0.0 .

-

Definition at line 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44288,7 +44384,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPMaxVariance , as a string: float .

-

Definition at line 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44317,7 +44413,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPSamplingPolicy : uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str() Default value: 1 ( unsigned int ).

-

Definition at line 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44346,7 +44442,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPSamplingPolicy : 1 .

-

Definition at line 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44375,7 +44471,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .

-

Definition at line 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44404,7 +44500,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPSplitLinearCovComponents : uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str() Default value: false ( bool ).

-

Definition at line 758 of file Parameters.h.

+

Definition at line 759 of file Parameters.h.

@@ -44433,7 +44529,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPSplitLinearCovComponents : false .

-

Definition at line 758 of file Parameters.h.

+

Definition at line 759 of file Parameters.h.

@@ -44462,7 +44558,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .

-

Definition at line 758 of file Parameters.h.

+

Definition at line 759 of file Parameters.h.

@@ -44491,7 +44587,7 @@ The Parameter reference page, which lis

Key of parameter Vis/EpipolarGeometryVar : uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44520,7 +44616,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/EpipolarGeometryVar : 0.1 .

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44549,7 +44645,7 @@ The Parameter reference page, which lis

Type of parameter Vis/EpipolarGeometryVar , as a string: float .

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44578,7 +44674,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).

-

Definition at line 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44607,7 +44703,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinInliers : 20 .

-

Definition at line 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44636,7 +44732,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MinInliers , as a string: int .

-

Definition at line 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44665,7 +44761,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MeanInliersDistance : "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled." Default value: 0.0 ( float ).

-

Definition at line 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44694,7 +44790,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MeanInliersDistance : 0.0 .

-

Definition at line 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44723,7 +44819,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MeanInliersDistance , as a string: float .

-

Definition at line 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44752,7 +44848,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MinInliersDistribution : "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled." Default value: 0.0 ( float ).

-

Definition at line 763 of file Parameters.h.

+

Definition at line 764 of file Parameters.h.

@@ -44781,7 +44877,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinInliersDistribution : 0.0 .

-

Definition at line 763 of file Parameters.h.

+

Definition at line 764 of file Parameters.h.

@@ -44810,7 +44906,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MinInliersDistribution , as a string: float .

-

Definition at line 763 of file Parameters.h.

+

Definition at line 764 of file Parameters.h.

@@ -44839,7 +44935,7 @@ The Parameter reference page, which lis

Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).

-

Definition at line 765 of file Parameters.h.

+

Definition at line 766 of file Parameters.h.

@@ -44868,7 +44964,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/Iterations : 300 .

-

Definition at line 765 of file Parameters.h.

+

Definition at line 766 of file Parameters.h.

@@ -44897,7 +44993,7 @@ The Parameter reference page, which lis

Type of parameter Vis/Iterations , as a string: int .

-

Definition at line 765 of file Parameters.h.

+

Definition at line 766 of file Parameters.h.

@@ -44926,7 +45022,7 @@ The Parameter reference page, which lis

Key of parameter Vis/FeatureType : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).

-

Definition at line 770 of file Parameters.h.

+

Definition at line 771 of file Parameters.h.

@@ -44955,7 +45051,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/FeatureType : 6 .

-

Definition at line 770 of file Parameters.h.

+

Definition at line 771 of file Parameters.h.

@@ -44984,7 +45080,7 @@ The Parameter reference page, which lis

Type of parameter Vis/FeatureType , as a string: int .

-

Definition at line 770 of file Parameters.h.

+

Definition at line 771 of file Parameters.h.

@@ -45013,7 +45109,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45042,7 +45138,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MaxFeatures : 1000 .

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45071,7 +45167,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MaxFeatures , as a string: int .

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45100,7 +45196,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45129,7 +45225,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SSC : false .

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45158,7 +45254,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SSC , as a string: bool .

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45187,7 +45283,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45216,7 +45312,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MaxDepth : 0 .

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45245,7 +45341,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MaxDepth , as a string: float .

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45274,7 +45370,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45303,7 +45399,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinDepth : 0 .

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45332,7 +45428,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MinDepth , as a string: float .

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45361,7 +45457,7 @@ The Parameter reference page, which lis

Key of parameter Vis/DepthAsMask : "Use depth image as mask when extracting features." Default value: true ( bool ).

-

Definition at line 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45390,7 +45486,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/DepthAsMask : true .

-

Definition at line 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45419,7 +45515,7 @@ The Parameter reference page, which lis

Type of parameter Vis/DepthAsMask , as a string: bool .

-

Definition at line 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45448,7 +45544,7 @@ The Parameter reference page, which lis

Key of parameter Vis/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()) Default value: 0.0 ( float ).

-

Definition at line 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45477,7 +45573,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/DepthMaskFloorThr : 0.0 .

-

Definition at line 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45506,7 +45602,7 @@ The Parameter reference page, which lis

Type of parameter Vis/DepthMaskFloorThr , as a string: float .

-

Definition at line 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45535,7 +45631,7 @@ The Parameter reference page, which lis

Key of parameter Vis/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45564,7 +45660,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45593,7 +45689,7 @@ The Parameter reference page, which lis

Type of parameter Vis/RoiRatios , as a string: string.

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45622,7 +45718,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45651,7 +45747,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixWinSize : 3 .

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45680,7 +45776,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixWinSize , as a string: int .

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45709,7 +45805,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45738,7 +45834,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixIterations : 0 .

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45767,7 +45863,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixIterations , as a string: int .

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45796,7 +45892,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).

-

Definition at line 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45825,7 +45921,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixEps : 0.02 .

-

Definition at line 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45854,7 +45950,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixEps , as a string: float .

-

Definition at line 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45883,7 +45979,7 @@ The Parameter reference page, which lis

Key of parameter Vis/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

-

Definition at line 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45912,7 +46008,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/GridRows : 1 .

-

Definition at line 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45941,7 +46037,7 @@ The Parameter reference page, which lis

Type of parameter Vis/GridRows , as a string: int .

-

Definition at line 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45970,7 +46066,7 @@ The Parameter reference page, which lis

Key of parameter Vis/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -45999,7 +46095,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/GridCols : 1 .

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -46028,7 +46124,7 @@ The Parameter reference page, which lis

Type of parameter Vis/GridCols , as a string: int .

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -46057,7 +46153,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46086,7 +46182,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorType : 0 .

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46115,7 +46211,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorType , as a string: int .

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46144,7 +46240,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorNNType : uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).

-

Definition at line 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46173,7 +46269,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorNNType : 1 .

-

Definition at line 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46202,7 +46298,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorNNType , as a string: int .

-

Definition at line 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46231,7 +46327,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorNNDR : uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()) Default value: 0.8 ( float ).

-

Definition at line 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46260,7 +46356,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorNNDR : 0.8 .

-

Definition at line 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46289,7 +46385,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorNNDR , as a string: float .

-

Definition at line 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46318,7 +46414,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorGuessWinSize : uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()) Default value: 40 ( int ).

-

Definition at line 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46347,7 +46443,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorGuessWinSize : 40 .

-

Definition at line 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46376,7 +46472,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorGuessWinSize , as a string: int .

-

Definition at line 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46405,7 +46501,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorGuessMatchToProjection : uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()) Default value: false ( bool ).

-

Definition at line 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46434,7 +46530,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorGuessMatchToProjection : false .

-

Definition at line 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46463,7 +46559,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .

-

Definition at line 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46492,7 +46588,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowWinSize : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 16 ( int ).

-

Definition at line 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46521,7 +46617,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowWinSize : 16 .

-

Definition at line 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46550,7 +46646,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowWinSize , as a string: int .

-

Definition at line 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46579,7 +46675,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowIterations : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 30 ( int ).

-

Definition at line 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46608,7 +46704,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowIterations : 30 .

-

Definition at line 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46637,7 +46733,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowIterations , as a string: int .

-

Definition at line 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46666,7 +46762,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowEps : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 0.01 ( float ).

-

Definition at line 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46695,7 +46791,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowEps : 0.01 .

-

Definition at line 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46724,7 +46820,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowEps , as a string: float .

-

Definition at line 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46753,7 +46849,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowMaxLevel : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 3 ( int ).

-

Definition at line 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46782,7 +46878,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowMaxLevel : 3 .

-

Definition at line 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46811,7 +46907,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowMaxLevel , as a string: int .

-

Definition at line 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46840,7 +46936,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowUseMinEigenVals : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()) Default value: true ( bool ).

-

Definition at line 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46869,7 +46965,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowUseMinEigenVals : true .

-

Definition at line 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46898,7 +46994,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .

-

Definition at line 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46927,7 +47023,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowMinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 1e-4 ( float ).

-

Definition at line 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -46956,7 +47052,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .

-

Definition at line 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -46985,7 +47081,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .

-

Definition at line 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -47014,7 +47110,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 20 ( float ).

-

Definition at line 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47043,7 +47139,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowErrorThreshold : 20 .

-

Definition at line 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47072,7 +47168,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowErrorThreshold , as a string: float .

-

Definition at line 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47101,7 +47197,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorFlowGpu : uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()) Default value: false ( bool ).

-

Definition at line 796 of file Parameters.h.

+

Definition at line 797 of file Parameters.h.

@@ -47130,7 +47226,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowGpu : false .

-

Definition at line 796 of file Parameters.h.

+

Definition at line 797 of file Parameters.h.

@@ -47159,7 +47255,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowGpu , as a string: bool .

-

Definition at line 796 of file Parameters.h.

+

Definition at line 797 of file Parameters.h.

@@ -47188,7 +47284,7 @@ The Parameter reference page, which lis

Key of parameter Vis/BundleAdjustment : uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

-

Definition at line 800 of file Parameters.h.

+

Definition at line 801 of file Parameters.h.

@@ -47217,7 +47313,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/BundleAdjustment : 0 .

-

Definition at line 800 of file Parameters.h.

+

Definition at line 801 of file Parameters.h.

@@ -47246,7 +47342,7 @@ The Parameter reference page, which lis

Type of parameter Vis/BundleAdjustment , as a string: int .

-

Definition at line 800 of file Parameters.h.

+

Definition at line 801 of file Parameters.h.

@@ -47275,7 +47371,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47304,7 +47400,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Path : "" .

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47333,7 +47429,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Path , as a string: string.

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47362,7 +47458,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47391,7 +47487,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Iterations : 20 .

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47420,7 +47516,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Iterations , as a string: int .

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47449,7 +47545,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47478,7 +47574,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Threshold : 0.2 .

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47507,7 +47603,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Threshold , as a string: float .

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47536,7 +47632,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).

-

Definition at line 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47565,7 +47661,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Cuda : true .

-

Definition at line 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47594,7 +47690,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Cuda , as a string: bool .

-

Definition at line 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47623,7 +47719,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Model : "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\")." Default value: "indoor" (string).

-

Definition at line 808 of file Parameters.h.

+

Definition at line 809 of file Parameters.h.

@@ -47652,7 +47748,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Model : "indoor" .

-

Definition at line 808 of file Parameters.h.

+

Definition at line 809 of file Parameters.h.

@@ -47681,7 +47777,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Model , as a string: string.

-

Definition at line 808 of file Parameters.h.

+

Definition at line 809 of file Parameters.h.

@@ -47710,7 +47806,7 @@ The Parameter reference page, which lis

Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47739,7 +47835,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/WithRotation : false .

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47768,7 +47864,7 @@ The Parameter reference page, which lis

Type of parameter GMS/WithRotation , as a string: bool .

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47797,7 +47893,7 @@ The Parameter reference page, which lis

Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47826,7 +47922,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/WithScale : false .

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47855,7 +47951,7 @@ The Parameter reference page, which lis

Type of parameter GMS/WithScale , as a string: bool .

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47884,7 +47980,7 @@ The Parameter reference page, which lis

Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).

-

Definition at line 812 of file Parameters.h.

+

Definition at line 813 of file Parameters.h.

@@ -47913,7 +48009,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/ThresholdFactor : 6.0 .

-

Definition at line 812 of file Parameters.h.

+

Definition at line 813 of file Parameters.h.

@@ -47942,7 +48038,7 @@ The Parameter reference page, which lis

Type of parameter GMS/ThresholdFactor , as a string: double .

-

Definition at line 812 of file Parameters.h.

+

Definition at line 813 of file Parameters.h.

@@ -47971,7 +48067,7 @@ The Parameter reference page, which lis

Key of parameter PyDescriptor/Path : "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used." Default value: "" (string).

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -48000,7 +48096,7 @@ The Parameter reference page, which lis

Default value of parameter PyDescriptor/Path : "" .

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -48029,7 +48125,7 @@ The Parameter reference page, which lis

Type of parameter PyDescriptor/Path , as a string: string.

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -48058,7 +48154,7 @@ The Parameter reference page, which lis

Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).

-

Definition at line 816 of file Parameters.h.

+

Definition at line 817 of file Parameters.h.

@@ -48087,7 +48183,7 @@ The Parameter reference page, which lis

Default value of parameter PyDescriptor/Dim : 4096 .

-

Definition at line 816 of file Parameters.h.

+

Definition at line 817 of file Parameters.h.

@@ -48116,7 +48212,7 @@ The Parameter reference page, which lis

Type of parameter PyDescriptor/Dim , as a string: int .

-

Definition at line 816 of file Parameters.h.

+

Definition at line 817 of file Parameters.h.

@@ -48145,7 +48241,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).

-

Definition at line 822 of file Parameters.h.

+

Definition at line 823 of file Parameters.h.

@@ -48174,7 +48270,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Strategy : 0 .

-

Definition at line 822 of file Parameters.h.

+

Definition at line 823 of file Parameters.h.

@@ -48203,7 +48299,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Strategy , as a string: int .

-

Definition at line 822 of file Parameters.h.

+

Definition at line 823 of file Parameters.h.

@@ -48232,7 +48328,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48261,7 +48357,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxTranslation : 0.2 .

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48290,7 +48386,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxTranslation , as a string: float .

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48319,7 +48415,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48348,7 +48444,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxRotation : 0.78 .

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48377,7 +48473,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxRotation , as a string: float .

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48406,7 +48502,7 @@ The Parameter reference page, which lis

Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48435,7 +48531,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/VoxelSize : 0.05 .

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48464,7 +48560,7 @@ The Parameter reference page, which lis

Type of parameter Icp/VoxelSize , as a string: float .

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48493,7 +48589,7 @@ The Parameter reference page, which lis

Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48522,7 +48618,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/DownsamplingStep : 1 .

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48551,7 +48647,7 @@ The Parameter reference page, which lis

Type of parameter Icp/DownsamplingStep , as a string: int .

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48580,7 +48676,7 @@ The Parameter reference page, which lis

Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48609,7 +48705,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/RangeMin : 0 .

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48638,7 +48734,7 @@ The Parameter reference page, which lis

Type of parameter Icp/RangeMin , as a string: float .

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48667,7 +48763,7 @@ The Parameter reference page, which lis

Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).

-

Definition at line 829 of file Parameters.h.

+

Definition at line 830 of file Parameters.h.

@@ -48696,7 +48792,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/RangeMax : 0 .

-

Definition at line 829 of file Parameters.h.

+

Definition at line 830 of file Parameters.h.

@@ -48725,7 +48821,7 @@ The Parameter reference page, which lis

Type of parameter Icp/RangeMax , as a string: float .

-

Definition at line 829 of file Parameters.h.

+

Definition at line 830 of file Parameters.h.

@@ -48754,7 +48850,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).

-

Definition at line 833 of file Parameters.h.

+

Definition at line 834 of file Parameters.h.

@@ -48783,7 +48879,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .

-

Definition at line 833 of file Parameters.h.

+

Definition at line 834 of file Parameters.h.

@@ -48812,7 +48908,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .

-

Definition at line 833 of file Parameters.h.

+

Definition at line 834 of file Parameters.h.

@@ -48841,7 +48937,7 @@ The Parameter reference page, which lis

Key of parameter Icp/ReciprocalCorrespondences : "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence." Default value: true ( bool ).

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48870,7 +48966,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/ReciprocalCorrespondences : true .

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48899,7 +48995,7 @@ The Parameter reference page, which lis

Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48928,7 +49024,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).

-

Definition at line 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -48957,7 +49053,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Iterations : 30 .

-

Definition at line 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -48986,7 +49082,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Iterations , as a string: int .

-

Definition at line 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -49015,7 +49111,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Epsilon : "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution." Default value: 0 ( float ).

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49044,7 +49140,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Epsilon : 0 .

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49073,7 +49169,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Epsilon , as a string: float .

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49102,7 +49198,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).

-

Definition at line 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49131,7 +49227,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CorrespondenceRatio : 0.1 .

-

Definition at line 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49160,7 +49256,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CorrespondenceRatio , as a string: float .

-

Definition at line 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49189,7 +49285,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Force4DoF : uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()) Default value: false ( bool ).

-

Definition at line 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49218,7 +49314,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Force4DoF : false .

-

Definition at line 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49247,7 +49343,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Force4DoF , as a string: bool .

-

Definition at line 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49276,7 +49372,7 @@ The Parameter reference page, which lis

Key of parameter Icp/FiltersEnabled : "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both." Default value: 3 ( int ).

-

Definition at line 840 of file Parameters.h.

+

Definition at line 841 of file Parameters.h.

@@ -49305,7 +49401,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/FiltersEnabled : 3 .

-

Definition at line 840 of file Parameters.h.

+

Definition at line 841 of file Parameters.h.

@@ -49334,7 +49430,7 @@ The Parameter reference page, which lis

Type of parameter Icp/FiltersEnabled , as a string: int .

-

Definition at line 840 of file Parameters.h.

+

Definition at line 841 of file Parameters.h.

@@ -49363,7 +49459,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).

-

Definition at line 844 of file Parameters.h.

+

Definition at line 845 of file Parameters.h.

@@ -49392,7 +49488,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlane : false .

-

Definition at line 844 of file Parameters.h.

+

Definition at line 845 of file Parameters.h.

@@ -49421,7 +49517,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlane , as a string: bool .

-

Definition at line 844 of file Parameters.h.

+

Definition at line 845 of file Parameters.h.

@@ -49450,7 +49546,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneK : "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals." Default value: 5 ( int ).

-

Definition at line 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49479,7 +49575,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneK : 5 .

-

Definition at line 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49508,7 +49604,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneK , as a string: int .

-

Definition at line 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49537,7 +49633,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneRadius : "Search radius to compute normals for point to plane if the cloud doesn't have already normals." Default value: 0.0 ( float ).

-

Definition at line 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49566,7 +49662,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneRadius : 0.0 .

-

Definition at line 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49595,7 +49691,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneRadius , as a string: float .

-

Definition at line 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49624,7 +49720,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneGroundNormalsUp : "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans." Default value: 0.0 ( float ).

-

Definition at line 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49653,7 +49749,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .

-

Definition at line 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49682,7 +49778,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .

-

Definition at line 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49711,7 +49807,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneMinComplexity : uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()) Default value: 0.02 ( float ).

-

Definition at line 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49740,7 +49836,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .

-

Definition at line 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49769,7 +49865,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .

-

Definition at line 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49798,7 +49894,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneComplexityCentered : uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()) Default value: false ( bool ).

-

Definition at line 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49827,7 +49923,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneComplexityCentered : false .

-

Definition at line 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49856,7 +49952,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .

-

Definition at line 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49885,7 +49981,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlaneLowComplexityStrategy : uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()) Default value: 1 ( int ).

-

Definition at line 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49914,7 +50010,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .

-

Definition at line 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49943,7 +50039,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .

-

Definition at line 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49972,7 +50068,7 @@ The Parameter reference page, which lis

Key of parameter Icp/OutlierRatio : uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()) Default value: 0.85 ( float ).

-

Definition at line 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -50001,7 +50097,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/OutlierRatio : 0.85 .

-

Definition at line 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -50030,7 +50126,7 @@ The Parameter reference page, which lis

Type of parameter Icp/OutlierRatio , as a string: float .

-

Definition at line 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -50059,7 +50155,7 @@ The Parameter reference page, which lis

Key of parameter Icp/DebugExportFormat : "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten." Default value: "" (string).

-

Definition at line 853 of file Parameters.h.

+

Definition at line 854 of file Parameters.h.

@@ -50088,7 +50184,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/DebugExportFormat : "" .

-

Definition at line 853 of file Parameters.h.

+

Definition at line 854 of file Parameters.h.

@@ -50117,7 +50213,7 @@ The Parameter reference page, which lis

Type of parameter Icp/DebugExportFormat , as a string: string.

-

Definition at line 853 of file Parameters.h.

+

Definition at line 854 of file Parameters.h.

@@ -50146,7 +50242,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PMConfig : uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str() Default value: "" (string).

-

Definition at line 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50175,7 +50271,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMConfig : "" .

-

Definition at line 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50204,7 +50300,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMConfig , as a string: string.

-

Definition at line 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50233,7 +50329,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PMMatcherKnn : "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set." Default value: 1 ( int ).

-

Definition at line 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50262,7 +50358,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherKnn : 1 .

-

Definition at line 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50291,7 +50387,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherKnn , as a string: int .

-

Definition at line 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50320,7 +50416,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PMMatcherEpsilon : "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set." Default value: 0.0 ( float ).

-

Definition at line 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50349,7 +50445,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherEpsilon : 0.0 .

-

Definition at line 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50378,7 +50474,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherEpsilon , as a string: float .

-

Definition at line 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50407,7 +50503,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PMMatcherIntensity : uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()) Default value: false ( bool ).

-

Definition at line 859 of file Parameters.h.

+

Definition at line 860 of file Parameters.h.

@@ -50436,7 +50532,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherIntensity : false .

-

Definition at line 859 of file Parameters.h.

+

Definition at line 860 of file Parameters.h.

@@ -50465,7 +50561,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherIntensity , as a string: bool .

-

Definition at line 859 of file Parameters.h.

+

Definition at line 860 of file Parameters.h.

@@ -50494,7 +50590,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CCSamplingLimit : "Maximum number of points per cloud (they are randomly resampled below this limit otherwise)." Default value: 50000 ( unsigned int ).

-

Definition at line 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50523,7 +50619,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCSamplingLimit : 50000 .

-

Definition at line 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50552,7 +50648,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .

-

Definition at line 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50581,7 +50677,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CCFilterOutFarthestPoints : "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence." Default value: false ( bool ).

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50610,7 +50706,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCFilterOutFarthestPoints : false .

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50639,7 +50735,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50668,7 +50764,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).

-

Definition at line 863 of file Parameters.h.

+

Definition at line 864 of file Parameters.h.

@@ -50697,7 +50793,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCMaxFinalRMS : 0.2 .

-

Definition at line 863 of file Parameters.h.

+

Definition at line 864 of file Parameters.h.

@@ -50726,7 +50822,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCMaxFinalRMS , as a string: float .

-

Definition at line 863 of file Parameters.h.

+

Definition at line 864 of file Parameters.h.

@@ -50755,7 +50851,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50784,7 +50880,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/WinWidth : 15 .

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50813,7 +50909,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/WinWidth , as a string: int .

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50842,7 +50938,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50871,7 +50967,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/WinHeight : 3 .

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50900,7 +50996,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/WinHeight , as a string: int .

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50929,7 +51025,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -50958,7 +51054,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Iterations : 30 .

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -50987,7 +51083,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Iterations , as a string: int .

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -51016,7 +51112,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51045,7 +51141,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MaxLevel : 5 .

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51074,7 +51170,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MaxLevel , as a string: int .

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51103,7 +51199,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51132,7 +51228,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MinDisparity : 0.5 .

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51161,7 +51257,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MinDisparity , as a string: float .

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51190,7 +51286,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).

-

Definition at line 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51219,7 +51315,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MaxDisparity : 128.0 .

-

Definition at line 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51248,7 +51344,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MaxDisparity , as a string: float .

-

Definition at line 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51277,7 +51373,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used." Default value: true ( bool ).

-

Definition at line 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51306,7 +51402,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/OpticalFlow : true .

-

Definition at line 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51335,7 +51431,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/OpticalFlow , as a string: bool .

-

Definition at line 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51364,7 +51460,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51393,7 +51489,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/SSD : true .

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51422,7 +51518,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/SSD , as a string: bool .

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51451,7 +51547,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).

-

Definition at line 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51480,7 +51576,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Eps : 0.01 .

-

Definition at line 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51509,7 +51605,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Eps , as a string: double .

-

Definition at line 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51538,7 +51634,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/UseMinEigenVals : uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

-

Definition at line 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51567,7 +51663,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/UseMinEigenVals : true .

-

Definition at line 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51596,7 +51692,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/UseMinEigenVals , as a string: bool .

-

Definition at line 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51625,7 +51721,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()) Default value: 1e-4 ( double ).

-

Definition at line 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51654,7 +51750,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MinEigThreshold : 1e-4 .

-

Definition at line 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51683,7 +51779,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MinEigThreshold , as a string: double .

-

Definition at line 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51712,7 +51808,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/ErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()) Default value: 50 ( double ).

-

Definition at line 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51741,7 +51837,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/ErrorThreshold : 50 .

-

Definition at line 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51770,7 +51866,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/ErrorThreshold , as a string: double .

-

Definition at line 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51799,7 +51895,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/Gpu : uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()) Default value: false ( bool ).

-

Definition at line 878 of file Parameters.h.

+

Definition at line 879 of file Parameters.h.

@@ -51828,7 +51924,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Gpu : false .

-

Definition at line 878 of file Parameters.h.

+

Definition at line 879 of file Parameters.h.

@@ -51857,7 +51953,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Gpu , as a string: bool .

-

Definition at line 878 of file Parameters.h.

+

Definition at line 879 of file Parameters.h.

@@ -51886,7 +51982,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 880 of file Parameters.h.

+

Definition at line 881 of file Parameters.h.

@@ -51915,7 +52011,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/DenseStrategy : 0 .

-

Definition at line 880 of file Parameters.h.

+

Definition at line 881 of file Parameters.h.

@@ -51944,7 +52040,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/DenseStrategy , as a string: int .

-

Definition at line 880 of file Parameters.h.

+

Definition at line 881 of file Parameters.h.

@@ -51973,7 +52069,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -52002,7 +52098,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/BlockSize : 15 .

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -52031,7 +52127,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/BlockSize , as a string: int .

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -52060,7 +52156,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52089,7 +52185,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/MinDisparity : 0 .

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52118,7 +52214,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/MinDisparity , as a string: int .

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52147,7 +52243,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52176,7 +52272,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/NumDisparities : 128 .

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52205,7 +52301,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/NumDisparities , as a string: int .

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52234,7 +52330,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52263,7 +52359,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/PreFilterSize : 9 .

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52292,7 +52388,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/PreFilterSize , as a string: int .

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52321,7 +52417,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52350,7 +52446,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/PreFilterCap : 31 .

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52379,7 +52475,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/PreFilterCap , as a string: int .

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52408,7 +52504,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52437,7 +52533,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/UniquenessRatio : 15 .

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52466,7 +52562,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/UniquenessRatio , as a string: int .

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52495,7 +52591,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52524,7 +52620,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/TextureThreshold : 10 .

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52553,7 +52649,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/TextureThreshold , as a string: int .

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52582,7 +52678,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52611,7 +52707,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/SpeckleWindowSize : 100 .

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52640,7 +52736,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/SpeckleWindowSize , as a string: int .

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52669,7 +52765,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52698,7 +52794,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/SpeckleRange : 4 .

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52727,7 +52823,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/SpeckleRange , as a string: int .

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52756,7 +52852,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).

-

Definition at line 891 of file Parameters.h.

+

Definition at line 892 of file Parameters.h.

@@ -52785,7 +52881,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/Disp12MaxDiff : -1 .

-

Definition at line 891 of file Parameters.h.

+

Definition at line 892 of file Parameters.h.

@@ -52814,7 +52910,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/Disp12MaxDiff , as a string: int .

-

Definition at line 891 of file Parameters.h.

+

Definition at line 892 of file Parameters.h.

@@ -52843,7 +52939,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52872,7 +52968,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/BlockSize : 15 .

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52901,7 +52997,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/BlockSize , as a string: int .

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52930,7 +53026,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -52959,7 +53055,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/MinDisparity : 0 .

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -52988,7 +53084,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/MinDisparity , as a string: int .

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -53017,7 +53113,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53046,7 +53142,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/NumDisparities : 128 .

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53075,7 +53171,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/NumDisparities , as a string: int .

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53104,7 +53200,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53133,7 +53229,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/PreFilterCap : 31 .

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53162,7 +53258,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/PreFilterCap , as a string: int .

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53191,7 +53287,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53220,7 +53316,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/UniquenessRatio : 20 .

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53249,7 +53345,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/UniquenessRatio , as a string: int .

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53278,7 +53374,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53307,7 +53403,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53336,7 +53432,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53365,7 +53461,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53394,7 +53490,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/SpeckleRange : 4 .

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53423,7 +53519,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/SpeckleRange , as a string: int .

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53452,7 +53548,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53481,7 +53577,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53510,7 +53606,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53539,7 +53635,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53568,7 +53664,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/P1 : 2 .

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53597,7 +53693,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/P1 , as a string: int .

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53626,7 +53722,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).

-

Definition at line 902 of file Parameters.h.

+

Definition at line 903 of file Parameters.h.

@@ -53655,7 +53751,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/P2 : 5 .

-

Definition at line 902 of file Parameters.h.

+

Definition at line 903 of file Parameters.h.

@@ -53684,7 +53780,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/P2 , as a string: int .

-

Definition at line 902 of file Parameters.h.

+

Definition at line 903 of file Parameters.h.

@@ -53713,7 +53809,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 904 of file Parameters.h.

+

Definition at line 905 of file Parameters.h.

@@ -53742,7 +53838,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/Mode : 0 .

-

Definition at line 904 of file Parameters.h.

+

Definition at line 905 of file Parameters.h.

@@ -53771,7 +53867,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/Mode , as a string: int .

-

Definition at line 904 of file Parameters.h.

+

Definition at line 905 of file Parameters.h.

@@ -53800,7 +53896,7 @@ The Parameter reference page, which lis

Key of parameter Grid/Sensor : "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s)." Default value: 1 ( int ).

-

Definition at line 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53829,7 +53925,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/Sensor : 1 .

-

Definition at line 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53858,7 +53954,7 @@ The Parameter reference page, which lis

Type of parameter Grid/Sensor , as a string: int .

-

Definition at line 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53887,7 +53983,7 @@ The Parameter reference page, which lis

Key of parameter Grid/DepthDecimation : uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()) Default value: 4 ( unsigned int ).

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53916,7 +54012,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/DepthDecimation : 4 .

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53945,7 +54041,7 @@ The Parameter reference page, which lis

Type of parameter Grid/DepthDecimation , as a string: unsigned int .

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53974,7 +54070,7 @@ The Parameter reference page, which lis

Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -54003,7 +54099,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RangeMin : 0.0 .

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -54032,7 +54128,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RangeMin , as a string: float .

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -54061,7 +54157,7 @@ The Parameter reference page, which lis

Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).

-

Definition at line 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54090,7 +54186,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RangeMax : 5.0 .

-

Definition at line 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54119,7 +54215,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RangeMax , as a string: float .

-

Definition at line 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54148,7 +54244,7 @@ The Parameter reference page, which lis

Key of parameter Grid/DepthRoiRatios : uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()) Default value: "0.0 0.0 0.0 0.0" (string).

-

Definition at line 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54177,7 +54273,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .

-

Definition at line 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54206,7 +54302,7 @@ The Parameter reference page, which lis

Type of parameter Grid/DepthRoiRatios , as a string: string.

-

Definition at line 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54235,7 +54331,7 @@ The Parameter reference page, which lis

Key of parameter Grid/FootprintLength : "Footprint length used to filter points over the footprint of the robot." Default value: 0.0 ( float ).

-

Definition at line 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54264,7 +54360,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintLength : 0.0 .

-

Definition at line 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54293,7 +54389,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintLength , as a string: float .

-

Definition at line 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54322,7 +54418,7 @@ The Parameter reference page, which lis

Key of parameter Grid/FootprintWidth : "Footprint width used to filter points over the footprint of the robot. Footprint length should be set." Default value: 0.0 ( float ).

-

Definition at line 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54351,7 +54447,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintWidth : 0.0 .

-

Definition at line 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54380,7 +54476,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintWidth , as a string: float .

-

Definition at line 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54409,7 +54505,7 @@ The Parameter reference page, which lis

Key of parameter Grid/FootprintHeight : "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set." Default value: 0.0 ( float ).

-

Definition at line 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54438,7 +54534,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintHeight : 0.0 .

-

Definition at line 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54467,7 +54563,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintHeight , as a string: float .

-

Definition at line 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54496,7 +54592,7 @@ The Parameter reference page, which lis

Key of parameter Grid/ScanDecimation : uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()) Default value: 1 ( int ).

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54525,7 +54621,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/ScanDecimation : 1 .

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54554,7 +54650,7 @@ The Parameter reference page, which lis

Type of parameter Grid/ScanDecimation , as a string: int .

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54583,7 +54679,7 @@ The Parameter reference page, which lis

Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).

-

Definition at line 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54612,7 +54708,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/CellSize : 0.05 .

-

Definition at line 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54641,7 +54737,7 @@ The Parameter reference page, which lis

Type of parameter Grid/CellSize , as a string: float .

-

Definition at line 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54670,7 +54766,7 @@ The Parameter reference page, which lis

Key of parameter Grid/PreVoxelFiltering : uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()) Default value: true ( bool ).

-

Definition at line 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54699,7 +54795,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/PreVoxelFiltering : true .

-

Definition at line 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54728,7 +54824,7 @@ The Parameter reference page, which lis

Type of parameter Grid/PreVoxelFiltering , as a string: bool .

-

Definition at line 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54757,7 +54853,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MapFrameProjection : "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead." Default value: false ( bool ).

-

Definition at line 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54786,7 +54882,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MapFrameProjection : false .

-

Definition at line 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54815,7 +54911,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MapFrameProjection , as a string: bool .

-

Definition at line 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54844,7 +54940,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NormalsSegmentation : "Segment ground from obstacles using point normals, otherwise a fast passthrough is used." Default value: true ( bool ).

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54873,7 +54969,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NormalsSegmentation : true .

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54902,7 +54998,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NormalsSegmentation , as a string: bool .

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54931,7 +55027,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -54960,7 +55056,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxObstacleHeight : 0.0 .

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -54989,7 +55085,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxObstacleHeight , as a string: float .

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -55018,7 +55114,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).

-

Definition at line 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55047,7 +55143,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MinGroundHeight : 0.0 .

-

Definition at line 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55076,7 +55172,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MinGroundHeight , as a string: float .

-

Definition at line 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55105,7 +55201,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MaxGroundHeight : uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()) Default value: 0.0 ( float ).

-

Definition at line 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55134,7 +55230,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxGroundHeight : 0.0 .

-

Definition at line 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55163,7 +55259,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxGroundHeight , as a string: float .

-

Definition at line 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55192,7 +55288,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MaxGroundAngle : uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()) Default value: 45 ( float ).

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55221,7 +55317,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxGroundAngle : 45 .

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55250,7 +55346,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxGroundAngle , as a string: float .

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55279,7 +55375,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55308,7 +55404,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NormalK : 20 .

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55337,7 +55433,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NormalK , as a string: int .

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55366,7 +55462,7 @@ The Parameter reference page, which lis

Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).

-

Definition at line 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55395,7 +55491,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/ClusterRadius : 0.1 .

-

Definition at line 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55424,7 +55520,7 @@ The Parameter reference page, which lis

Type of parameter Grid/ClusterRadius , as a string: float .

-

Definition at line 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55453,7 +55549,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MinClusterSize : uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()) Default value: 10 ( int ).

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55482,7 +55578,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MinClusterSize : 10 .

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55511,7 +55607,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MinClusterSize , as a string: int .

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55540,7 +55636,7 @@ The Parameter reference page, which lis

Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).

-

Definition at line 930 of file Parameters.h.

+

Definition at line 931 of file Parameters.h.

@@ -55569,7 +55665,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FlatObstacleDetected : true .

-

Definition at line 930 of file Parameters.h.

+

Definition at line 931 of file Parameters.h.

@@ -55598,7 +55694,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FlatObstacleDetected , as a string: bool .

-

Definition at line 930 of file Parameters.h.

+

Definition at line 931 of file Parameters.h.

@@ -55627,7 +55723,7 @@ The Parameter reference page, which lis

Key of parameter Grid/3D : uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()) Default value: false ( bool ).

-

Definition at line 934 of file Parameters.h.

+

Definition at line 935 of file Parameters.h.

@@ -55656,7 +55752,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/3D : false .

-

Definition at line 934 of file Parameters.h.

+

Definition at line 935 of file Parameters.h.

@@ -55685,7 +55781,7 @@ The Parameter reference page, which lis

Type of parameter Grid/3D , as a string: bool .

-

Definition at line 934 of file Parameters.h.

+

Definition at line 935 of file Parameters.h.

@@ -55714,7 +55810,7 @@ The Parameter reference page, which lis

Key of parameter Grid/GroundIsObstacle : uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()) Default value: false ( bool ).

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55743,7 +55839,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/GroundIsObstacle : false .

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55772,7 +55868,7 @@ The Parameter reference page, which lis

Type of parameter Grid/GroundIsObstacle , as a string: bool .

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55801,7 +55897,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55830,7 +55926,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NoiseFilteringRadius : 0.0 .

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55859,7 +55955,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NoiseFilteringRadius , as a string: float .

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55888,7 +55984,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).

-

Definition at line 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55917,7 +56013,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .

-

Definition at line 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55946,7 +56042,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .

-

Definition at line 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55975,7 +56071,7 @@ The Parameter reference page, which lis

Key of parameter Grid/Scan2dUnknownSpaceFilled : uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()) Default value: false ( bool ).

-

Definition at line 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -56004,7 +56100,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .

-

Definition at line 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -56033,7 +56129,7 @@ The Parameter reference page, which lis

Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .

-

Definition at line 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -56062,7 +56158,7 @@ The Parameter reference page, which lis

Key of parameter Grid/RayTracing : uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()) Default value: false ( bool ).

-

Definition at line 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56091,7 +56187,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RayTracing : false .

-

Definition at line 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56120,7 +56216,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RayTracing , as a string: bool .

-

Definition at line 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56149,7 +56245,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value." Default value: 0.01 ( float ).

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56178,7 +56274,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/UpdateError : 0.01 .

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56207,7 +56303,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/UpdateError , as a string: float .

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56236,7 +56332,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56265,7 +56361,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/FootprintRadius : 0.0 .

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56294,7 +56390,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/FootprintRadius , as a string: float .

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56323,7 +56419,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56352,7 +56448,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/MinSize : 0.0 .

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56381,7 +56477,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/MinSize , as a string: float .

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56410,7 +56506,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).

-

Definition at line 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56439,7 +56535,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/Eroded : false .

-

Definition at line 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56468,7 +56564,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/Eroded , as a string: bool .

-

Definition at line 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56497,7 +56593,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/MaxNodes : "Maximum nodes assembled in the map starting from the last node (0=unlimited)." Default value: 0 ( int ).

-

Definition at line 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56526,7 +56622,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/MaxNodes : 0 .

-

Definition at line 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56555,7 +56651,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/MaxNodes , as a string: int .

-

Definition at line 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56584,7 +56680,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/AltitudeDelta : "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building)." Default value: 0 ( float ).

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56613,7 +56709,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/AltitudeDelta : 0 .

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56642,7 +56738,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/AltitudeDelta , as a string: float .

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56671,7 +56767,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56700,7 +56796,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/OccupancyThr : 0.5 .

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56729,7 +56825,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/OccupancyThr , as a string: float .

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56758,7 +56854,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56787,7 +56883,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbHit : 0.7 .

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56816,7 +56912,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbHit , as a string: float .

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56845,7 +56941,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56874,7 +56970,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbMiss : 0.4 .

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56903,7 +56999,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbMiss , as a string: float .

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56932,7 +57028,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -56961,7 +57057,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -56990,7 +57086,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbClampingMin , as a string: float .

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -57019,7 +57115,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).

-

Definition at line 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57048,7 +57144,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbClampingMax : 0.971 .

-

Definition at line 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57077,7 +57173,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbClampingMax , as a string: float .

-

Definition at line 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57106,7 +57202,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/FloodFillDepth : "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap." Default value: 0 ( unsigned int ).

-

Definition at line 952 of file Parameters.h.

+

Definition at line 953 of file Parameters.h.

@@ -57135,7 +57231,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/FloodFillDepth : 0 .

-

Definition at line 952 of file Parameters.h.

+

Definition at line 953 of file Parameters.h.

@@ -57164,7 +57260,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .

-

Definition at line 952 of file Parameters.h.

+

Definition at line 953 of file Parameters.h.

@@ -57193,7 +57289,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).

-

Definition at line 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57222,7 +57318,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Strategy : 0 .

-

Definition at line 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57251,7 +57347,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Strategy , as a string: int .

-

Definition at line 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57280,7 +57376,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Dictionary : "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21" Default value: 0 ( int ).

-

Definition at line 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57309,7 +57405,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Dictionary : 0 .

-

Definition at line 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57338,7 +57434,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Dictionary , as a string: int .

-

Definition at line 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57367,7 +57463,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Length : "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID." Default value: 0 ( float ).

-

Definition at line 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57396,7 +57492,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Length : 0 .

-

Definition at line 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57425,7 +57521,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Length , as a string: float .

-

Definition at line 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57454,7 +57550,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Lengths : uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str() Default value: "" (string).

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57483,7 +57579,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Lengths : "" .

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57512,7 +57608,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Lengths , as a string: string.

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57541,7 +57637,7 @@ The Parameter reference page, which lis

Key of parameter Marker/MaxDepthError : uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()) Default value: 0.01 ( float ).

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57570,7 +57666,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MaxDepthError : 0.01 .

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57599,7 +57695,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MaxDepthError , as a string: float .

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57628,7 +57724,7 @@ The Parameter reference page, which lis

Key of parameter Marker/VarianceLinear : uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()) Default value: 0.001 ( float ).

-

Definition at line 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57657,7 +57753,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceLinear : 0.001 .

-

Definition at line 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57686,7 +57782,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceLinear , as a string: float .

-

Definition at line 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57715,7 +57811,7 @@ The Parameter reference page, which lis

Key of parameter Marker/VarianceAngular : uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()) Default value: 0.01 ( float ).

-

Definition at line 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57744,7 +57840,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceAngular : 0.01 .

-

Definition at line 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57773,7 +57869,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceAngular , as a string: float .

-

Definition at line 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57802,7 +57898,7 @@ The Parameter reference page, which lis

Key of parameter Marker/VarianceOrientationIgnored : uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()) Default value: false ( bool ).

-

Definition at line 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57831,7 +57927,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceOrientationIgnored : false .

-

Definition at line 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57860,7 +57956,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .

-

Definition at line 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57889,7 +57985,7 @@ The Parameter reference page, which lis

Key of parameter Marker/MaxRange : "Maximum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

-

Definition at line 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57918,7 +58014,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MaxRange : 0.0 .

-

Definition at line 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57947,7 +58043,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MaxRange , as a string: float .

-

Definition at line 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57976,7 +58072,7 @@ The Parameter reference page, which lis

Key of parameter Marker/MinRange : "Miniminum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

-

Definition at line 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -58005,7 +58101,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MinRange : 0.0 .

-

Definition at line 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -58034,7 +58130,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MinRange , as a string: float .

-

Definition at line 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -58063,7 +58159,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Priors : uFormat("World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false.", kOptimizerPriorsIgnored().c_str()) Default value: "" (string).

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58092,7 +58188,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Priors : "" .

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58121,7 +58217,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Priors , as a string: string.

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58150,7 +58246,7 @@ The Parameter reference page, which lis

Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58179,7 +58275,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/PriorsVarianceLinear : 0.001 .

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58208,7 +58304,7 @@ The Parameter reference page, which lis

Type of parameter Marker/PriorsVarianceLinear , as a string: float .

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58237,7 +58333,7 @@ The Parameter reference page, which lis

Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).

-

Definition at line 966 of file Parameters.h.

+

Definition at line 967 of file Parameters.h.

@@ -58266,7 +58362,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/PriorsVarianceAngular : 0.001 .

-

Definition at line 966 of file Parameters.h.

+

Definition at line 967 of file Parameters.h.

@@ -58295,7 +58391,7 @@ The Parameter reference page, which lis

Type of parameter Marker/PriorsVarianceAngular , as a string: float .

-

Definition at line 966 of file Parameters.h.

+

Definition at line 967 of file Parameters.h.

@@ -58324,7 +58420,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).

-

Definition at line 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58353,7 +58449,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/NThreads : 1 .

-

Definition at line 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58382,7 +58478,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/NThreads , as a string: int .

-

Definition at line 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58411,7 +58507,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/QuadDecimate : "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution." Default value: 1.0 ( float ).

-

Definition at line 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58440,7 +58536,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .

-

Definition at line 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58469,7 +58565,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .

-

Definition at line 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58498,7 +58594,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/QuadSigma : "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8)." Default value: 0.0 ( float ).

-

Definition at line 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58527,7 +58623,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .

-

Definition at line 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58556,7 +58652,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/QuadSigma , as a string: float .

-

Definition at line 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58585,7 +58681,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/RefineEdges : uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()) Default value: true ( bool ).

-

Definition at line 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58614,7 +58710,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/RefineEdges : true .

-

Definition at line 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58643,7 +58739,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .

-

Definition at line 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58672,7 +58768,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/DecodeSharpening : "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions." Default value: 0.25 ( double ).

-

Definition at line 972 of file Parameters.h.

+

Definition at line 973 of file Parameters.h.

@@ -58701,7 +58797,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .

-

Definition at line 972 of file Parameters.h.

+

Definition at line 973 of file Parameters.h.

@@ -58730,7 +58826,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .

-

Definition at line 972 of file Parameters.h.

+

Definition at line 973 of file Parameters.h.

@@ -58759,7 +58855,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/Debug : uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()) Default value: false ( bool ).

-

Definition at line 973 of file Parameters.h.

+

Definition at line 974 of file Parameters.h.

@@ -58788,7 +58884,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/Debug : false .

-

Definition at line 973 of file Parameters.h.

+

Definition at line 974 of file Parameters.h.

@@ -58817,7 +58913,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/Debug , as a string: bool .

-

Definition at line 973 of file Parameters.h.

+

Definition at line 974 of file Parameters.h.

@@ -58846,7 +58942,7 @@ The Parameter reference page, which lis

Key of parameter MarkerOpenCV/CornerRefinementMethod : "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true." Default value: 0 ( int ).

-

Definition at line 975 of file Parameters.h.

+

Definition at line 976 of file Parameters.h.

@@ -58875,7 +58971,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .

-

Definition at line 975 of file Parameters.h.

+

Definition at line 976 of file Parameters.h.

@@ -58904,7 +59000,7 @@ The Parameter reference page, which lis

Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .

-

Definition at line 975 of file Parameters.h.

+

Definition at line 976 of file Parameters.h.

@@ -58933,7 +59029,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/MadgwickGain : "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1]." Default value: 0.1 ( double ).

-

Definition at line 977 of file Parameters.h.

+

Definition at line 978 of file Parameters.h.

@@ -58962,7 +59058,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/MadgwickGain : 0.1 .

-

Definition at line 977 of file Parameters.h.

+

Definition at line 978 of file Parameters.h.

@@ -58991,7 +59087,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/MadgwickGain , as a string: double .

-

Definition at line 977 of file Parameters.h.

+

Definition at line 978 of file Parameters.h.

@@ -59020,7 +59116,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).

-

Definition at line 978 of file Parameters.h.

+

Definition at line 979 of file Parameters.h.

@@ -59049,7 +59145,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/MadgwickZeta : 0.0 .

-

Definition at line 978 of file Parameters.h.

+

Definition at line 979 of file Parameters.h.

@@ -59078,7 +59174,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/MadgwickZeta , as a string: double .

-

Definition at line 978 of file Parameters.h.

+

Definition at line 979 of file Parameters.h.

@@ -59107,7 +59203,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).

-

Definition at line 980 of file Parameters.h.

+

Definition at line 981 of file Parameters.h.

@@ -59136,7 +59232,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .

-

Definition at line 980 of file Parameters.h.

+

Definition at line 981 of file Parameters.h.

@@ -59165,7 +59261,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .

-

Definition at line 980 of file Parameters.h.

+

Definition at line 981 of file Parameters.h.

@@ -59194,7 +59290,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).

-

Definition at line 981 of file Parameters.h.

+

Definition at line 982 of file Parameters.h.

@@ -59223,7 +59319,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .

-

Definition at line 981 of file Parameters.h.

+

Definition at line 982 of file Parameters.h.

@@ -59252,7 +59348,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .

-

Definition at line 981 of file Parameters.h.

+

Definition at line 982 of file Parameters.h.

@@ -59281,7 +59377,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).

-

Definition at line 982 of file Parameters.h.

+

Definition at line 983 of file Parameters.h.

@@ -59310,7 +59406,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .

-

Definition at line 982 of file Parameters.h.

+

Definition at line 983 of file Parameters.h.

@@ -59339,7 +59435,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .

-

Definition at line 982 of file Parameters.h.

+

Definition at line 983 of file Parameters.h.

@@ -59368,7 +59464,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).

-

Definition at line 983 of file Parameters.h.

+

Definition at line 984 of file Parameters.h.

@@ -59397,7 +59493,7 @@ The Parameter reference page, which lis

Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .

-

Definition at line 983 of file Parameters.h.

+

Definition at line 984 of file Parameters.h.

@@ -59426,7 +59522,7 @@ The Parameter reference page, which lis

Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .

-

Definition at line 983 of file Parameters.h.

+

Definition at line 984 of file Parameters.h.

@@ -59454,7 +59550,7 @@ The Parameter reference page, which lis

Get default parameters

-

Definition at line 992 of file Parameters.h.

+

Definition at line 993 of file Parameters.h.

diff --git a/api/latest/classrtabmap_1_1ParticleFilter-members.html b/api/latest/classrtabmap_1_1ParticleFilter-members.html index b9debfb2..14bcf470 100644 --- a/api/latest/classrtabmap_1_1ParticleFilter-members.html +++ b/api/latest/classrtabmap_1_1ParticleFilter-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ParticleFilter.html b/api/latest/classrtabmap_1_1ParticleFilter.html index ef92413b..854bf772 100644 --- a/api/latest/classrtabmap_1_1ParticleFilter.html +++ b/api/latest/classrtabmap_1_1ParticleFilter.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ProgressState-members.html b/api/latest/classrtabmap_1_1ProgressState-members.html index 6a7baf35..84dc05e1 100644 --- a/api/latest/classrtabmap_1_1ProgressState-members.html +++ b/api/latest/classrtabmap_1_1ProgressState-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1ProgressState.html b/api/latest/classrtabmap_1_1ProgressState.html index f2744601..bf8f9437 100644 --- a/api/latest/classrtabmap_1_1ProgressState.html +++ b/api/latest/classrtabmap_1_1ProgressState.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1PythonInterface-members.html b/api/latest/classrtabmap_1_1PythonInterface-members.html index 5f87e25b..6fe45ac8 100644 --- a/api/latest/classrtabmap_1_1PythonInterface-members.html +++ b/api/latest/classrtabmap_1_1PythonInterface-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1PythonInterface.html b/api/latest/classrtabmap_1_1PythonInterface.html index 76092f7b..de1a99fe 100644 --- a/api/latest/classrtabmap_1_1PythonInterface.html +++ b/api/latest/classrtabmap_1_1PythonInterface.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Registration-members.html b/api/latest/classrtabmap_1_1Registration-members.html index db407d3c..875e3ca7 100644 --- a/api/latest/classrtabmap_1_1Registration-members.html +++ b/api/latest/classrtabmap_1_1Registration-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Registration.html b/api/latest/classrtabmap_1_1Registration.html index 8ad539de..53b43d49 100644 --- a/api/latest/classrtabmap_1_1Registration.html +++ b/api/latest/classrtabmap_1_1Registration.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationIcp-members.html b/api/latest/classrtabmap_1_1RegistrationIcp-members.html index d143cc7c..26b4e48f 100644 --- a/api/latest/classrtabmap_1_1RegistrationIcp-members.html +++ b/api/latest/classrtabmap_1_1RegistrationIcp-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationIcp.html b/api/latest/classrtabmap_1_1RegistrationIcp.html index 3cc23449..a096b92d 100644 --- a/api/latest/classrtabmap_1_1RegistrationIcp.html +++ b/api/latest/classrtabmap_1_1RegistrationIcp.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationInfo-members.html b/api/latest/classrtabmap_1_1RegistrationInfo-members.html index 095c0a6a..26ba2d51 100644 --- a/api/latest/classrtabmap_1_1RegistrationInfo-members.html +++ b/api/latest/classrtabmap_1_1RegistrationInfo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationInfo.html b/api/latest/classrtabmap_1_1RegistrationInfo.html index b64de730..fdb97592 100644 --- a/api/latest/classrtabmap_1_1RegistrationInfo.html +++ b/api/latest/classrtabmap_1_1RegistrationInfo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationVis-members.html b/api/latest/classrtabmap_1_1RegistrationVis-members.html index 387e8330..7c75c78c 100644 --- a/api/latest/classrtabmap_1_1RegistrationVis-members.html +++ b/api/latest/classrtabmap_1_1RegistrationVis-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RegistrationVis.html b/api/latest/classrtabmap_1_1RegistrationVis.html index 73f51c21..6acd36a7 100644 --- a/api/latest/classrtabmap_1_1RegistrationVis.html +++ b/api/latest/classrtabmap_1_1RegistrationVis.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Rtabmap-members.html b/api/latest/classrtabmap_1_1Rtabmap-members.html index 2db93006..bd00022d 100644 --- a/api/latest/classrtabmap_1_1Rtabmap-members.html +++ b/api/latest/classrtabmap_1_1Rtabmap-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Rtabmap.html b/api/latest/classrtabmap_1_1Rtabmap.html index 92049c2e..e2638df6 100644 --- a/api/latest/classrtabmap_1_1Rtabmap.html +++ b/api/latest/classrtabmap_1_1Rtabmap.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html b/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html index f56fbc60..97d6c540 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTree.html b/api/latest/classrtabmap_1_1RtabmapColorOcTree.html index d0421c60..b981e9c4 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTree.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTree.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html b/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html index 85164f1b..ae6d15b0 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html b/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html index f0aa790e..7f62c8fd 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer-members.html b/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer-members.html index 9ed69d15..6de6f215 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer-members.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html b/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html index 46c9547d..ee1d2283 100644 --- a/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html +++ b/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEvent-members.html b/api/latest/classrtabmap_1_1RtabmapEvent-members.html index 4d54c458..5f1fb633 100644 --- a/api/latest/classrtabmap_1_1RtabmapEvent-members.html +++ b/api/latest/classrtabmap_1_1RtabmapEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEvent.html b/api/latest/classrtabmap_1_1RtabmapEvent.html index 20f491f5..805cf582 100644 --- a/api/latest/classrtabmap_1_1RtabmapEvent.html +++ b/api/latest/classrtabmap_1_1RtabmapEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html b/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html index 7ba00568..b7545135 100644 --- a/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html +++ b/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html b/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html index 17a85c22..066d786a 100644 --- a/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html +++ b/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html b/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html index ef6acf96..6ab3db64 100644 --- a/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html +++ b/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEventCmd.html b/api/latest/classrtabmap_1_1RtabmapEventCmd.html index cbf4ba95..ac1496fe 100644 --- a/api/latest/classrtabmap_1_1RtabmapEventCmd.html +++ b/api/latest/classrtabmap_1_1RtabmapEventCmd.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEventInit-members.html b/api/latest/classrtabmap_1_1RtabmapEventInit-members.html index 2867b1c8..0c6e6221 100644 --- a/api/latest/classrtabmap_1_1RtabmapEventInit-members.html +++ b/api/latest/classrtabmap_1_1RtabmapEventInit-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapEventInit.html b/api/latest/classrtabmap_1_1RtabmapEventInit.html index daaeb920..33fd15d9 100644 --- a/api/latest/classrtabmap_1_1RtabmapEventInit.html +++ b/api/latest/classrtabmap_1_1RtabmapEventInit.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent-members.html b/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent-members.html index 2373b9eb..f5325344 100644 --- a/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent-members.html +++ b/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent.html b/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent.html index ea83f902..cb7d310d 100644 --- a/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent.html +++ b/api/latest/classrtabmap_1_1RtabmapGlobalPathEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent-members.html b/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent-members.html index 918d768d..70b19634 100644 --- a/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent-members.html +++ b/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html b/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html index 83e054ba..e86caf34 100644 --- a/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html +++ b/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent-members.html b/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent-members.html index e78d5124..e80c7a01 100644 --- a/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent-members.html +++ b/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html b/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html index fad1ff88..69093711 100644 --- a/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html +++ b/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapThread-members.html b/api/latest/classrtabmap_1_1RtabmapThread-members.html index 54079474..e24f276e 100644 --- a/api/latest/classrtabmap_1_1RtabmapThread-members.html +++ b/api/latest/classrtabmap_1_1RtabmapThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RtabmapThread.html b/api/latest/classrtabmap_1_1RtabmapThread.html index fe2bf0a7..2a4a966c 100644 --- a/api/latest/classrtabmap_1_1RtabmapThread.html +++ b/api/latest/classrtabmap_1_1RtabmapThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RvlCodec-members.html b/api/latest/classrtabmap_1_1RvlCodec-members.html index 6d16060c..159aadad 100644 --- a/api/latest/classrtabmap_1_1RvlCodec-members.html +++ b/api/latest/classrtabmap_1_1RvlCodec-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1RvlCodec.html b/api/latest/classrtabmap_1_1RvlCodec.html index 9afc559e..8ec04ea7 100644 --- a/api/latest/classrtabmap_1_1RvlCodec.html +++ b/api/latest/classrtabmap_1_1RvlCodec.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SIFT-members.html b/api/latest/classrtabmap_1_1SIFT-members.html index d509c4e9..e7da5c74 100644 --- a/api/latest/classrtabmap_1_1SIFT-members.html +++ b/api/latest/classrtabmap_1_1SIFT-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SIFT.html b/api/latest/classrtabmap_1_1SIFT.html index c41c9b12..227cd278 100644 --- a/api/latest/classrtabmap_1_1SIFT.html +++ b/api/latest/classrtabmap_1_1SIFT.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF-members.html b/api/latest/classrtabmap_1_1SURF-members.html index 325403d4..886bb815 100644 --- a/api/latest/classrtabmap_1_1SURF-members.html +++ b/api/latest/classrtabmap_1_1SURF-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF.html b/api/latest/classrtabmap_1_1SURF.html index f1308dd3..32600736 100644 --- a/api/latest/classrtabmap_1_1SURF.html +++ b/api/latest/classrtabmap_1_1SURF.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF__DAISY-members.html b/api/latest/classrtabmap_1_1SURF__DAISY-members.html index cf6204a5..5c457c8a 100644 --- a/api/latest/classrtabmap_1_1SURF__DAISY-members.html +++ b/api/latest/classrtabmap_1_1SURF__DAISY-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF__DAISY.html b/api/latest/classrtabmap_1_1SURF__DAISY.html index a678d29a..086df9fd 100644 --- a/api/latest/classrtabmap_1_1SURF__DAISY.html +++ b/api/latest/classrtabmap_1_1SURF__DAISY.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF__FREAK-members.html b/api/latest/classrtabmap_1_1SURF__FREAK-members.html index edf0e820..30593fc0 100644 --- a/api/latest/classrtabmap_1_1SURF__FREAK-members.html +++ b/api/latest/classrtabmap_1_1SURF__FREAK-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SURF__FREAK.html b/api/latest/classrtabmap_1_1SURF__FREAK.html index e1ed162b..23d0ad16 100644 --- a/api/latest/classrtabmap_1_1SURF__FREAK.html +++ b/api/latest/classrtabmap_1_1SURF__FREAK.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCapture-members.html b/api/latest/classrtabmap_1_1SensorCapture-members.html index 495a680e..f27c4d41 100644 --- a/api/latest/classrtabmap_1_1SensorCapture-members.html +++ b/api/latest/classrtabmap_1_1SensorCapture-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCapture.html b/api/latest/classrtabmap_1_1SensorCapture.html index f750ccba..0704de9d 100644 --- a/api/latest/classrtabmap_1_1SensorCapture.html +++ b/api/latest/classrtabmap_1_1SensorCapture.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html b/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html index e257b714..3dce62df 100644 --- a/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html +++ b/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCaptureInfo.html b/api/latest/classrtabmap_1_1SensorCaptureInfo.html index 1f62866a..b6133977 100644 --- a/api/latest/classrtabmap_1_1SensorCaptureInfo.html +++ b/api/latest/classrtabmap_1_1SensorCaptureInfo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCaptureThread-members.html b/api/latest/classrtabmap_1_1SensorCaptureThread-members.html index f164a0f8..510cebaa 100644 --- a/api/latest/classrtabmap_1_1SensorCaptureThread-members.html +++ b/api/latest/classrtabmap_1_1SensorCaptureThread-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorCaptureThread.html b/api/latest/classrtabmap_1_1SensorCaptureThread.html index cd87b39a..763c1f1f 100644 --- a/api/latest/classrtabmap_1_1SensorCaptureThread.html +++ b/api/latest/classrtabmap_1_1SensorCaptureThread.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorData-members.html b/api/latest/classrtabmap_1_1SensorData-members.html index a5f54f6a..3c8cafea 100644 --- a/api/latest/classrtabmap_1_1SensorData-members.html +++ b/api/latest/classrtabmap_1_1SensorData-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorData.html b/api/latest/classrtabmap_1_1SensorData.html index e2a3f513..ca64d5bd 100644 --- a/api/latest/classrtabmap_1_1SensorData.html +++ b/api/latest/classrtabmap_1_1SensorData.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorEvent-members.html b/api/latest/classrtabmap_1_1SensorEvent-members.html index e2409a7e..12a80403 100644 --- a/api/latest/classrtabmap_1_1SensorEvent-members.html +++ b/api/latest/classrtabmap_1_1SensorEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SensorEvent.html b/api/latest/classrtabmap_1_1SensorEvent.html index b4965746..816a41aa 100644 --- a/api/latest/classrtabmap_1_1SensorEvent.html +++ b/api/latest/classrtabmap_1_1SensorEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Signature-members.html b/api/latest/classrtabmap_1_1Signature-members.html index 13c5e372..ba9c0fe9 100644 --- a/api/latest/classrtabmap_1_1Signature-members.html +++ b/api/latest/classrtabmap_1_1Signature-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Signature.html b/api/latest/classrtabmap_1_1Signature.html index e2e2b53d..f30451d7 100644 --- a/api/latest/classrtabmap_1_1Signature.html +++ b/api/latest/classrtabmap_1_1Signature.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Statistics-members.html b/api/latest/classrtabmap_1_1Statistics-members.html index 2c926b55..c8ad4bfb 100644 --- a/api/latest/classrtabmap_1_1Statistics-members.html +++ b/api/latest/classrtabmap_1_1Statistics-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Statistics.html b/api/latest/classrtabmap_1_1Statistics.html index 007c86d0..e8b770ba 100644 --- a/api/latest/classrtabmap_1_1Statistics.html +++ b/api/latest/classrtabmap_1_1Statistics.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Stereo-members.html b/api/latest/classrtabmap_1_1Stereo-members.html index 2782071d..091d7fe8 100644 --- a/api/latest/classrtabmap_1_1Stereo-members.html +++ b/api/latest/classrtabmap_1_1Stereo-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Stereo.html b/api/latest/classrtabmap_1_1Stereo.html index 245ae147..43dee629 100644 --- a/api/latest/classrtabmap_1_1Stereo.html +++ b/api/latest/classrtabmap_1_1Stereo.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoBM-members.html b/api/latest/classrtabmap_1_1StereoBM-members.html index a1a1db76..d9db2474 100644 --- a/api/latest/classrtabmap_1_1StereoBM-members.html +++ b/api/latest/classrtabmap_1_1StereoBM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoBM.html b/api/latest/classrtabmap_1_1StereoBM.html index 85301b20..bb432a2d 100644 --- a/api/latest/classrtabmap_1_1StereoBM.html +++ b/api/latest/classrtabmap_1_1StereoBM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoCameraModel-members.html b/api/latest/classrtabmap_1_1StereoCameraModel-members.html index 240fb111..6f7b7f43 100644 --- a/api/latest/classrtabmap_1_1StereoCameraModel-members.html +++ b/api/latest/classrtabmap_1_1StereoCameraModel-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoCameraModel.html b/api/latest/classrtabmap_1_1StereoCameraModel.html index d4cdb77e..56a666ce 100644 --- a/api/latest/classrtabmap_1_1StereoCameraModel.html +++ b/api/latest/classrtabmap_1_1StereoCameraModel.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoDense-members.html b/api/latest/classrtabmap_1_1StereoDense-members.html index 11a35a8c..fc5e452f 100644 --- a/api/latest/classrtabmap_1_1StereoDense-members.html +++ b/api/latest/classrtabmap_1_1StereoDense-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoDense.html b/api/latest/classrtabmap_1_1StereoDense.html index 6658732e..30c4b08f 100644 --- a/api/latest/classrtabmap_1_1StereoDense.html +++ b/api/latest/classrtabmap_1_1StereoDense.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoOpticalFlow-members.html b/api/latest/classrtabmap_1_1StereoOpticalFlow-members.html index 80732932..39ceb902 100644 --- a/api/latest/classrtabmap_1_1StereoOpticalFlow-members.html +++ b/api/latest/classrtabmap_1_1StereoOpticalFlow-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoOpticalFlow.html b/api/latest/classrtabmap_1_1StereoOpticalFlow.html index 9e7f69dc..d603e503 100644 --- a/api/latest/classrtabmap_1_1StereoOpticalFlow.html +++ b/api/latest/classrtabmap_1_1StereoOpticalFlow.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoSGBM-members.html b/api/latest/classrtabmap_1_1StereoSGBM-members.html index 869aaee4..a9041532 100644 --- a/api/latest/classrtabmap_1_1StereoSGBM-members.html +++ b/api/latest/classrtabmap_1_1StereoSGBM-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1StereoSGBM.html b/api/latest/classrtabmap_1_1StereoSGBM.html index ed49bf48..c2b2ca1a 100644 --- a/api/latest/classrtabmap_1_1StereoSGBM.html +++ b/api/latest/classrtabmap_1_1StereoSGBM.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SuperPointRpautrat-members.html b/api/latest/classrtabmap_1_1SuperPointRpautrat-members.html index d5078289..bc4e9b25 100644 --- a/api/latest/classrtabmap_1_1SuperPointRpautrat-members.html +++ b/api/latest/classrtabmap_1_1SuperPointRpautrat-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SuperPointRpautrat.html b/api/latest/classrtabmap_1_1SuperPointRpautrat.html index 80426aea..1d97ad04 100644 --- a/api/latest/classrtabmap_1_1SuperPointRpautrat.html +++ b/api/latest/classrtabmap_1_1SuperPointRpautrat.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SuperPointTorch-members.html b/api/latest/classrtabmap_1_1SuperPointTorch-members.html index 8180a349..4af4288c 100644 --- a/api/latest/classrtabmap_1_1SuperPointTorch-members.html +++ b/api/latest/classrtabmap_1_1SuperPointTorch-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1SuperPointTorch.html b/api/latest/classrtabmap_1_1SuperPointTorch.html index 09cf8a30..b3f57c85 100644 --- a/api/latest/classrtabmap_1_1SuperPointTorch.html +++ b/api/latest/classrtabmap_1_1SuperPointTorch.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Transform-members.html b/api/latest/classrtabmap_1_1Transform-members.html index 9a712809..9a1aaa99 100644 --- a/api/latest/classrtabmap_1_1Transform-members.html +++ b/api/latest/classrtabmap_1_1Transform-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1Transform.html b/api/latest/classrtabmap_1_1Transform.html index 593af3ba..0859d724 100644 --- a/api/latest/classrtabmap_1_1Transform.html +++ b/api/latest/classrtabmap_1_1Transform.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1TransformStamped-members.html b/api/latest/classrtabmap_1_1TransformStamped-members.html index 43624af3..11c59b68 100644 --- a/api/latest/classrtabmap_1_1TransformStamped-members.html +++ b/api/latest/classrtabmap_1_1TransformStamped-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1TransformStamped.html b/api/latest/classrtabmap_1_1TransformStamped.html index 58045e0c..b0b08781 100644 --- a/api/latest/classrtabmap_1_1TransformStamped.html +++ b/api/latest/classrtabmap_1_1TransformStamped.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1UserDataEvent-members.html b/api/latest/classrtabmap_1_1UserDataEvent-members.html index 7da4d8ed..cc88f734 100644 --- a/api/latest/classrtabmap_1_1UserDataEvent-members.html +++ b/api/latest/classrtabmap_1_1UserDataEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1UserDataEvent.html b/api/latest/classrtabmap_1_1UserDataEvent.html index 07cfbf16..8f4778fb 100644 --- a/api/latest/classrtabmap_1_1UserDataEvent.html +++ b/api/latest/classrtabmap_1_1UserDataEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1VWDictionary-members.html b/api/latest/classrtabmap_1_1VWDictionary-members.html index 5a0ef826..3e3b2093 100644 --- a/api/latest/classrtabmap_1_1VWDictionary-members.html +++ b/api/latest/classrtabmap_1_1VWDictionary-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1VWDictionary.html b/api/latest/classrtabmap_1_1VWDictionary.html index 46bbedd4..fdd72b81 100644 --- a/api/latest/classrtabmap_1_1VWDictionary.html +++ b/api/latest/classrtabmap_1_1VWDictionary.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1VisualWord-members.html b/api/latest/classrtabmap_1_1VisualWord-members.html index ee98b1d8..61dd464d 100644 --- a/api/latest/classrtabmap_1_1VisualWord-members.html +++ b/api/latest/classrtabmap_1_1VisualWord-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classrtabmap_1_1VisualWord.html b/api/latest/classrtabmap_1_1VisualWord.html index 220cf590..6b73b813 100644 --- a/api/latest/classrtabmap_1_1VisualWord.html +++ b/api/latest/classrtabmap_1_1VisualWord.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/deprecated.html b/api/latest/deprecated.html index 1533dc5c..5730ba41 100644 --- a/api/latest/deprecated.html +++ b/api/latest/deprecated.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_000004_000023.html b/api/latest/dir_000004_000023.html index d150571d..2115630e 100644 --- a/api/latest/dir_000004_000023.html +++ b/api/latest/dir_000004_000023.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_000010_000023.html b/api/latest/dir_000010_000023.html index c73bbfc1..d3239b85 100644 --- a/api/latest/dir_000010_000023.html +++ b/api/latest/dir_000010_000023.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_000012_000023.html b/api/latest/dir_000012_000023.html index e58e3e4a..37bebf7a 100644 --- a/api/latest/dir_000012_000023.html +++ b/api/latest/dir_000012_000023.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_000019_000023.html b/api/latest/dir_000019_000023.html index a330f76e..d86985a1 100644 --- a/api/latest/dir_000019_000023.html +++ b/api/latest/dir_000019_000023.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_04d49acea3c42cab2afcd35cb2f2a48f.html b/api/latest/dir_04d49acea3c42cab2afcd35cb2f2a48f.html index 867af821..a9fb1cf6 100644 --- a/api/latest/dir_04d49acea3c42cab2afcd35cb2f2a48f.html +++ b/api/latest/dir_04d49acea3c42cab2afcd35cb2f2a48f.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_0ba908baca6d808b21359711c92b5f16.html b/api/latest/dir_0ba908baca6d808b21359711c92b5f16.html index 694c6667..891fc3dd 100644 --- a/api/latest/dir_0ba908baca6d808b21359711c92b5f16.html +++ b/api/latest/dir_0ba908baca6d808b21359711c92b5f16.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_21f2edb779785a2efd6396476d03a0e2.html b/api/latest/dir_21f2edb779785a2efd6396476d03a0e2.html index 1affd280..f200aaff 100644 --- a/api/latest/dir_21f2edb779785a2efd6396476d03a0e2.html +++ b/api/latest/dir_21f2edb779785a2efd6396476d03a0e2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_249903c078ca6be5fe8a43d73ba57f0e.html b/api/latest/dir_249903c078ca6be5fe8a43d73ba57f0e.html index bd849c29..1829b9b0 100644 --- a/api/latest/dir_249903c078ca6be5fe8a43d73ba57f0e.html +++ b/api/latest/dir_249903c078ca6be5fe8a43d73ba57f0e.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_3587399b7774227770d0fd39c2d22121.html b/api/latest/dir_3587399b7774227770d0fd39c2d22121.html index 9357585a..d0f963db 100644 --- a/api/latest/dir_3587399b7774227770d0fd39c2d22121.html +++ b/api/latest/dir_3587399b7774227770d0fd39c2d22121.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_449b2e54cbad5b668a24993c3878cc51.html b/api/latest/dir_449b2e54cbad5b668a24993c3878cc51.html index 333683e6..0547e7d6 100644 --- a/api/latest/dir_449b2e54cbad5b668a24993c3878cc51.html +++ b/api/latest/dir_449b2e54cbad5b668a24993c3878cc51.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_4e8d938e9ddb5a617c200d5739d1f41a.html b/api/latest/dir_4e8d938e9ddb5a617c200d5739d1f41a.html index 7999813c..287df5fd 100644 --- a/api/latest/dir_4e8d938e9ddb5a617c200d5739d1f41a.html +++ b/api/latest/dir_4e8d938e9ddb5a617c200d5739d1f41a.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_55226059184c2c5c345e42665cf98aec.html b/api/latest/dir_55226059184c2c5c345e42665cf98aec.html index 7328ad3f..b6719e2f 100644 --- a/api/latest/dir_55226059184c2c5c345e42665cf98aec.html +++ b/api/latest/dir_55226059184c2c5c345e42665cf98aec.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_5807fd1f37f21884b665e4f5337b2441.html b/api/latest/dir_5807fd1f37f21884b665e4f5337b2441.html index 619e558c..9153f4bb 100644 --- a/api/latest/dir_5807fd1f37f21884b665e4f5337b2441.html +++ b/api/latest/dir_5807fd1f37f21884b665e4f5337b2441.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_623bdbaac6fe9b3f6f5de21b17f93501.html b/api/latest/dir_623bdbaac6fe9b3f6f5de21b17f93501.html index 22232a9b..2e19d908 100644 --- a/api/latest/dir_623bdbaac6fe9b3f6f5de21b17f93501.html +++ b/api/latest/dir_623bdbaac6fe9b3f6f5de21b17f93501.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_65d456be8cef94751a4d1b4df815a100.html b/api/latest/dir_65d456be8cef94751a4d1b4df815a100.html index a2171c47..eeb14497 100644 --- a/api/latest/dir_65d456be8cef94751a4d1b4df815a100.html +++ b/api/latest/dir_65d456be8cef94751a4d1b4df815a100.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_67ee77bab1d00e5527b3ba66cff8b822.html b/api/latest/dir_67ee77bab1d00e5527b3ba66cff8b822.html index 1becd74b..bd5a8621 100644 --- a/api/latest/dir_67ee77bab1d00e5527b3ba66cff8b822.html +++ b/api/latest/dir_67ee77bab1d00e5527b3ba66cff8b822.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_6fc574af21c01044bbfc485d931ba1b6.html b/api/latest/dir_6fc574af21c01044bbfc485d931ba1b6.html index ca327de2..7053de00 100644 --- a/api/latest/dir_6fc574af21c01044bbfc485d931ba1b6.html +++ b/api/latest/dir_6fc574af21c01044bbfc485d931ba1b6.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_7b07a0fe62d0fac6129c48e2cb6c7633.html b/api/latest/dir_7b07a0fe62d0fac6129c48e2cb6c7633.html index 540f5762..5b51d1a3 100644 --- a/api/latest/dir_7b07a0fe62d0fac6129c48e2cb6c7633.html +++ b/api/latest/dir_7b07a0fe62d0fac6129c48e2cb6c7633.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_7c77c469ef71e5893c1567cf621a9d83.html b/api/latest/dir_7c77c469ef71e5893c1567cf621a9d83.html index 779196a3..426b9e8e 100644 --- a/api/latest/dir_7c77c469ef71e5893c1567cf621a9d83.html +++ b/api/latest/dir_7c77c469ef71e5893c1567cf621a9d83.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_85e098119c0e838040cd00f42e29c3c2.html b/api/latest/dir_85e098119c0e838040cd00f42e29c3c2.html index 6574c8ec..d601e300 100644 --- a/api/latest/dir_85e098119c0e838040cd00f42e29c3c2.html +++ b/api/latest/dir_85e098119c0e838040cd00f42e29c3c2.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html index f97d5e1c..04eb593e 100644 --- a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html +++ b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -199,6 +199,8 @@ Files    IMUFilter.h   + ImuMotionPredictor.h +   IMUThread.h    Landmark.h diff --git a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.js b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.js index 4b32d2e9..c96ebb23 100644 --- a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.js +++ b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.js @@ -35,6 +35,7 @@ var dir_884419f21456e80aa47bc1d0c2ab0140 = [ "Image.h", "Image_8h_source.html", null ], [ "IMU.h", "IMU_8h_source.html", null ], [ "IMUFilter.h", "IMUFilter_8h_source.html", null ], + [ "ImuMotionPredictor.h", "ImuMotionPredictor_8h_source.html", null ], [ "IMUThread.h", "IMUThread_8h_source.html", null ], [ "Landmark.h", "Landmark_8h_source.html", null ], [ "LaserScan.h", "LaserScan_8h_source.html", null ], diff --git a/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html b/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html index 965f526e..1cdece43 100644 --- a/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html +++ b/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html b/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html index bb02e8cb..9a75ded6 100644 --- a/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html +++ b/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html b/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html index 08fd7e33..f1fca135 100644 --- a/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html +++ b/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html b/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html index c3b00a30..58f18078 100644 --- a/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html +++ b/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html b/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html index e7494a72..124f58cb 100644 --- a/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html +++ b/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html b/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html index 610e1a87..5c9ec111 100644 --- a/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html +++ b/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html b/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html index 91d7b0be..2eda306e 100644 --- a/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html +++ b/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html b/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html index 95df2bfb..1efc631b 100644 --- a/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html +++ b/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html b/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html index 1b051c30..a8848cf3 100644 --- a/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html +++ b/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/discrete__depth__distortion__model_8h_source.html b/api/latest/discrete__depth__distortion__model_8h_source.html index 4318993c..71cca256 100644 --- a/api/latest/discrete__depth__distortion__model_8h_source.html +++ b/api/latest/discrete__depth__distortion__model_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/files.html b/api/latest/files.html index 59ab68e9..ecdac73b 100644 --- a/api/latest/files.html +++ b/api/latest/files.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -211,62 +211,63 @@ $(document).ready(function(){initNavTree('files.html',''); initResizable(); });  Image.h  IMU.h  IMUFilter.h - IMUThread.h - Landmark.h - LaserScan.h - LASWriter.h - Lidar.h - Link.h - LocalGrid.h - LocalGridMaker.h - MarkerDetector.h - Memory.h - OccupancyGrid.h - OctoMap.h - Odometry.h - OdometryEvent.h - OdometryInfo.h - OdometryThread.h - Optimizer.h - Parameters.h - ParamEvent.h - ParticleFilter.h - PDALWriter.h - ProgressState.h - PythonInterface.h - Recovery.h - Registration.h - RegistrationIcp.h - RegistrationInfo.h - RegistrationVis.h - Rtabmap.h - RtabmapEvent.h - RtabmapThread.h - rvl_codec.h - SensorCapture.h - SensorCaptureInfo.h - SensorCaptureThread.h - SensorData.h - SensorEvent.h - Signature.h - Statistics.h - Stereo.h - StereoCameraModel.h - StereoDense.h - Transform.h - UserDataEvent.h - util2d.h - util3d.h - util3d_correspondences.h - util3d_features.h - util3d_filtering.h - util3d_mapping.h - util3d_motion_estimation.h - util3d_registration.h - util3d_surface.h - util3d_transforms.h - VisualWord.h - VWDictionary.h + ImuMotionPredictor.h + IMUThread.h + Landmark.h + LaserScan.h + LASWriter.h + Lidar.h + Link.h + LocalGrid.h + LocalGridMaker.h + MarkerDetector.h + Memory.h + OccupancyGrid.h + OctoMap.h + Odometry.h + OdometryEvent.h + OdometryInfo.h + OdometryThread.h + Optimizer.h + Parameters.h + ParamEvent.h + ParticleFilter.h + PDALWriter.h + ProgressState.h + PythonInterface.h + Recovery.h + Registration.h + RegistrationIcp.h + RegistrationInfo.h + RegistrationVis.h + Rtabmap.h + RtabmapEvent.h + RtabmapThread.h + rvl_codec.h + SensorCapture.h + SensorCaptureInfo.h + SensorCaptureThread.h + SensorData.h + SensorEvent.h + Signature.h + Statistics.h + Stereo.h + StereoCameraModel.h + StereoDense.h + Transform.h + UserDataEvent.h + util2d.h + util3d.h + util3d_correspondences.h + util3d_features.h + util3d_filtering.h + util3d_mapping.h + util3d_motion_estimation.h + util3d_registration.h + util3d_surface.h + util3d_transforms.h + VisualWord.h + VWDictionary.h  ▼ utilite  ▼ include  ▼ rtabmap diff --git a/api/latest/frame__projector_8h_source.html b/api/latest/frame__projector_8h_source.html index 295a7689..f41bac53 100644 --- a/api/latest/frame__projector_8h_source.html +++ b/api/latest/frame__projector_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/functions.html b/api/latest/functions.html index 58b7bbcc..a90d07ec 100644 --- a/api/latest/functions.html +++ b/api/latest/functions.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
diff --git a/api/latest/functions_a.html b/api/latest/functions_a.html index d4fde511..1090205d 100644 --- a/api/latest/functions_a.html +++ b/api/latest/functions_a.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.24.0 +
RTAB-Map 0.24.1
Real-Time Appearance-Based Mapping
@@ -111,12 +111,14 @@ $(document).ready(function(){initNavTree('functions_a.html',''); initResizable()
  • addExample() : clams::DiscreteFrustum
  • addGlobalDescriptor() : rtabmap::SensorData
  • addHandler() : UEventsManager
    • +
  • addImu() : rtabmap::ImuMotionPredictor
  • addLandmark() : rtabmap::Signature
  • addLink() : rtabmap::DBDriver, rtabmap::Memory, rtabmap::Rtabmap, rtabmap::Signature
  • addLinks() : rtabmap::Signature
  • addNewWords() : rtabmap::VWDictionary
  • addNodesToRepublish() : rtabmap::Rtabmap
  • addPoints() : rtabmap::FlannIndex
    • +
  • addPose() : rtabmap::ImuMotionPredictor
  • addRef() : rtabmap::VisualWord
  • addSignatureData() : rtabmap::Statistics
  • addStatistic() : rtabmap::Statistics
    • diff --git a/api/latest/functions_b.html b/api/latest/functions_b.html index e3987f7f..3dded1cd 100644 --- a/api/latest/functions_b.html +++ b/api/latest/functions_b.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_c.html b/api/latest/functions_c.html index fb15ae90..70ca2878 100644 --- a/api/latest/functions_c.html +++ b/api/latest/functions_c.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -105,7 +105,7 @@ $(document).ready(function(){initNavTree('functions_c.html',''); initResizable()
  • Camera() : rtabmap::Camera
  • camera() : rtabmap::SensorCaptureThread
  • cameraIndex : rtabmap::FeatureBA
    • -
  • CameraModel() : rtabmap::CameraModel
    • +
  • CameraModel() : rtabmap::CameraModel
  • cameraModels() : rtabmap::SensorData
  • cameraName : rtabmap::SensorCaptureInfo, rtabmap::SensorEvent
  • canParseString() : rtabmap::Transform
    • diff --git a/api/latest/functions_d.html b/api/latest/functions_d.html index 40a7299c..00e4243e 100644 --- a/api/latest/functions_d.html +++ b/api/latest/functions_d.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -362,6 +362,7 @@ $(document).ready(function(){initNavTree('functions_d.html',''); initResizable()
  • defaultOdomHolonomic() : rtabmap::Parameters
  • defaultOdomImageBufferSize() : rtabmap::Parameters
  • defaultOdomImageDecimation() : rtabmap::Parameters
    • +
  • defaultOdomImuGravity() : rtabmap::Parameters
  • defaultOdomKalmanMeasurementNoise() : rtabmap::Parameters
  • defaultOdomKalmanProcessNoise() : rtabmap::Parameters
  • defaultOdomKeyFrameThr() : rtabmap::Parameters
    • diff --git a/api/latest/functions_e.html b/api/latest/functions_e.html index fe80e3d1..fb1e9cae 100644 --- a/api/latest/functions_e.html +++ b/api/latest/functions_e.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_enum.html b/api/latest/functions_enum.html index 612abfe5..d599674d 100644 --- a/api/latest/functions_enum.html +++ b/api/latest/functions_enum.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_eval.html b/api/latest/functions_eval.html index 822a245c..4dc08148 100644 --- a/api/latest/functions_eval.html +++ b/api/latest/functions_eval.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_f.html b/api/latest/functions_f.html index 504ccbbb..e3336221 100644 --- a/api/latest/functions_f.html +++ b/api/latest/functions_f.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func.html b/api/latest/functions_func.html index ed2da8eb..ed07ff52 100644 --- a/api/latest/functions_func.html +++ b/api/latest/functions_func.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -111,12 +111,14 @@ $(document).ready(function(){initNavTree('functions_func.html',''); initResizabl
  • addExample() : clams::DiscreteFrustum
  • addGlobalDescriptor() : rtabmap::SensorData
  • addHandler() : UEventsManager
    • +
  • addImu() : rtabmap::ImuMotionPredictor
  • addLandmark() : rtabmap::Signature
  • addLink() : rtabmap::DBDriver, rtabmap::Memory, rtabmap::Rtabmap, rtabmap::Signature
  • addLinks() : rtabmap::Signature
  • addNewWords() : rtabmap::VWDictionary
  • addNodesToRepublish() : rtabmap::Rtabmap
  • addPoints() : rtabmap::FlannIndex
    • +
  • addPose() : rtabmap::ImuMotionPredictor
  • addRef() : rtabmap::VisualWord
  • addSignatureData() : rtabmap::Statistics
  • addStatistic() : rtabmap::Statistics
    • diff --git a/api/latest/functions_func_b.html b/api/latest/functions_func_b.html index df11e10f..69a57b21 100644 --- a/api/latest/functions_func_b.html +++ b/api/latest/functions_func_b.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_c.html b/api/latest/functions_func_c.html index 578d3d7e..602dbe71 100644 --- a/api/latest/functions_func_c.html +++ b/api/latest/functions_func_c.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -104,7 +104,7 @@ $(document).ready(function(){initNavTree('functions_func_c.html',''); initResiza
  • cache() : rtabmap::GlobalMap
  • Camera() : rtabmap::Camera
  • camera() : rtabmap::SensorCaptureThread
    • -
  • CameraModel() : rtabmap::CameraModel
    • +
  • CameraModel() : rtabmap::CameraModel
  • cameraModels() : rtabmap::SensorData
  • cameraName() : rtabmap::SensorEvent
  • canParseString() : rtabmap::Transform
    • diff --git a/api/latest/functions_func_d.html b/api/latest/functions_func_d.html index a978ed95..a1acd4a2 100644 --- a/api/latest/functions_func_d.html +++ b/api/latest/functions_func_d.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -362,6 +362,7 @@ $(document).ready(function(){initNavTree('functions_func_d.html',''); initResiza
  • defaultOdomHolonomic() : rtabmap::Parameters
  • defaultOdomImageBufferSize() : rtabmap::Parameters
  • defaultOdomImageDecimation() : rtabmap::Parameters
    • +
  • defaultOdomImuGravity() : rtabmap::Parameters
  • defaultOdomKalmanMeasurementNoise() : rtabmap::Parameters
  • defaultOdomKalmanProcessNoise() : rtabmap::Parameters
  • defaultOdomKeyFrameThr() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_e.html b/api/latest/functions_func_e.html index 3cac34f9..a915d789 100644 --- a/api/latest/functions_func_e.html +++ b/api/latest/functions_func_e.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_f.html b/api/latest/functions_func_f.html index f35ab6f3..f1d3f1a6 100644 --- a/api/latest/functions_func_f.html +++ b/api/latest/functions_func_f.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_g.html b/api/latest/functions_func_g.html index 3e783fd5..2efe424d 100644 --- a/api/latest/functions_func_g.html +++ b/api/latest/functions_func_g.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -138,7 +138,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getDistanceSquared() : rtabmap::Transform
  • getEstimationType() : rtabmap::RegistrationVis
  • getEulerAngles() : rtabmap::Transform
    • -
  • getExtension() : UFile
    • +
  • getExtension() : UFile
  • getFeature2D() : rtabmap::Memory
  • getFileNames() : UDirectory
  • getForwardWMPoses() : rtabmap::Rtabmap
    • @@ -146,7 +146,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getGoalReachedRadius() : rtabmap::Rtabmap
  • getGPS() : rtabmap::Memory
  • getGraph() : rtabmap::Rtabmap
    • -
  • getGridMax() : rtabmap::GlobalMap
    • +
  • getGridMax() : rtabmap::GlobalMap
  • getGridMin() : rtabmap::GlobalMap
  • getGroundTruthPose() : rtabmap::Memory, rtabmap::Signature
  • getGroundTruths() : rtabmap::Memory
    • @@ -292,7 +292,9 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • globalPoseCovariance() : rtabmap::SensorData
  • GPS() : rtabmap::GPS
  • gps() : rtabmap::SensorData
    • +
  • gravity() : rtabmap::ImuMotionPredictor
  • gravitySigma() : rtabmap::Optimizer
    • +
  • gravityWindows() : rtabmap::ImuMotionPredictor
  • gridCellSize() : rtabmap::SensorData
  • gridEmptyCellsCompressed() : rtabmap::SensorData
  • gridEmptyCellsRaw() : rtabmap::SensorData
    • diff --git a/api/latest/functions_func_h.html b/api/latest/functions_func_h.html index d223fa5c..689634c2 100644 --- a/api/latest/functions_func_h.html +++ b/api/latest/functions_func_h.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -103,6 +103,7 @@ $(document).ready(function(){initNavTree('functions_func_h.html',''); initResiza

    - h -

    diff --git a/api/latest/functions_func_i.html b/api/latest/functions_func_i.html index 00aa30cb..19eb064f 100644 --- a/api/latest/functions_func_i.html +++ b/api/latest/functions_func_i.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -108,6 +108,7 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
  • IMU() : rtabmap::IMU
  • imu() : rtabmap::SensorData
  • IMUEvent() : rtabmap::IMUEvent
    • +
  • ImuMotionPredictor() : rtabmap::ImuMotionPredictor
  • imus() : rtabmap::Odometry
  • IMUThread() : rtabmap::IMUThread
  • incrementMapId() : rtabmap::Memory
    • @@ -142,6 +143,7 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
  • isGpuAvailable() : rtabmap::FAST, rtabmap::Feature2D, rtabmap::GFTT, rtabmap::ORB, rtabmap::SIFT, rtabmap::SuperPointRpautrat, rtabmap::SuperPointTorch, rtabmap::SURF
  • isGpuEnabled() : rtabmap::Stereo, rtabmap::StereoOpticalFlow
  • isGraphReduced() : rtabmap::Memory
    • +
  • isGravityEstimated() : rtabmap::ImuMotionPredictor
  • isGridFromDepth() : rtabmap::LocalGridMaker
  • isIdentity() : rtabmap::Transform
  • isIdle() : UThread
    • diff --git a/api/latest/functions_func_j.html b/api/latest/functions_func_j.html index 63c7dc26..051513e1 100644 --- a/api/latest/functions_func_j.html +++ b/api/latest/functions_func_j.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_k.html b/api/latest/functions_func_k.html index f1d7a16e..34979187 100644 --- a/api/latest/functions_func_k.html +++ b/api/latest/functions_func_k.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -361,6 +361,7 @@ $(document).ready(function(){initNavTree('functions_func_k.html',''); initResiza
  • kOdomHolonomic() : rtabmap::Parameters
  • kOdomImageBufferSize() : rtabmap::Parameters
  • kOdomImageDecimation() : rtabmap::Parameters
    • +
  • kOdomImuGravity() : rtabmap::Parameters
  • kOdomKalmanMeasurementNoise() : rtabmap::Parameters
  • kOdomKalmanProcessNoise() : rtabmap::Parameters
  • kOdomKeyFrameThr() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_l.html b/api/latest/functions_func_l.html index 04ead926..a8914d4c 100644 --- a/api/latest/functions_func_l.html +++ b/api/latest/functions_func_l.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -110,6 +110,7 @@ $(document).ready(function(){initNavTree('functions_func_l.html',''); initResiza
  • LaserScan() : rtabmap::LaserScan
  • laserScanCompressed() : rtabmap::SensorData
  • laserScanRaw() : rtabmap::SensorData
    • +
  • lastPoseStamp() : rtabmap::ImuMotionPredictor
  • latitude() : rtabmap::GeodeticCoords, rtabmap::GPS
  • left() : rtabmap::StereoCameraModel
  • length() : UFile
    • diff --git a/api/latest/functions_func_m.html b/api/latest/functions_func_m.html index 59d009d5..b8d70baa 100644 --- a/api/latest/functions_func_m.html +++ b/api/latest/functions_func_m.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_n.html b/api/latest/functions_func_n.html index 728f827f..529f4a1d 100644 --- a/api/latest/functions_func_n.html +++ b/api/latest/functions_func_n.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_o.html b/api/latest/functions_func_o.html index 9c708e55..d545e5be 100644 --- a/api/latest/functions_func_o.html +++ b/api/latest/functions_func_o.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_p.html b/api/latest/functions_func_p.html index 32e018de..b01c4c38 100644 --- a/api/latest/functions_func_p.html +++ b/api/latest/functions_func_p.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -108,6 +108,7 @@ $(document).ready(function(){initNavTree('functions_func_p.html',''); initResiza
  • post() : UEventsManager, UEventsSender
  • posterior() : rtabmap::Statistics
  • postUpdate() : rtabmap::SensorCaptureThread
    • +
  • predict() : rtabmap::ImuMotionPredictor
  • prettyPrint() : rtabmap::Transform
  • previousStamp() : rtabmap::Odometry
  • previousVelocityTransform() : rtabmap::Odometry
    • diff --git a/api/latest/functions_func_r.html b/api/latest/functions_func_r.html index 8e37d654..85485bf0 100644 --- a/api/latest/functions_func_r.html +++ b/api/latest/functions_func_r.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -135,7 +135,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
  • rename() : UFile
  • repeatOnce() : rtabmap::Registration
  • reproject() : rtabmap::CameraModel, rtabmap::StereoCameraModel
    • -
  • reset() : rtabmap::BayesFilter, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, rtabmap::OdometryViso2, ULogger
    • +
  • reset() : rtabmap::BayesFilter, rtabmap::IMUFilter, rtabmap::ImuMotionPredictor, rtabmap::Odometry, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, rtabmap::OdometryViso2, ULogger
  • resetMemory() : rtabmap::Rtabmap
  • resetTimer() : rtabmap::SensorCapture
  • restart() : UTimer
    • diff --git a/api/latest/functions_func_s.html b/api/latest/functions_func_s.html index 7b4f889f..f6c3313b 100644 --- a/api/latest/functions_func_s.html +++ b/api/latest/functions_func_s.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.24.0 +
    RTAB-Map 0.24.1
    Real-Time Appearance-Based Mapping
    @@ -101,6 +101,7 @@ $(document).ready(function(){initNavTree('functions_func_s.html',''); initResiza
    Here is a list of all documented functions with links to the class documentation for each member:

    - s -