diff --git a/api/latest/BayesFilter_8h_source.html b/api/latest/BayesFilter_8h_source.html index 28d5c449..ea7b3612 100644 --- a/api/latest/BayesFilter_8h_source.html +++ b/api/latest/BayesFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -140,84 +140,101 @@ $(document).ready(function(){initNavTree('BayesFilter_8h_source.html',''); initR
32
33#include <opencv2/core/core.hpp>
34#include <list>
-
35#include <set>
-
36#include "rtabmap/utilite/UEventsHandler.h"
-
37#include "rtabmap/core/Parameters.h"
-
38
-
-
39namespace rtabmap {
-
40
-
41class Memory;
-
42class Signature;
+
35#include <map>
+
36#include <set>
+
37#include <utility>
+
38#include <vector>
+
39#include "rtabmap/utilite/UEventsHandler.h"
+
40#include "rtabmap/core/Parameters.h"
+
41
+
+
42namespace rtabmap {
43
-
-
71class RTABMAP_CORE_EXPORT BayesFilter
-
72{
-
73public:
-
78 BayesFilter(const ParametersMap & parameters = ParametersMap());
-
79 virtual ~BayesFilter();
-
80
-
85 virtual void parseParameters(const ParametersMap & parameters);
-
86
-
99 const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
-
100
-
104 void reset();
-
105
-
119 void setPredictionLC(const std::string & prediction);
-
120
-
125 const std::map<int, float> & getPosterior() const {return _posterior;}
-
126
-
131 float getVirtualPlacePrior() const {return _virtualPlacePrior;}
+
44class Memory;
+
45class Signature;
+
46
+
47namespace bayes {
+
48class PredictionModel;
+
49class DensePrediction;
+
50class SparsePrediction;
+
51}
+
52
+
+
81class RTABMAP_CORE_EXPORT BayesFilter
+
82{
+
83public:
+
88 BayesFilter(const ParametersMap & parameters = ParametersMap());
+
89 virtual ~BayesFilter();
+
90
+
95 virtual void parseParameters(const ParametersMap & parameters);
+
96
+
111 bool computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+
112
+
116 void reset();
+
117
+
131 void setPredictionLC(const std::string & prediction);
132
-
137 const std::vector<double> & getPredictionLC() const;
-
138
-
143 std::string getPredictionLCStr() const;
+
138 const std::vector<int> & getPosteriorIds() const {return _posteriorIds;}
+
139
+
143 const std::vector<float> & getPosteriorValues() const {return _posteriorValues;}
144
-
156 cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
-
157
-
162 unsigned long getMemoryUsed() const;
-
163
-
164private:
-
168 cv::Mat updatePrediction(const cv::Mat & oldPrediction,
-
169 const Memory * memory,
-
170 const std::vector<int> & oldIds,
-
171 const std::vector<int> & newIds);
-
172
-
176 void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
-
177
-
181 void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
-
182
-
183private:
-
184 std::map<int, float> _posterior;
-
185 cv::Mat _prediction;
-
186 float _virtualPlacePrior;
-
187 std::vector<double> _predictionLC;
-
188 bool _fullPredictionUpdate;
-
189 float _totalPredictionLCValues;
-
190 float _predictionEpsilon;
-
191 std::map<int, std::map<int, int> > _neighborsIndex;
-
192};
-
+
149 float getVirtualPlacePrior() const;
+
150
+
157 bool isPredictionSparse() const;
+
158
+
163 const std::vector<double> & getPredictionLC() const;
+
164
+
169 std::string getPredictionLCStr() const;
+
170
+
186 cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
+
187
+
192 unsigned long getMemoryUsed() const;
193
-
194} // namespace rtabmap
+
194private:
+
200 void updatePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+
201
+
208 void updateKeepSparse();
+
209
+
210private:
+
211 std::vector<int> _posteriorIds;
+
212 std::vector<float> _posteriorValues;
+
213 std::vector<int> _likelihoodIds;
+
214 std::vector<float> _likelihoodValues;
+
215 std::vector<float> _priorValues;
+
216
+
217 bayes::PredictionModel * _model;
+
218 bayes::DensePrediction * _dense;
+
219 bayes::SparsePrediction * _sparse;
+
220 std::map<int, std::map<int, int> > _neighborsIndex;
+
221
+
222 bool _fullPredictionUpdate;
+
223 bool _sparsePrediction;
+
224 bool _keepSparse;
+
225 bool _predictionChanged;
+
226};
-
195
-
196#endif /* BAYESFILTER_H_ */
-
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:72
+
227
+
228} // namespace rtabmap
+
+
229
+
230#endif /* BAYESFILTER_H_ */
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:82
rtabmap::BayesFilter::getPredictionLCStr
std::string getPredictionLCStr() const
Returns the loop-closure prediction model as a space-separated string.
-
rtabmap::BayesFilter::getVirtualPlacePrior
float getVirtualPlacePrior() const
Returns the virtual place prior threshold.
Definition BayesFilter.h:131
+
rtabmap::BayesFilter::getVirtualPlacePrior
float getVirtualPlacePrior() const
Returns the virtual place prior threshold.
rtabmap::BayesFilter::BayesFilter
BayesFilter(const ParametersMap &parameters=ParametersMap())
Constructs a Bayes filter with default or custom parameters.
rtabmap::BayesFilter::setPredictionLC
void setPredictionLC(const std::string &prediction)
Sets the loop-closure prediction model from a space-separated string.
rtabmap::BayesFilter::generatePrediction
cv::Mat generatePrediction(const Memory *memory, const std::vector< int > &ids)
Builds or updates the prediction (transition) matrix for the given signature ids.
+
rtabmap::BayesFilter::getPosteriorIds
const std::vector< int > & getPosteriorIds() const
The locations the posterior is over, ascending by id.
Definition BayesFilter.h:138
rtabmap::BayesFilter::getMemoryUsed
unsigned long getMemoryUsed() const
Estimates memory usage of this object and its internal containers.
rtabmap::BayesFilter::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Updates internal settings from the parameter map.
-
rtabmap::BayesFilter::computePosterior
const std::map< int, float > & computePosterior(const Memory *memory, const std::map< int, float > &likelihood)
Runs one Bayes filter iteration (prediction + update).
+
rtabmap::BayesFilter::isPredictionSparse
bool isPredictionSparse() const
Whether the prediction is being kept in its sparse form rather than as a matrix.
+
rtabmap::BayesFilter::computePosterior
bool computePosterior(const Memory *memory, const std::map< int, float > &likelihood)
Runs one Bayes filter iteration (prediction + update).
+
rtabmap::BayesFilter::getPosteriorValues
const std::vector< float > & getPosteriorValues() const
The probability of each location of getPosteriorIds(), in the same order.
Definition BayesFilter.h:143
rtabmap::BayesFilter::getPredictionLC
const std::vector< double > & getPredictionLC() const
Returns the loop-closure prediction model as a vector of values.
-
rtabmap::BayesFilter::getPosterior
const std::map< int, float > & getPosterior() const
Returns the current posterior probability map.
Definition BayesFilter.h:125
rtabmap::BayesFilter::reset
void reset()
Clears posterior, prediction matrix and cached neighbor indices.
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/CameraDepthAI_8h_source.html b/api/latest/CameraDepthAI_8h_source.html index f802f856..5b4af8b4 100644 --- a/api/latest/CameraDepthAI_8h_source.html +++ b/api/latest/CameraDepthAI_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -233,7 +233,7 @@ $(document).ready(function(){initNavTree('CameraDepthAI_8h_source.html',''); ini
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraEvent_8h_source.html b/api/latest/CameraEvent_8h_source.html index 313791a6..28f0aa34 100644 --- a/api/latest/CameraEvent_8h_source.html +++ b/api/latest/CameraEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraFreenect2_8h_source.html b/api/latest/CameraFreenect2_8h_source.html index f78d5efc..073ffeb8 100644 --- a/api/latest/CameraFreenect2_8h_source.html +++ b/api/latest/CameraFreenect2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('CameraFreenect2_8h_source.html',''); i
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
- +
diff --git a/api/latest/CameraFreenect_8h_source.html b/api/latest/CameraFreenect_8h_source.html index b39f8def..d8de42e0 100644 --- a/api/latest/CameraFreenect_8h_source.html +++ b/api/latest/CameraFreenect_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -193,7 +193,7 @@ $(document).ready(function(){initNavTree('CameraFreenect_8h_source.html',''); in
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraImages_8h_source.html b/api/latest/CameraImages_8h_source.html index 40021b58..b3ecf882 100644 --- a/api/latest/CameraImages_8h_source.html +++ b/api/latest/CameraImages_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -350,7 +350,7 @@ $(document).ready(function(){initNavTree('CameraImages_8h_source.html',''); init
rtabmap::CameraImages::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition CameraImages.h:53
rtabmap::Camera
Definition Camera.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraInfo_8h_source.html b/api/latest/CameraInfo_8h_source.html index 98787109..735dfc97 100644 --- a/api/latest/CameraInfo_8h_source.html +++ b/api/latest/CameraInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraK4A_8h_source.html b/api/latest/CameraK4A_8h_source.html index d9a88f14..c12e02ca 100644 --- a/api/latest/CameraK4A_8h_source.html +++ b/api/latest/CameraK4A_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('CameraK4A_8h_source.html',''); initRes
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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/CameraK4W2_8h_source.html b/api/latest/CameraK4W2_8h_source.html index ef669e86..4cce34c3 100644 --- a/api/latest/CameraK4W2_8h_source.html +++ b/api/latest/CameraK4W2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -211,7 +211,7 @@ $(document).ready(function(){initNavTree('CameraK4W2_8h_source.html',''); initRe
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraModel_8h_source.html b/api/latest/CameraModel_8h_source.html index 69698fca..595a9e38 100644 --- a/api/latest/CameraModel_8h_source.html +++ b/api/latest/CameraModel_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -327,7 +327,7 @@ $(document).ready(function(){initNavTree('CameraModel_8h_source.html',''); initR
rtabmap::CameraModel::~CameraModel
virtual ~CameraModel()
Destructor.
Definition CameraModel.h:128
rtabmap::CameraModel::cx
double cx() const
Returns principal point x.
Definition CameraModel.h:192
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
diff --git a/api/latest/CameraMyntEye_8h_source.html b/api/latest/CameraMyntEye_8h_source.html index 33d2fbfb..74e33104 100644 --- a/api/latest/CameraMyntEye_8h_source.html +++ b/api/latest/CameraMyntEye_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -224,7 +224,7 @@ $(document).ready(function(){initNavTree('CameraMyntEye_8h_source.html',''); ini
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraOpenNI2_8h_source.html b/api/latest/CameraOpenNI2_8h_source.html index 01e48207..862b5a6b 100644 --- a/api/latest/CameraOpenNI2_8h_source.html +++ b/api/latest/CameraOpenNI2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('CameraOpenNI2_8h_source.html',''); ini
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraOpenNICV_8h_source.html b/api/latest/CameraOpenNICV_8h_source.html index 9f5d940f..254b33e5 100644 --- a/api/latest/CameraOpenNICV_8h_source.html +++ b/api/latest/CameraOpenNICV_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -177,7 +177,7 @@ $(document).ready(function(){initNavTree('CameraOpenNICV_8h_source.html',''); in
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
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rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraOpenni_8h_source.html b/api/latest/CameraOpenni_8h_source.html index fd739fdd..2d773bb2 100644 --- a/api/latest/CameraOpenni_8h_source.html +++ b/api/latest/CameraOpenni_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('CameraOpenni_8h_source.html',''); init
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraOrbbecSDK_8h_source.html b/api/latest/CameraOrbbecSDK_8h_source.html index 8ce9335c..0bc8c388 100644 --- a/api/latest/CameraOrbbecSDK_8h_source.html +++ b/api/latest/CameraOrbbecSDK_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -222,7 +222,7 @@ $(document).ready(function(){initNavTree('CameraOrbbecSDK_8h_source.html',''); i
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraRGBDImages_8h_source.html b/api/latest/CameraRGBDImages_8h_source.html index e3488d17..e6ead19b 100644 --- a/api/latest/CameraRGBDImages_8h_source.html +++ b/api/latest/CameraRGBDImages_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -174,7 +174,7 @@ $(document).ready(function(){initNavTree('CameraRGBDImages_8h_source.html','');
rtabmap::CameraRGBDImages
Definition CameraRGBDImages.h:37
rtabmap::CameraRGBDImages::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
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rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraRGBD_8h_source.html b/api/latest/CameraRGBD_8h_source.html index 2358a682..207f5fe3 100644 --- a/api/latest/CameraRGBD_8h_source.html +++ b/api/latest/CameraRGBD_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraRGB_8h_source.html b/api/latest/CameraRGB_8h_source.html index 505663a0..0787f0fe 100644 --- a/api/latest/CameraRGB_8h_source.html +++ b/api/latest/CameraRGB_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraRealSense2_8h_source.html b/api/latest/CameraRealSense2_8h_source.html index 2eacc9d6..3b1322b4 100644 --- a/api/latest/CameraRealSense2_8h_source.html +++ b/api/latest/CameraRealSense2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -274,7 +274,7 @@ $(document).ready(function(){initNavTree('CameraRealSense2_8h_source.html','');
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
- +
diff --git a/api/latest/CameraRealSense_8h_source.html b/api/latest/CameraRealSense_8h_source.html index 42e4ccd7..87b461ac 100644 --- a/api/latest/CameraRealSense_8h_source.html +++ b/api/latest/CameraRealSense_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -220,7 +220,7 @@ $(document).ready(function(){initNavTree('CameraRealSense_8h_source.html',''); i
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
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rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraSeerSense_8h_source.html b/api/latest/CameraSeerSense_8h_source.html index 08ca34ec..5553de02 100644 --- a/api/latest/CameraSeerSense_8h_source.html +++ b/api/latest/CameraSeerSense_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -172,7 +172,7 @@ $(document).ready(function(){initNavTree('CameraSeerSense_8h_source.html',''); i
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
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rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoDC1394_8h_source.html b/api/latest/CameraStereoDC1394_8h_source.html index 44c6860a..cf641cfa 100644 --- a/api/latest/CameraStereoDC1394_8h_source.html +++ b/api/latest/CameraStereoDC1394_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -180,7 +180,7 @@ $(document).ready(function(){initNavTree('CameraStereoDC1394_8h_source.html','')
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoFlyCapture2_8h_source.html b/api/latest/CameraStereoFlyCapture2_8h_source.html index f8ad7f89..2861af8a 100644 --- a/api/latest/CameraStereoFlyCapture2_8h_source.html +++ b/api/latest/CameraStereoFlyCapture2_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('CameraStereoFlyCapture2_8h_source.html
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoImages_8h_source.html b/api/latest/CameraStereoImages_8h_source.html index cbe4e831..cdb2e4e9 100644 --- a/api/latest/CameraStereoImages_8h_source.html +++ b/api/latest/CameraStereoImages_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -216,7 +216,7 @@ $(document).ready(function(){initNavTree('CameraStereoImages_8h_source.html','')
rtabmap::CameraStereoImages::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
rtabmap::CameraStereoImages::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoTara_8h_source.html b/api/latest/CameraStereoTara_8h_source.html index 96318d82..2296ae35 100644 --- a/api/latest/CameraStereoTara_8h_source.html +++ b/api/latest/CameraStereoTara_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('CameraStereoTara_8h_source.html','');
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoVideo_8h_source.html b/api/latest/CameraStereoVideo_8h_source.html index a28f51fc..16d74470 100644 --- a/api/latest/CameraStereoVideo_8h_source.html +++ b/api/latest/CameraStereoVideo_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -208,7 +208,7 @@ $(document).ready(function(){initNavTree('CameraStereoVideo_8h_source.html','');
rtabmap::CameraStereoVideo::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
rtabmap::Camera
Definition Camera.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoZedOC_8h_source.html b/api/latest/CameraStereoZedOC_8h_source.html index fcd42ef0..889bb1a9 100644 --- a/api/latest/CameraStereoZedOC_8h_source.html +++ b/api/latest/CameraStereoZedOC_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -200,7 +200,7 @@ $(document).ready(function(){initNavTree('CameraStereoZedOC_8h_source.html','');
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereoZed_8h_source.html b/api/latest/CameraStereoZed_8h_source.html index 11e49c95..6a751672 100644 --- a/api/latest/CameraStereoZed_8h_source.html +++ b/api/latest/CameraStereoZed_8h_source.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -232,7 +232,7 @@ $(document).ready(function(){initNavTree('CameraStereoZed_8h_source.html',''); i
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CameraStereo_8h_source.html b/api/latest/CameraStereo_8h_source.html index 67ea225d..72ffe3a9 100644 --- a/api/latest/CameraStereo_8h_source.html +++ b/api/latest/CameraStereo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraThread_8h_source.html b/api/latest/CameraThread_8h_source.html index 1e277e54..ff25637f 100644 --- a/api/latest/CameraThread_8h_source.html +++ b/api/latest/CameraThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/CameraVideo_8h_source.html b/api/latest/CameraVideo_8h_source.html index 721c546c..9beeb1a5 100644 --- a/api/latest/CameraVideo_8h_source.html +++ b/api/latest/CameraVideo_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -198,7 +198,7 @@ $(document).ready(function(){initNavTree('CameraVideo_8h_source.html',''); initR
rtabmap::CameraVideo::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
- +
diff --git a/api/latest/Camera_8h_source.html b/api/latest/Camera_8h_source.html index 9e69458e..735f95a7 100644 --- a/api/latest/Camera_8h_source.html +++ b/api/latest/Camera_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
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@@ -186,7 +186,7 @@ $(document).ready(function(){initNavTree('Camera_8h_source.html',''); initResiza
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/CloudMap_8h_source.html b/api/latest/CloudMap_8h_source.html index bc2b52d7..90c56772 100644 --- a/api/latest/CloudMap_8h_source.html +++ b/api/latest/CloudMap_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
@@ -178,7 +178,7 @@ $(document).ready(function(){initNavTree('CloudMap_8h_source.html',''); initResi
rtabmap::CloudMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Compression_8h_source.html b/api/latest/Compression_8h_source.html index 72633420..34aa592b 100644 --- a/api/latest/Compression_8h_source.html +++ b/api/latest/Compression_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -192,7 +192,7 @@ $(document).ready(function(){initNavTree('Compression_8h_source.html',''); initR
rtabmap::CompressionThread::CompressionThread
CompressionThread(const cv::Mat &mat, const std::string &format="")
Constructs a thread in compress mode.
rtabmap::CompressionThread::CompressionThread
CompressionThread(const cv::Mat &bytes, bool isImage)
Constructs a thread in uncompress mode.
rtabmap::CompressionThread::getUncompressedData
cv::Mat & getUncompressedData()
Definition Compression.h:85
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::uncompressImage
cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat &bytes)
Decodes compressed image bytes to a @cv::Mat.
rtabmap::compressString
cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string &str)
Compresses a null-terminated string using compressData2().
rtabmap::compressImage
std::vector< unsigned char > RTABMAP_CORE_EXPORT compressImage(const cv::Mat &image, const std::string &format=".png")
Encodes image to a byte buffer (OpenCV imencode or RVL for depth).
diff --git a/api/latest/DBDriverSqlite3_8h_source.html b/api/latest/DBDriverSqlite3_8h_source.html index 80ace72c..0dbfe56a 100644 --- a/api/latest/DBDriverSqlite3_8h_source.html +++ b/api/latest/DBDriverSqlite3_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
@@ -353,7 +353,7 @@ $(document).ready(function(){initNavTree('DBDriverSqlite3_8h_source.html',''); i
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
- +
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/DBDriver_8h_source.html b/api/latest/DBDriver_8h_source.html index f11ee502..4b94b344 100644 --- a/api/latest/DBDriver_8h_source.html +++ b/api/latest/DBDriver_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -467,7 +467,7 @@ $(document).ready(function(){initNavTree('DBDriver_8h_source.html',''); initResi
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/DBReader_8h_source.html b/api/latest/DBReader_8h_source.html index bb290b54..8188a9c6 100644 --- a/api/latest/DBReader_8h_source.html +++ b/api/latest/DBReader_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -251,7 +251,7 @@ $(document).ready(function(){initNavTree('DBReader_8h_source.html',''); initResi
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/EnvSensor_8h_source.html b/api/latest/EnvSensor_8h_source.html index ed55480d..6579cce6 100644 --- a/api/latest/EnvSensor_8h_source.html +++ b/api/latest/EnvSensor_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -222,7 +222,7 @@ $(document).ready(function(){initNavTree('EnvSensor_8h_source.html',''); initRes
rtabmap::EnvSensor::EnvSensor
EnvSensor()
Default constructor: kUndefined type, zero value and stamp.
Definition EnvSensor.h:80
rtabmap::EnvSensor::EnvSensor
EnvSensor(const Type &type, const double &value, const double &stamp=0)
Constructs a reading with the given type, value, and optional stamp.
Definition EnvSensor.h:92
rtabmap::EnvSensor::type
const Type & type() const
Definition EnvSensor.h:101
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
diff --git a/api/latest/EpipolarGeometry_8h_source.html b/api/latest/EpipolarGeometry_8h_source.html index c671cf55..935086c3 100644 --- a/api/latest/EpipolarGeometry_8h_source.html +++ b/api/latest/EpipolarGeometry_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
@@ -362,7 +362,7 @@ $(document).ready(function(){initNavTree('EpipolarGeometry_8h_source.html','');
rtabmap::EpipolarGeometry::findPairs
static int findPairs(const std::map< int, T > &wordsA, const std::map< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:100
rtabmap::EpipolarGeometry::findPairsAll
static int findPairsAll(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:197
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Features2d_8h_source.html b/api/latest/Features2d_8h_source.html index 68f20ffa..c12bfba7 100644 --- a/api/latest/Features2d_8h_source.html +++ b/api/latest/Features2d_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -907,7 +907,7 @@ $(document).ready(function(){initNavTree('Features2d_8h_source.html',''); initRe
rtabmap::SuperPointRpautrat::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
rtabmap::SuperPointTorch
SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).
Definition Features2d.h:674
rtabmap::SuperPointTorch::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/FlannIndex_8h_source.html b/api/latest/FlannIndex_8h_source.html index 661c6e8f..71672372 100644 --- a/api/latest/FlannIndex_8h_source.html +++ b/api/latest/FlannIndex_8h_source.html @@ -33,7 +33,7 @@ -
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Real-Time Appearance-Based Mapping
@@ -257,7 +257,7 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
rtabmap::FlannIndex::buildIndex
void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)
Build the index over the given features, releasing any previous one.
rtabmap::FlannIndex::knnSearch
void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const
Search the k nearest neighbors of each query.
rtabmap::FlannIndex::featuresType
int featuresType() const
Definition FlannIndex.h:169
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/GPS_8h_source.html b/api/latest/GPS_8h_source.html index 6dd6030f..bb48482c 100644 --- a/api/latest/GPS_8h_source.html +++ b/api/latest/GPS_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -201,7 +201,7 @@ $(document).ready(function(){initNavTree('GPS_8h_source.html',''); initResizable
rtabmap::GPS::longitude
const double & longitude() const
Definition GPS.h:83
rtabmap::GPS::error
const double & error() const
Definition GPS.h:89
rtabmap::GeodeticCoords
WGS84 geodetic latitude, longitude and altitude with coordinate conversions.
Definition GeodeticCoords.h:62
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/GainCompensator_8h_source.html b/api/latest/GainCompensator_8h_source.html index 0c4e258c..98b6bb2d 100644 --- a/api/latest/GainCompensator_8h_source.html +++ b/api/latest/GainCompensator_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('GainCompensator_8h_source.html',''); i
108#endif /* CORELIB_SRC_GAINCOMPENSATOR_H_ */
rtabmap::GainCompensator
Definition GainCompensator.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/GeodeticCoords_8h_source.html b/api/latest/GeodeticCoords_8h_source.html index 7b777091..dfa91574 100644 --- a/api/latest/GeodeticCoords_8h_source.html +++ b/api/latest/GeodeticCoords_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('GeodeticCoords_8h_source.html',''); in
rtabmap::GeodeticCoords::toGeocentric_WGS84
cv::Point3d toGeocentric_WGS84() const
rtabmap::GeodeticCoords::toENU_WGS84
cv::Point3d toENU_WGS84(const GeodeticCoords &origin) const
rtabmap::GeodeticCoords::setAltitude
void setAltitude(const double &value)
Sets altitude in meters.
Definition GeodeticCoords.h:86
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/GlobalDescriptorExtractor_8h_source.html b/api/latest/GlobalDescriptorExtractor_8h_source.html index 4c17591e..4082bacf 100644 --- a/api/latest/GlobalDescriptorExtractor_8h_source.html +++ b/api/latest/GlobalDescriptorExtractor_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('GlobalDescriptorExtractor_8h_source.ht
rtabmap::GlobalDescriptorExtractor
Definition GlobalDescriptorExtractor.h:40
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/GlobalDescriptor_8h_source.html b/api/latest/GlobalDescriptor_8h_source.html index 5e88c970..3972bec9 100644 --- a/api/latest/GlobalDescriptor_8h_source.html +++ b/api/latest/GlobalDescriptor_8h_source.html @@ -33,7 +33,7 @@ -
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@@ -168,7 +168,7 @@ $(document).ready(function(){initNavTree('GlobalDescriptor_8h_source.html','');
58
59} // namespace rtabmap
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
-
rtabmap
Definition BayesFilter.h:39
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rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/GlobalMap_8h_source.html b/api/latest/GlobalMap_8h_source.html index d7ddecb3..54026f3e 100644 --- a/api/latest/GlobalMap_8h_source.html +++ b/api/latest/GlobalMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -238,7 +238,7 @@ $(document).ready(function(){initNavTree('GlobalMap_8h_source.html',''); initRes
rtabmap::GlobalMap::logodds
static float logodds(double probability)
Converts probability in (0, 1) to log-odds.
Definition GlobalMap.h:59
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Graph_8h_source.html b/api/latest/Graph_8h_source.html index 0c22737f..a976667c 100644 --- a/api/latest/Graph_8h_source.html +++ b/api/latest/Graph_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -403,7 +403,7 @@ $(document).ready(function(){initNavTree('Graph_8h_source.html',''); initResizab
rtabmap::graph::getPosesInRadius
RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
rtabmap::graph::exportPoses
bool RTABMAP_CORE_EXPORT exportPoses(const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())
Writes poses (and optional constraints) to disk.
rtabmap::graph::getNodesInRadius
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius)
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
rtabmap::graph::MaxGraphErrors::angular
float angular
Absolute angular error (rad) of the worst link.
Definition Graph.h:234
diff --git a/api/latest/GridMap_8h_source.html b/api/latest/GridMap_8h_source.html index fa1a37ee..041c12bf 100644 --- a/api/latest/GridMap_8h_source.html +++ b/api/latest/GridMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('GridMap_8h_source.html',''); initResiz
rtabmap::GridMap::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
rtabmap::GridMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/IMUFilter_8h_source.html b/api/latest/IMUFilter_8h_source.html index 7932c4de..31604f8d 100644 --- a/api/latest/IMUFilter_8h_source.html +++ b/api/latest/IMUFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -197,7 +197,7 @@ $(document).ready(function(){initNavTree('IMUFilter_8h_source.html',''); initRes
rtabmap::IMUFilter::update
void update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)
Integrates one IMU sample and updates the internal orientation estimate.
rtabmap::IMUFilter::type
virtual IMUFilter::Type type() const =0
rtabmap::IMUFilter::getOrientation
virtual void getOrientation(double &qx, double &qy, double &qz, double &qw) const =0
Current orientation estimate.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/IMUThread_8h_source.html b/api/latest/IMUThread_8h_source.html index 7fc0d821..e55831ae 100644 --- a/api/latest/IMUThread_8h_source.html +++ b/api/latest/IMUThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -194,7 +194,7 @@ $(document).ready(function(){initNavTree('IMUThread_8h_source.html',''); initRes
rtabmap::IMUThread::enableIMUFiltering
void enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
Enables orientation fusion on replayed samples.
rtabmap::IMUThread::init
bool init(const std::string &path)
Opens and validates an IMU CSV file.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/IMU_8h_source.html b/api/latest/IMU_8h_source.html index f77e834f..97cb4120 100644 --- a/api/latest/IMU_8h_source.html +++ b/api/latest/IMU_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -267,7 +267,7 @@ $(document).ready(function(){initNavTree('IMU_8h_source.html',''); initResizable
rtabmap::IMU::empty
bool empty() const
True when localTransform() is null (placeholder / unset sample).
Definition IMU.h:141
rtabmap::IMU::angularVelocity
const cv::Vec3d & angularVelocity() const
Definition IMU.h:116
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Image_8h_source.html b/api/latest/Image_8h_source.html index 6ede194c..34a9f37d 100644 --- a/api/latest/Image_8h_source.html +++ b/api/latest/Image_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -144,7 +144,7 @@ $(document).ready(function(){initNavTree('Image_8h_source.html',''); initResizab
36
37
38#endif /* IMAGE_H_ */
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/LASWriter_8h_source.html b/api/latest/LASWriter_8h_source.html index aaed0e5e..96246c41 100644 --- a/api/latest/LASWriter_8h_source.html +++ b/api/latest/LASWriter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -163,7 +163,7 @@ $(document).ready(function(){initNavTree('LASWriter_8h_source.html',''); initRes
82} // namespace rtabmap
83
84#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_ */
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::saveLASFile
int RTABMAP_CORE_EXPORT saveLASFile(const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).
diff --git a/api/latest/Landmark_8h_source.html b/api/latest/Landmark_8h_source.html index c38a7a57..0c4b785f 100644 --- a/api/latest/Landmark_8h_source.html +++ b/api/latest/Landmark_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -230,7 +230,7 @@ $(document).ready(function(){initNavTree('Landmark_8h_source.html',''); initResi
rtabmap::Landmark::size
const float & size() const
Definition Landmark.h:99
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::Transform::isNull
bool isNull() const
Checks whether the transform is null (all zeros).
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
diff --git a/api/latest/LaserScan_8h_source.html b/api/latest/LaserScan_8h_source.html index 4e4b773a..76b1be25 100644 --- a/api/latest/LaserScan_8h_source.html +++ b/api/latest/LaserScan_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -313,7 +313,7 @@ $(document).ready(function(){initNavTree('LaserScan_8h_source.html',''); initRes
rtabmap::LaserScan::clear
void clear()
Clear the scan data.
Definition LaserScan.h:209
rtabmap::LaserScan::operator+=
LaserScan & operator+=(const LaserScan &)
Concatenate scan's data (localTransform is ignored).
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/LidarVLP16_8h_source.html b/api/latest/LidarVLP16_8h_source.html index 457218a4..80901065 100644 --- a/api/latest/LidarVLP16_8h_source.html +++ b/api/latest/LidarVLP16_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -261,7 +261,7 @@ $(document).ready(function(){initNavTree('LidarVLP16_8h_source.html',''); initRe
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::PointXYZIT
Definition LidarVLP16.h:53
diff --git a/api/latest/Lidar_8h_source.html b/api/latest/Lidar_8h_source.html index 32c94ce4..d17245bb 100644 --- a/api/latest/Lidar_8h_source.html +++ b/api/latest/Lidar_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -161,7 +161,7 @@ $(document).ready(function(){initNavTree('Lidar_8h_source.html',''); initResizab
rtabmap::Lidar::Lidar
Lidar(float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
Definition Lidar.h:52
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Link_8h_source.html b/api/latest/Link_8h_source.html index 33388f19..6a0c3c9c 100644 --- a/api/latest/Link_8h_source.html +++ b/api/latest/Link_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -251,7 +251,7 @@ $(document).ready(function(){initNavTree('Link_8h_source.html',''); initResizabl
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/LocalGridMaker_8h_source.html b/api/latest/LocalGridMaker_8h_source.html index a65e5aef..de875988 100644 --- a/api/latest/LocalGridMaker_8h_source.html +++ b/api/latest/LocalGridMaker_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -235,7 +235,7 @@ $(document).ready(function(){initNavTree('LocalGridMaker_8h_source.html',''); in
rtabmap::LocalGridMaker::isMapFrameProjection
bool isMapFrameProjection() const
Definition LocalGridMaker.h:79
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/LocalGrid_8h_source.html b/api/latest/LocalGrid_8h_source.html index a90ddbfd..0c8317f8 100644 --- a/api/latest/LocalGrid_8h_source.html +++ b/api/latest/LocalGrid_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -216,7 +216,7 @@ $(document).ready(function(){initNavTree('LocalGrid_8h_source.html',''); initRes
rtabmap::LocalGrid::viewPoint
cv::Point3f viewPoint
View point used to build the grid.
Definition LocalGrid.h:86
rtabmap::LocalGrid::obstacleCells
cv::Mat obstacleCells
Obstacle cells (same layout as groundCells).
Definition LocalGrid.h:83
rtabmap::LocalGrid::is3D
bool is3D() const
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/LocalMapMaker_8hpp_source.html b/api/latest/LocalMapMaker_8hpp_source.html index 7df35656..c80f82a7 100644 --- a/api/latest/LocalMapMaker_8hpp_source.html +++ b/api/latest/LocalMapMaker_8hpp_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -382,7 +382,7 @@ $(document).ready(function(){initNavTree('LocalMapMaker_8hpp_source.html',''); i
rtabmap::util3d::transformPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
Transforms pcl::PointXYZ point cloud type.
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenates multiple sets of indices into a single index vector.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/MarkerDetector_8h_source.html b/api/latest/MarkerDetector_8h_source.html index 54b479d6..513779d3 100644 --- a/api/latest/MarkerDetector_8h_source.html +++ b/api/latest/MarkerDetector_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -219,7 +219,7 @@ $(document).ready(function(){initNavTree('MarkerDetector_8h_source.html',''); in
rtabmap::MarkerDetector
Definition MarkerDetector.h:59
rtabmap::MarkerInfo
Definition MarkerDetector.h:43
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Memory_8h_source.html b/api/latest/Memory_8h_source.html index 7179462f..1b4ae694 100644 --- a/api/latest/Memory_8h_source.html +++ b/api/latest/Memory_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -630,7 +630,7 @@ $(document).ready(function(){initNavTree('Memory_8h_source.html',''); initResiza
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OccupancyGrid_8h_source.html b/api/latest/OccupancyGrid_8h_source.html index 06ec349c..d69d651f 100644 --- a/api/latest/OccupancyGrid_8h_source.html +++ b/api/latest/OccupancyGrid_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OctoMap_8h_source.html b/api/latest/OctoMap_8h_source.html index d5773d66..782ea504 100644 --- a/api/latest/OctoMap_8h_source.html +++ b/api/latest/OctoMap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryCuVSLAM_8h_source.html b/api/latest/OdometryCuVSLAM_8h_source.html index 2f59f746..a7530b25 100644 --- a/api/latest/OdometryCuVSLAM_8h_source.html +++ b/api/latest/OdometryCuVSLAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('OdometryCuVSLAM_8h_source.html',''); i
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryDVO_8h_source.html b/api/latest/OdometryDVO_8h_source.html index 6156044e..d8e9f7b9 100644 --- a/api/latest/OdometryDVO_8h_source.html +++ b/api/latest/OdometryDVO_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryDVO_8h_source.html',''); initR
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryEvent_8h_source.html b/api/latest/OdometryEvent_8h_source.html index 1ab6a9d7..8e492852 100644 --- a/api/latest/OdometryEvent_8h_source.html +++ b/api/latest/OdometryEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -255,7 +255,7 @@ $(document).ready(function(){initNavTree('OdometryEvent_8h_source.html',''); ini
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::Transform::getIdentity
static Transform getIdentity()
Returns identity transform.
rtabmap::Transform::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Extracts translation and Euler angles (radians).
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/OdometryF2F_8h_source.html b/api/latest/OdometryF2F_8h_source.html index 9b77b061..c2932592 100644 --- a/api/latest/OdometryF2F_8h_source.html +++ b/api/latest/OdometryF2F_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryF2F_8h_source.html',''); initR
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
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryF2M_8h_source.html b/api/latest/OdometryF2M_8h_source.html index f670a449..f80b4340 100644 --- a/api/latest/OdometryF2M_8h_source.html +++ b/api/latest/OdometryF2M_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -219,7 +219,7 @@ $(document).ready(function(){initNavTree('OdometryF2M_8h_source.html',''); initR
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
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryFLOAM_8h_source.html b/api/latest/OdometryFLOAM_8h_source.html index d38b395e..537fda5d 100644 --- a/api/latest/OdometryFLOAM_8h_source.html +++ b/api/latest/OdometryFLOAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -180,7 +180,7 @@ $(document).ready(function(){initNavTree('OdometryFLOAM_8h_source.html',''); ini
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryFovis_8h_source.html b/api/latest/OdometryFovis_8h_source.html index ed62e94d..8ab3de2a 100644 --- a/api/latest/OdometryFovis_8h_source.html +++ b/api/latest/OdometryFovis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -186,7 +186,7 @@ $(document).ready(function(){initNavTree('OdometryFovis_8h_source.html',''); ini
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryInfo_8h_source.html b/api/latest/OdometryInfo_8h_source.html index ade8b766..e94ab980 100644 --- a/api/latest/OdometryInfo_8h_source.html +++ b/api/latest/OdometryInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -247,7 +247,7 @@ $(document).ready(function(){initNavTree('OdometryInfo_8h_source.html',''); init
rtabmap::OdometryInfo::localBundleTime
float localBundleTime
Time spent in the local bundle adjustment (s).
Definition OdometryInfo.h:84
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/OdometryLIOSAM_8h_source.html b/api/latest/OdometryLIOSAM_8h_source.html index 48edb3cb..86cd0a98 100644 --- a/api/latest/OdometryLIOSAM_8h_source.html +++ b/api/latest/OdometryLIOSAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -199,7 +199,7 @@ $(document).ready(function(){initNavTree('OdometryLIOSAM_8h_source.html',''); in
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryLOAM_8h_source.html b/api/latest/OdometryLOAM_8h_source.html index 4425fd70..e119555d 100644 --- a/api/latest/OdometryLOAM_8h_source.html +++ b/api/latest/OdometryLOAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -191,7 +191,7 @@ $(document).ready(function(){initNavTree('OdometryLOAM_8h_source.html',''); init
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryMSCKF_8h_source.html b/api/latest/OdometryMSCKF_8h_source.html index 3fcca14a..bf4f167b 100644 --- a/api/latest/OdometryMSCKF_8h_source.html +++ b/api/latest/OdometryMSCKF_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryMSCKF_8h_source.html',''); ini
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryMono_8h_source.html b/api/latest/OdometryMono_8h_source.html index 981097bc..2916a2ba 100644 --- a/api/latest/OdometryMono_8h_source.html +++ b/api/latest/OdometryMono_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -201,7 +201,7 @@ $(document).ready(function(){initNavTree('OdometryMono_8h_source.html',''); init
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryORBSLAM2_8h_source.html b/api/latest/OdometryORBSLAM2_8h_source.html index 02af9cc0..0941673b 100644 --- a/api/latest/OdometryORBSLAM2_8h_source.html +++ b/api/latest/OdometryORBSLAM2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -178,7 +178,7 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM2_8h_source.html','');
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryORBSLAM3_8h_source.html b/api/latest/OdometryORBSLAM3_8h_source.html index ca7cdee8..f0273275 100644 --- a/api/latest/OdometryORBSLAM3_8h_source.html +++ b/api/latest/OdometryORBSLAM3_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -189,7 +189,7 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM3_8h_source.html','');
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryOkvis_8h_source.html b/api/latest/OdometryOkvis_8h_source.html index b5bad3d6..6084fbbd 100644 --- a/api/latest/OdometryOkvis_8h_source.html +++ b/api/latest/OdometryOkvis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -188,7 +188,7 @@ $(document).ready(function(){initNavTree('OdometryOkvis_8h_source.html',''); ini
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryOpen3D_8h_source.html b/api/latest/OdometryOpen3D_8h_source.html index 2e1a63b1..00574ff7 100644 --- a/api/latest/OdometryOpen3D_8h_source.html +++ b/api/latest/OdometryOpen3D_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -175,7 +175,7 @@ $(document).ready(function(){initNavTree('OdometryOpen3D_8h_source.html',''); in
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryOpenVINS_8h_source.html b/api/latest/OdometryOpenVINS_8h_source.html index e5f03f21..2a07612d 100644 --- a/api/latest/OdometryOpenVINS_8h_source.html +++ b/api/latest/OdometryOpenVINS_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('OdometryOpenVINS_8h_source.html','');
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryThread_8h_source.html b/api/latest/OdometryThread_8h_source.html index a32e251d..d93b07b6 100644 --- a/api/latest/OdometryThread_8h_source.html +++ b/api/latest/OdometryThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -197,7 +197,7 @@ $(document).ready(function(){initNavTree('OdometryThread_8h_source.html',''); in
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/OdometryVINSFusion_8h_source.html b/api/latest/OdometryVINSFusion_8h_source.html index 6aad6f16..5e710dc5 100644 --- a/api/latest/OdometryVINSFusion_8h_source.html +++ b/api/latest/OdometryVINSFusion_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -183,7 +183,7 @@ $(document).ready(function(){initNavTree('OdometryVINSFusion_8h_source.html','')
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OdometryVINS_8h_source.html b/api/latest/OdometryVINS_8h_source.html index 3492e19c..0e88f7c5 100644 --- a/api/latest/OdometryVINS_8h_source.html +++ b/api/latest/OdometryVINS_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/OdometryViso2_8h_source.html b/api/latest/OdometryViso2_8h_source.html index f64f694d..b781551c 100644 --- a/api/latest/OdometryViso2_8h_source.html +++ b/api/latest/OdometryViso2_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('OdometryViso2_8h_source.html',''); ini
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
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
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Odometry_8h_source.html b/api/latest/Odometry_8h_source.html index edc3695e..4dfbf0a8 100644 --- a/api/latest/Odometry_8h_source.html +++ b/api/latest/Odometry_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -265,7 +265,7 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OptimizerCVSBA_8h_source.html b/api/latest/OptimizerCVSBA_8h_source.html index c019326f..518b7968 100644 --- a/api/latest/OptimizerCVSBA_8h_source.html +++ b/api/latest/OptimizerCVSBA_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -176,7 +176,7 @@ $(document).ready(function(){initNavTree('OptimizerCVSBA_8h_source.html',''); in
rtabmap::OptimizerCVSBA::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerCVSBA.h:50
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OptimizerCeres_8h_source.html b/api/latest/OptimizerCeres_8h_source.html index b20bec13..e25c99ee 100644 --- a/api/latest/OptimizerCeres_8h_source.html +++ b/api/latest/OptimizerCeres_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -199,7 +199,7 @@ $(document).ready(function(){initNavTree('OptimizerCeres_8h_source.html',''); in
rtabmap::OptimizerCeres::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, BAOutliers *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OptimizerG2O_8h_source.html b/api/latest/OptimizerG2O_8h_source.html index cf2fa7a5..a5f26a4b 100644 --- a/api/latest/OptimizerG2O_8h_source.html +++ b/api/latest/OptimizerG2O_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -206,7 +206,7 @@ $(document).ready(function(){initNavTree('OptimizerG2O_8h_source.html',''); init
rtabmap::OptimizerG2O::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, BAOutliers *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OptimizerGTSAM_8h_source.html b/api/latest/OptimizerGTSAM_8h_source.html index 68df2681..fc9ad8ea 100644 --- a/api/latest/OptimizerGTSAM_8h_source.html +++ b/api/latest/OptimizerGTSAM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -213,7 +213,7 @@ $(document).ready(function(){initNavTree('OptimizerGTSAM_8h_source.html',''); in
rtabmap::OptimizerGTSAM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Reads shared knobs from parameters and applies them to this instance.
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/OptimizerTORO_8h_source.html b/api/latest/OptimizerTORO_8h_source.html index 43fa5183..1f39deb7 100644 --- a/api/latest/OptimizerTORO_8h_source.html +++ b/api/latest/OptimizerTORO_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -188,7 +188,7 @@ $(document).ready(function(){initNavTree('OptimizerTORO_8h_source.html',''); ini
rtabmap::OptimizerTORO::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerTORO.h:57
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Optimizer_8h_source.html b/api/latest/Optimizer_8h_source.html index 62943507..614c75c7 100644 --- a/api/latest/Optimizer_8h_source.html +++ b/api/latest/Optimizer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -362,7 +362,7 @@ $(document).ready(function(){initNavTree('Optimizer_8h_source.html',''); initRes
rtabmap::Optimizer::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
rtabmap::Optimizer::isAvailable
static bool isAvailable(Optimizer::Type type)
Returns whether type was compiled in (its third-party dependency was found).
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/PDALWriter_8h_source.html b/api/latest/PDALWriter_8h_source.html index 2e7dbf43..04719ca5 100644 --- a/api/latest/PDALWriter_8h_source.html +++ b/api/latest/PDALWriter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -153,7 +153,7 @@ $(document).ready(function(){initNavTree('PDALWriter_8h_source.html',''); initRe
45
46
47#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/ParamEvent_8h_source.html b/api/latest/ParamEvent_8h_source.html index a0ca44de..8c4f49b9 100644 --- a/api/latest/ParamEvent_8h_source.html +++ b/api/latest/ParamEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -168,7 +168,7 @@ $(document).ready(function(){initNavTree('ParamEvent_8h_source.html',''); initRe
UEvent
Definition UEvent.h:57
rtabmap::ParamEvent
Definition ParamEvent.h:42
rtabmap::ParamEvent::getClassName
virtual std::string getClassName() const
Definition ParamEvent.h:50
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Parameters_8h_source.html b/api/latest/Parameters_8h_source.html index 307a1298..00a8ae78 100644 --- a/api/latest/Parameters_8h_source.html +++ b/api/latest/Parameters_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -415,661 +415,662 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
388
389 // BayesFilter
390 RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations).");
-
391 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.");
+
391 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.");
392 RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
-
393
-
394 // Verify hypotheses
-
395 RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
-
396 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
-
397 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
-
398 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
-
399
-
400 // RGB-D SLAM
-
401 RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
-
402 RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
-
403 RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
-
404 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
-
405 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
-
406 RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
-
407 RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
-
408 RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
-
409 RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 3.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
-
410 RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0, uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
-
411 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
-
412 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
-
413 RTABMAP_PARAM(RGBD, StartAtOrigin, bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
-
414 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
-
415 RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
-
416 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
-
417 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
-
418 RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
-
419 RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
-
420 RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
-
421 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
-
422 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
-
423 RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
-
424 RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
-
425 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
-
426 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
-
427 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
-
428 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
-
429 RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
-
430 RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
-
431 RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
-
432 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
-
433 RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
-
434 RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
-
435
-
436 // Local/Proximity loop closure detection
-
437 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
-
438 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
-
439 RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
-
440 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
-
441 RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 1, "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.");
-
442 RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).");
-
443 RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
-
444 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
-
445 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
-
446 RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
-
447 RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
-
448
-
449 // Graph optimization
-
450#ifdef RTABMAP_GTSAM
-
451 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
452 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
453 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
454#else
-
455#ifdef RTABMAP_G2O
-
456 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
457 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
458 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
-
459#else
-
460#ifdef RTABMAP_CERES
-
461 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
462 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
463 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
-
464#else
-
465 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
466 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
-
467 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
468#endif
+
393 RTABMAP_PARAM(Bayes, SparsePrediction, bool, true, uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str());
+
394
+
395 // Verify hypotheses
+
396 RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
+
397 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
+
398 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
+
399 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
+
400
+
401 // RGB-D SLAM
+
402 RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
+
403 RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
404 RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
405 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
+
406 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
+
407 RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
+
408 RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
+
409 RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
+
410 RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 3.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
+
411 RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0, uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
+
412 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
+
413 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
+
414 RTABMAP_PARAM(RGBD, StartAtOrigin, bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
+
415 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
+
416 RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
+
417 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
+
418 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
+
419 RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
+
420 RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
+
421 RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
+
422 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
+
423 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
+
424 RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
+
425 RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
+
426 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
+
427 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
+
428 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
+
429 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
+
430 RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
+
431 RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
+
432 RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
+
433 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
434 RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
435 RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
+
436
+
437 // Local/Proximity loop closure detection
+
438 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
+
439 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
+
440 RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
+
441 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
+
442 RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 1, "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.");
+
443 RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).");
+
444 RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
+
445 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
+
446 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
+
447 RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
+
448 RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
+
449
+
450 // Graph optimization
+
451#ifdef RTABMAP_GTSAM
+
452 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
453 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
454 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
455#else
+
456#ifdef RTABMAP_G2O
+
457 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
458 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
459 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
+
460#else
+
461#ifdef RTABMAP_CERES
+
462 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
463 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
464 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
+
465#else
+
466 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
467 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
+
468 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
469#endif
470#endif
-
471 RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
-
472 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
-
473 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
-
474 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
-
475#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
-
476 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
-
477#else
-
478 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
-
479#endif
-
480
-
481#ifdef RTABMAP_ORB_SLAM
-
482 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
483#else
-
484 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
485#endif
-
486 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
-
487
-
488 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.");
-
489 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.");
-
490 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).");
-
491 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.");
-
492
-
493 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
-
494 RTABMAP_PARAM(GTSAM, Incremental, bool, false, uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()));
-
495 RTABMAP_PARAM(GTSAM, IncRelinearizeThreshold, double, 0.01, "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.");
-
496 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
-
497
-
498 // Odometry
-
499 RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
-
500 RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
-
501 RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
-
502 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
-
503 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
-
504 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
-
505 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
-
506 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
-
507 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
-
508 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
-
509 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
-
510 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
-
511 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
-
512 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
-
513 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()));
-
514 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.");
-
515 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.");
-
516 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.");
-
517 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()));
-
518 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
-
519 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).");
-
520
-
521 // Odometry Frame-to-Map
-
522 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.");
-
523 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.");
-
524 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
-
525 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.");
-
526 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
-
527 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.");
-
528 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());
-
529 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.");
-
530 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.");
-
531#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
532 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()));
-
533#else
-
534 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()));
-
535#endif
-
536 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
-
537 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.");
-
538 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
-
539 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()));
-
540
-
541 // Odometry Mono
-
542 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
-
543 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
-
544 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.");
-
545 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
-
546
-
547 // Odometry Fovis
-
548 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
-
549 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
-
550 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
-
551 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.");
-
552 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
-
553 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
-
554 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
-
555 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
-
556
-
557 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
-
558 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
-
559 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
-
560 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
-
561 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
-
562
-
563 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.");
-
564 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.");
-
565 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
-
566 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
-
567 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
-
568 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.");
-
569 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.");
-
570
-
571 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
-
572 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
-
573 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
-
574 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
-
575
-
576 // Odometry viso2
-
577 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
-
578 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
-
579 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
-
580 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
-
581 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
-
582 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
-
583 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
-
584 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
-
585 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
-
586 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
-
587 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
-
588 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
-
589 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
-
590 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
-
591 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
-
592 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
-
593
-
594 // Odometry ORB_SLAM
-
595 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
-
596 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
-
597 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
-
598 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
-
599 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
-
600 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
-
601 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
-
602 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
-
603 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
-
604 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
-
605 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
-
606 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
-
607
+
471#endif
+
472 RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
+
473 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
+
474 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
+
475 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
+
476#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
+
477 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
478#else
+
479 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
480#endif
+
481
+
482#ifdef RTABMAP_ORB_SLAM
+
483 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
484#else
+
485 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
486#endif
+
487 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
+
488
+
489 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.");
+
490 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.");
+
491 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, 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.");
+
493
+
494 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
+
495 RTABMAP_PARAM(GTSAM, Incremental, bool, false, uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()));
+
496 RTABMAP_PARAM(GTSAM, IncRelinearizeThreshold, double, 0.01, "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.");
+
497 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
+
498
+
499 // Odometry
+
500 RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
+
501 RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
+
502 RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
+
503 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
+
504 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
505 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
+
506 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
+
507 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
+
508 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
+
509 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
+
510 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
+
511 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
+
512 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
+
513 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
+
514 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()));
+
515 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.");
+
516 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.");
+
517 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.");
+
518 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()));
+
519 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
+
520 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).");
+
521
+
522 // Odometry Frame-to-Map
+
523 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.");
+
524 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.");
+
525 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
+
526 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.");
+
527 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
+
528 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.");
+
529 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());
+
530 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.");
+
531 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.");
+
532#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
533 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()));
+
534#else
+
535 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()));
+
536#endif
+
537 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
+
538 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.");
+
539 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
+
540 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()));
+
541
+
542 // Odometry Mono
+
543 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
+
544 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
+
545 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.");
+
546 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
+
547
+
548 // Odometry Fovis
+
549 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
+
550 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
+
551 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
+
552 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.");
+
553 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
+
554 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
+
555 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
+
556 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
+
557
+
558 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
+
559 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
+
560 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
+
561 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
+
562 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
+
563
+
564 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.");
+
565 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.");
+
566 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
+
567 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
+
568 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
+
569 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.");
+
570 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.");
+
571
+
572 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
+
573 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
+
574 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
+
575 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
+
576
+
577 // Odometry viso2
+
578 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
+
579 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
+
580 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
+
581 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
+
582 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
+
583 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
+
584 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
+
585 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
+
586 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
+
587 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
+
588 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
+
589 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
+
590 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
+
591 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
+
592 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
+
593 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
+
594
+
595 // Odometry ORB_SLAM
+
596 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
+
597 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
+
598 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
+
599 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
+
600 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
+
601 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
+
602 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
+
603 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
+
604 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
+
605 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
+
606 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
+
607 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
608
-
609 // Odometry OKVIS
-
610 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
-
611
-
612 // Odometry LOAM
-
613 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
-
614 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
-
615 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
-
616 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
-
617 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
-
618 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
-
619
-
620 // Odometry MSCKF_VIO
-
621 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
-
622 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
-
623 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
-
624 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
-
625 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
-
626 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
-
627 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
-
628 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
-
629 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
-
630 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
-
631 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
-
632 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
-
633 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
-
634 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
-
635 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
-
636 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
-
637 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
-
638 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
-
639 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
-
640 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
-
641 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
-
642 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
-
643 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
-
644 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
-
645 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
-
646 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
-
647 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
-
648
-
649 // Odometry VINS-Fusion
-
650 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
-
651
-
652 // Odometry OpenVINS
-
653 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.");
-
654 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
-
655 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
-
656 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
-
657 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
-
658 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
-
659 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
-
660 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
-
661 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
-
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
-
663
-
664 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
-
665 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
-
666 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
-
667 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
-
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
-
669 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
-
670 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
-
671 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
-
672 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
-
673 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
-
674 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
-
675 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
-
676 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
-
677 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
-
678 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
-
679 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
-
680 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
-
681
-
682 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
-
683 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
-
684 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
-
685 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
-
686 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
-
687 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
-
688 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
-
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
-
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
-
691 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
-
692 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
-
693 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
-
694 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
-
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
-
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
-
697 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
-
698
-
699 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
-
700 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
-
701 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).");
-
702 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
-
703 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).");
-
704 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
-
705
-
706 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
-
707 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
-
708 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
-
709 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
-
710 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
-
711 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
-
712 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
-
713 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
-
714
-
715 // Odometry Open3D
-
716 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
-
717 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
-
718
-
719 // Odometry cuVSLAM
-
720 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
-
721
-
722 // Odometry LIO-SAM
-
723 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.");
-
724 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
-
725 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
-
726 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
-
727 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
-
728 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
-
729 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
-
730 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
-
731 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
-
732 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
-
733 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
-
734 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
-
735 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
-
736
-
737 // Common registration parameters
-
738 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.");
-
739 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
-
740 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.");
-
741
-
742 // Visual registration parameters
-
743 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
-
744 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
-
745 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()));
-
746 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
-
747 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
-
748#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
749 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()));
-
750#else
-
751 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()));
-
752#endif
-
753 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()));
-
754 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()));
-
755 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());
-
756 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());
-
757
-
758 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
-
759 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
-
760 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.");
-
761 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.");
-
762
-
763 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
-
764#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
-
765 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-
766 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");
-
767#else
-
768 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");
-
769#endif
-
770 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
-
771 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-
772 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
-
773 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
-
774 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
-
775 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()));
-
776 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-
777 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
-
778 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
-
779 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
-
780 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()));
-
781 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()));
-
782 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
-
783 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()));
-
784 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
-
785 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()));
-
786 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()));
-
787 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
788 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
789 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
790 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
791 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()));
-
792 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()));
-
793 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
-
794 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()));
-
795 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
796 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()));
-
797#else
-
798 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()));
-
799#endif
-
800
-
801 // Features matching approaches
-
802 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.");
-
803 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
-
804 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
-
805 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
-
806 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\").");
-
807
-
808 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
-
809 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
-
810 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
-
811
-
812 // Global descriptor approaches
-
813 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.");
-
814 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
-
815
-
816 // ICP registration parameters
-
817#ifdef RTABMAP_POINTMATCHER
-
818 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
819#else
-
820 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
821#endif
-
822 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
-
823 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
-
824 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
-
825 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
-
826 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
-
827 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
-
828#ifdef RTABMAP_POINTMATCHER
-
829 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
-
830#else
-
831 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
-
832#endif
-
833 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.");
-
834 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
-
835 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.");
-
836 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
-
837 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
-
838 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
-
839#ifdef RTABMAP_POINTMATCHER
-
840 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
-
841#else
-
842 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
-
843#endif
-
844 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
-
845 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
-
846 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.");
-
847 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()));
-
848 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()));
-
849 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()));
-
850 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()));
-
851 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.");
-
852
-
853 // libpointmatcher
-
854 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());
-
855 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.");
-
856 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.");
-
857 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()));
-
858
-
859 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
-
860 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
-
861 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
-
862
-
863 // Stereo disparity
-
864 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
-
865 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
-
866 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
-
867 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
-
868 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
-
869 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
-
870 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
-
871 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()));
-
872 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-
873 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()));
-
874 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()));
-
875 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
-
876 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()));
-
877
-
878 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
-
879
-
880 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
-
881 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
-
882 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
-
883 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
-
884 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
-
885 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
-
886 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
-
887 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
-
888 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
-
889 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
-
890
-
891 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
-
892 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
-
893 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
-
894 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
-
895 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
-
896 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
-
897 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
-
898 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
-
899 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
-
900 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
-
901#if CV_MAJOR_VERSION < 3
-
902 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
-
903#else
-
904 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
-
905#endif
-
906
-
907 // Occupancy Grid
-
908 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).");
-
909 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
-
910 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
-
911 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
-
912 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()));
-
913 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
-
914 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
-
915 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.");
-
916 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
-
917 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
-
918 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()));
-
919 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.");
-
920 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
-
921 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
-
922 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
-
923 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
-
924 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()));
-
925 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
-
926 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
-
927 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
-
928 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
-
929#ifdef RTABMAP_OCTOMAP
-
930 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()));
-
931#else
-
932 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()));
-
933#endif
-
934 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()));
-
935 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
-
936 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
-
937 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()));
-
938 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()));
-
939 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.");
-
940 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
-
941 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
-
942 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
-
943 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
-
944 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).");
-
945 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
-
946 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
-
947 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
-
948 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
-
949 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
-
950 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.");
-
951
-
952 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
-
953 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");
-
954 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.");
-
955 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());
-
956 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()));
-
957 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()));
-
958 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()));
-
959 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()));
-
960 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
-
961 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-
962 RTABMAP_PARAM_STR(Marker, Priors, "", "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).");
-
963 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
-
964 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
-
965
-
966 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
-
967 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.");
-
968 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).");
-
969 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()));
-
970 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.");
-
971 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()));
-
972
-
973 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.");
-
974
-
975 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].");
-
976 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
-
977
-
978 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
-
979 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
-
980 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
-
981 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
-
982
-
983public:
-
984 virtual ~Parameters();
-
985
-
-
990 static const ParametersMap & getDefaultParameters()
-
991 {
-
992 return parameters_;
-
993 }
+
609
+
610 // Odometry OKVIS
+
611 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
+
612
+
613 // Odometry LOAM
+
614 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+
615 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
+
616 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
+
617 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
+
618 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
+
619 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
620
+
621 // Odometry MSCKF_VIO
+
622 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
+
623 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
+
624 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
+
625 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
+
626 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
+
627 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
+
628 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
+
629 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
+
630 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
+
631 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
+
632 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
+
633 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
+
634 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
+
635 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
+
636 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
+
637 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
+
638 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
+
639 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
+
640 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
+
641 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
+
642 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
+
643 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
+
644 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
+
645 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
+
646 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
+
647 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
+
648 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
+
649
+
650 // Odometry VINS-Fusion
+
651 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
+
652
+
653 // Odometry OpenVINS
+
654 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.");
+
655 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+
656 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+
657 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
+
658 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
+
659 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
+
660 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
+
661 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
+
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
+
663 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
664
+
665 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
+
666 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+
667 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
+
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
+
669 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
+
670 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
+
671 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+
672 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
+
673 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
+
674 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
+
675 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
+
676 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
+
677 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
+
678 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+
679 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+
680 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
+
681 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
+
682
+
683 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
+
684 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
+
685 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
+
686 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
+
687 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
+
688 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
+
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
+
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
+
691 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
+
692 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
+
693 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
+
694 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
+
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
+
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
+
697 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
+
698 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
+
699
+
700 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
+
701 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
+
702 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).");
+
703 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+
704 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).");
+
705 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
+
706
+
707 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+
708 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+
709 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+
710 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+
711 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
+
712 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
+
713 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
+
714 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
+
715
+
716 // Odometry Open3D
+
717 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
+
718 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
+
719
+
720 // Odometry cuVSLAM
+
721 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
722
+
723 // Odometry LIO-SAM
+
724 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.");
+
725 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+
726 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
+
727 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+
728 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
+
729 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
+
730 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
+
731 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
+
732 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
+
733 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
+
734 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
+
735 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
+
736 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
+
737
+
738 // Common registration parameters
+
739 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.");
+
740 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
+
741 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.");
+
742
+
743 // Visual registration parameters
+
744 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
+
745 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
+
746 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()));
+
747 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
+
748 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
+
749#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
750 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()));
+
751#else
+
752 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()));
+
753#endif
+
754 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()));
+
755 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()));
+
756 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());
+
757 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());
+
758
+
759 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+
760 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
+
761 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.");
+
762 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.");
+
763
+
764 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
+
765#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
766 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
767 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");
+
768#else
+
769 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");
+
770#endif
+
771 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
+
772 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
773 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
+
774 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
+
775 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
+
776 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()));
+
777 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
778 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
779 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
780 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
+
781 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()));
+
782 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()));
+
783 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
+
784 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()));
+
785 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
+
786 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()));
+
787 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()));
+
788 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
789 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
790 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
791 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
792 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()));
+
793 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()));
+
794 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+
795 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()));
+
796 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
797 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()));
+
798#else
+
799 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()));
+
800#endif
+
801
+
802 // Features matching approaches
+
803 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.");
+
804 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
+
805 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
+
806 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
+
807 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\").");
+
808
+
809 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
+
810 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
+
811 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
+
812
+
813 // Global descriptor approaches
+
814 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.");
+
815 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
+
816
+
817 // ICP registration parameters
+
818#ifdef RTABMAP_POINTMATCHER
+
819 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
820#else
+
821 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
822#endif
+
823 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
+
824 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
+
825 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
+
826 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+
827 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
+
828 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
+
829#ifdef RTABMAP_POINTMATCHER
+
830 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
+
831#else
+
832 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
+
833#endif
+
834 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.");
+
835 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
+
836 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.");
+
837 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
+
838 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
+
839 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
+
840#ifdef RTABMAP_POINTMATCHER
+
841 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
+
842#else
+
843 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
+
844#endif
+
845 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+
846 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+
847 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.");
+
848 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()));
+
849 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()));
+
850 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()));
+
851 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()));
+
852 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.");
+
853
+
854 // libpointmatcher
+
855 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());
+
856 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.");
+
857 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.");
+
858 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()));
+
859
+
860 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
+
861 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
+
862 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
+
863
+
864 // Stereo disparity
+
865 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
+
866 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
+
867 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
+
868 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
+
869 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
+
870 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
+
871 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
+
872 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()));
+
873 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
+
874 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()));
+
875 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()));
+
876 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+
877 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()));
+
878
+
879 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
+
880
+
881 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
+
882 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
+
883 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
+
884 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
+
885 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
+
886 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
+
887 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
+
888 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
+
889 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
+
890 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
+
891
+
892 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
+
893 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
+
894 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
+
895 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
+
896 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
+
897 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
+
898 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
+
899 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
+
900 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
+
901 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
+
902#if CV_MAJOR_VERSION < 3
+
903 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
+
904#else
+
905 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
+
906#endif
+
907
+
908 // Occupancy Grid
+
909 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).");
+
910 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
+
911 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
+
912 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
+
913 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()));
+
914 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
+
915 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
+
916 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.");
+
917 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
+
918 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
+
919 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()));
+
920 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.");
+
921 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
+
922 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
+
923 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
+
924 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
+
925 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()));
+
926 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+
927 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
+
928 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
+
929 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
+
930#ifdef RTABMAP_OCTOMAP
+
931 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()));
+
932#else
+
933 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()));
+
934#endif
+
935 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()));
+
936 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
+
937 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
+
938 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()));
+
939 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()));
+
940 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.");
+
941 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
+
942 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
+
943 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
+
944 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
+
945 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).");
+
946 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
+
947 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
+
948 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
+
949 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
+
950 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
+
951 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.");
+
952
+
953 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+
954 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");
+
955 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.");
+
956 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());
+
957 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()));
+
958 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()));
+
959 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()));
+
960 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()));
+
961 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
+
962 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
+
963 RTABMAP_PARAM_STR(Marker, Priors, "", "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).");
+
964 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
+
965 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
+
966
+
967 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
+
968 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.");
+
969 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).");
+
970 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()));
+
971 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.");
+
972 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()));
+
973
+
974 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.");
+
975
+
976 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].");
+
977 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
978
+
979 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
+
980 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
+
981 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
+
982 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
+
983
+
984public:
+
985 virtual ~Parameters();
+
986
+
+
991 static const ParametersMap & getDefaultParameters()
+
992 {
+
993 return parameters_;
+
994 }
-
994
-
999 static std::string getType(const std::string & paramKey);
-
1000
-
1005 static std::string getDescription(const std::string & paramKey);
-
1006
-
1007 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
-
1008 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
-
1009 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
-
1010 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
-
1011 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
-
1012 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
-
1013 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
-
1014
-
1015 static const char * showUsage();
-
1016 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
-
1017
-
1018 static std::string getVersion();
-
1019 static std::string getDefaultDatabaseName();
-
1020
-
1021 static std::string serialize(const ParametersMap & parameters);
-
1022 static ParametersMap deserialize(const std::string & parameters);
-
1023
-
1024 static bool isFeatureParameter(const std::string & param);
-
1025 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
-
1026 static ParametersMap getDefaultParameters(const std::string & group);
-
1031 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
-
1032
-
1033 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
-
1034 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
-
1035 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
-
1036
-
1041 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
-
1042
-
1046 static const ParametersMap & getBackwardCompatibilityMap();
-
1047
-
1048 static std::string createDefaultWorkingDirectory();
-
1049
-
1050private:
-
1051 Parameters();
-
1052
-
1053private:
-
1054 static ParametersMap parameters_;
-
1055 static ParametersMap parametersType_;
-
1056 static ParametersMap descriptions_;
-
1057 static Parameters instance_;
-
1058
-
1059 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
-
1060 static ParametersMap backwardCompatibilityMap_;
-
1061};
+
995
+
1000 static std::string getType(const std::string & paramKey);
+
1001
+
1006 static std::string getDescription(const std::string & paramKey);
+
1007
+
1008 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
+
1009 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
+
1010 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
+
1011 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
+
1012 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
+
1013 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
+
1014 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
+
1015
+
1016 static const char * showUsage();
+
1017 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
+
1018
+
1019 static std::string getVersion();
+
1020 static std::string getDefaultDatabaseName();
+
1021
+
1022 static std::string serialize(const ParametersMap & parameters);
+
1023 static ParametersMap deserialize(const std::string & parameters);
+
1024
+
1025 static bool isFeatureParameter(const std::string & param);
+
1026 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
+
1027 static ParametersMap getDefaultParameters(const std::string & group);
+
1032 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
+
1033
+
1034 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
+
1035 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
+
1036 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
+
1037
+
1042 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
+
1043
+
1047 static const ParametersMap & getBackwardCompatibilityMap();
+
1048
+
1049 static std::string createDefaultWorkingDirectory();
+
1050
+
1051private:
+
1052 Parameters();
+
1053
+
1054private:
+
1055 static ParametersMap parameters_;
+
1056 static ParametersMap parametersType_;
+
1057 static ParametersMap descriptions_;
+
1058 static Parameters instance_;
+
1059
+
1060 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
+
1061 static ParametersMap backwardCompatibilityMap_;
+
1062};
-
1062
-
1063}
-
1064
-
1065#endif /* PARAMETERS_H_ */
+
1063
+
1064}
+
1065
+
1066#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
@@ -1081,7 +1082,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
rtabmap::Parameters
Definition Parameters.h:183
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:990
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:991
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()
@@ -1092,7 +1093,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
rtabmap::StereoSGBM
Semi-Global Block Matching algorithm for dense stereo matching.
Definition StereoSGBM.h:51
rtabmap::Stereo
Sparse stereo matching using block matching.
Definition Stereo.h:55
rtabmap::SuperPointRpautrat
SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).
Definition Features2d.h:698
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersPair
std::pair< std::string, std::string > ParametersPair
A single parameter key/value pair, the entry type of ParametersMap.
Definition Parameters.h:46
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/ParticleFilter_8h_source.html b/api/latest/ParticleFilter_8h_source.html index f2d51e0a..62b44f91 100644 --- a/api/latest/ParticleFilter_8h_source.html +++ b/api/latest/ParticleFilter_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -291,7 +291,7 @@ $(document).ready(function(){initNavTree('ParticleFilter_8h_source.html',''); in
uSum
T uSum(const std::list< T > &list)
Definition UMath.h:318
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
rtabmap::ParticleFilter
Definition ParticleFilter.h:116
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Posix_2UThreadC_8h_source.html b/api/latest/Posix_2UThreadC_8h_source.html index 64055f10..cfc524b6 100644 --- a/api/latest/Posix_2UThreadC_8h_source.html +++ b/api/latest/Posix_2UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ProgressState_8h_source.html b/api/latest/ProgressState_8h_source.html index 7548a518..4456417a 100644 --- a/api/latest/ProgressState_8h_source.html +++ b/api/latest/ProgressState_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -173,7 +173,7 @@ $(document).ready(function(){initNavTree('ProgressState_8h_source.html',''); ini
ULogger.h
ULogger class and convenient macros.
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
- +
diff --git a/api/latest/PythonInterface_8h_source.html b/api/latest/PythonInterface_8h_source.html index 71e05283..b5948320 100644 --- a/api/latest/PythonInterface_8h_source.html +++ b/api/latest/PythonInterface_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -154,7 +154,7 @@ $(document).ready(function(){initNavTree('PythonInterface_8h_source.html',''); i
49
50#endif /* CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_ */
rtabmap::PythonInterface
Definition PythonInterface.h:29
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Recovery_8h_source.html b/api/latest/Recovery_8h_source.html index cbd70213..04bfc8dd 100644 --- a/api/latest/Recovery_8h_source.html +++ b/api/latest/Recovery_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -155,7 +155,7 @@ $(document).ready(function(){initNavTree('Recovery_8h_source.html',''); initResi
55
56#endif /* RECOVERY_H_ */
rtabmap::ProgressState
Definition ProgressState.h:36
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::databaseRecovery
bool RTABMAP_CORE_EXPORT databaseRecovery(const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
diff --git a/api/latest/RegistrationIcp_8h_source.html b/api/latest/RegistrationIcp_8h_source.html index 43e0c80f..e5125258 100644 --- a/api/latest/RegistrationIcp_8h_source.html +++ b/api/latest/RegistrationIcp_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -231,7 +231,7 @@ $(document).ready(function(){initNavTree('RegistrationIcp_8h_source.html',''); i
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/RegistrationInfo_8h_source.html b/api/latest/RegistrationInfo_8h_source.html index bd527b5d..c913e07b 100644 --- a/api/latest/RegistrationInfo_8h_source.html +++ b/api/latest/RegistrationInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -243,7 +243,7 @@ $(document).ready(function(){initNavTree('RegistrationInfo_8h_source.html','');
rtabmap::RegistrationInfo::matchesPerCam
std::vector< int > matchesPerCam
Definition RegistrationInfo.h:110
rtabmap::RegistrationInfo::copyWithoutData
RegistrationInfo copyWithoutData() const
Copies scalar metrics and covariance; omits correspondence ID vectors.
Definition RegistrationInfo.h:71
rtabmap::RegistrationInfo::rejectedMsg
std::string rejectedMsg
Definition RegistrationInfo.h:96
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/RegistrationVis_8h_source.html b/api/latest/RegistrationVis_8h_source.html index 012cea5a..41780a4e 100644 --- a/api/latest/RegistrationVis_8h_source.html +++ b/api/latest/RegistrationVis_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -250,7 +250,7 @@ $(document).ready(function(){initNavTree('RegistrationVis_8h_source.html',''); i
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Registration_8h_source.html b/api/latest/Registration_8h_source.html index 61beb154..3523869a 100644 --- a/api/latest/Registration_8h_source.html +++ b/api/latest/Registration_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -250,7 +250,7 @@ $(document).ready(function(){initNavTree('Registration_8h_source.html',''); init
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
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/RtabmapEvent_8h_source.html b/api/latest/RtabmapEvent_8h_source.html index dc39ff2d..ab4a0bae 100644 --- a/api/latest/RtabmapEvent_8h_source.html +++ b/api/latest/RtabmapEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -425,7 +425,7 @@ $(document).ready(function(){initNavTree('RtabmapEvent_8h_source.html',''); init
rtabmap::RtabmapLabelErrorEvent
Definition RtabmapEvent.h:249
rtabmap::RtabmapLabelErrorEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:258
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/RtabmapThread_8h_source.html b/api/latest/RtabmapThread_8h_source.html index bf461f1e..7073fa88 100644 --- a/api/latest/RtabmapThread_8h_source.html +++ b/api/latest/RtabmapThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -247,7 +247,7 @@ $(document).ready(function(){initNavTree('RtabmapThread_8h_source.html',''); ini
rtabmap::RtabmapThread::clearBufferedData
void clearBufferedData()
Drops the buffered frames, the pending user data and the odometry state.
rtabmap::Rtabmap
Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
Definition Rtabmap.h:194
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Rtabmap_8h_source.html b/api/latest/Rtabmap_8h_source.html index 5bff7e8a..85b9dd12 100644 --- a/api/latest/Rtabmap_8h_source.html +++ b/api/latest/Rtabmap_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -472,7 +472,7 @@ $(document).ready(function(){initNavTree('Rtabmap_8h_source.html',''); initResiz
1068
1069} // namespace rtabmap
1070#endif /* RTABMAP_H_ */
-
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:72
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:82
rtabmap::EpipolarGeometry
Definition EpipolarGeometry.h:50
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
@@ -564,7 +564,7 @@ $(document).ready(function(){initNavTree('Rtabmap_8h_source.html',''); initResiz
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
diff --git a/api/latest/SensorCaptureInfo_8h_source.html b/api/latest/SensorCaptureInfo_8h_source.html index 905cea8b..799fc222 100644 --- a/api/latest/SensorCaptureInfo_8h_source.html +++ b/api/latest/SensorCaptureInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('SensorCaptureInfo_8h_source.html','');
rtabmap::SensorCaptureInfo::timeDisparity
float timeDisparity
Time to compute stereo disparity (seconds)
Definition SensorCaptureInfo.h:111
rtabmap::SensorCaptureInfo::timeUndistortDepth
float timeUndistortDepth
Time to undistort depth image (seconds)
Definition SensorCaptureInfo.h:117
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraInfo
RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo
Backward compatibility typedef.
Definition SensorCaptureInfo.h:133
diff --git a/api/latest/SensorCaptureThread_8h_source.html b/api/latest/SensorCaptureThread_8h_source.html index 2e8aab09..a0ef3b8b 100644 --- a/api/latest/SensorCaptureThread_8h_source.html +++ b/api/latest/SensorCaptureThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -368,7 +368,7 @@ $(document).ready(function(){initNavTree('SensorCaptureThread_8h_source.html',''
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraThread
RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
Backward compatibility typedef.
Definition SensorCaptureThread.h:565
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/SensorCapture_8h_source.html b/api/latest/SensorCapture_8h_source.html index b76990ea..8417d8da 100644 --- a/api/latest/SensorCapture_8h_source.html +++ b/api/latest/SensorCapture_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('SensorCapture_8h_source.html',''); ini
rtabmap::SensorCapture::resetTimer
void resetTimer()
Resets the frame rate timer.
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
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/SensorData_8h_source.html b/api/latest/SensorData_8h_source.html index c1cf1318..2d48809e 100644 --- a/api/latest/SensorData_8h_source.html +++ b/api/latest/SensorData_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -639,7 +639,7 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:830
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
diff --git a/api/latest/SensorEvent_8h_source.html b/api/latest/SensorEvent_8h_source.html index eca70849..63ca67ef 100644 --- a/api/latest/SensorEvent_8h_source.html +++ b/api/latest/SensorEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -234,7 +234,7 @@ $(document).ready(function(){initNavTree('SensorEvent_8h_source.html',''); initR
rtabmap::SensorEvent::SensorEvent
SensorEvent(const cv::Mat &image, int seq=0, double stamp=0.0, const std::string &cameraName=std::string())
Constructor from a single image.
Definition SensorEvent.h:88
rtabmap::SensorEvent::cameraName
const std::string & cameraName() const
Returns the camera name.
Definition SensorEvent.h:170
rtabmap::SensorEvent::SensorEvent
SensorEvent()
Constructor for end-of-stream event.
Definition SensorEvent.h:103
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraEvent
RTABMAP_DEPRECATED typedef SensorEvent CameraEvent
Backward compatibility typedef.
Definition SensorEvent.h:207
diff --git a/api/latest/Signature_8h_source.html b/api/latest/Signature_8h_source.html index d3eab09b..36760333 100644 --- a/api/latest/Signature_8h_source.html +++ b/api/latest/Signature_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -376,7 +376,7 @@ $(document).ready(function(){initNavTree('Signature_8h_source.html',''); initRes
rtabmap::Signature::addLinks
void addLinks(const std::map< int, Link > &links)
Adds multiple links from a map.
rtabmap::Signature::getPoseCovariance
cv::Mat getPoseCovariance() const
Gets the pose covariance matrix.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Statistics_8h_source.html b/api/latest/Statistics_8h_source.html index da0b6f17..8c366c71 100644 --- a/api/latest/Statistics_8h_source.html +++ b/api/latest/Statistics_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -580,7 +580,7 @@ $(document).ready(function(){initNavTree('Statistics_8h_source.html',''); initRe
rtabmap::Statistics::~Statistics
virtual ~Statistics()
Virtual destructor.
rtabmap::Statistics::labels
const std::map< int, std::string > & labels() const
Returns node labels.
Definition Statistics.h:675
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/StereoBM_8h_source.html b/api/latest/StereoBM_8h_source.html index fda239c1..64c7f545 100644 --- a/api/latest/StereoBM_8h_source.html +++ b/api/latest/StereoBM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('StereoBM_8h_source.html',''); initResi
rtabmap::StereoBM::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const
Compute disparity map from stereo image pair.
rtabmap::StereoBM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/StereoCameraModel_8h_source.html b/api/latest/StereoCameraModel_8h_source.html index 7833999d..d8b0e73e 100644 --- a/api/latest/StereoCameraModel_8h_source.html +++ b/api/latest/StereoCameraModel_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -316,7 +316,7 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
rtabmap::StereoCameraModel::~StereoCameraModel
virtual ~StereoCameraModel()
Destructor.
Definition StereoCameraModel.h:219
rtabmap::StereoCameraModel::deserialize
unsigned int deserialize(const unsigned char *data, unsigned int dataSize)
Deserializes stereo camera model data from a raw byte array.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
diff --git a/api/latest/StereoDense_8h_source.html b/api/latest/StereoDense_8h_source.html index 40a42c31..c01c5f4f 100644 --- a/api/latest/StereoDense_8h_source.html +++ b/api/latest/StereoDense_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -182,7 +182,7 @@ $(document).ready(function(){initNavTree('StereoDense_8h_source.html',''); initR
rtabmap::StereoDense::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const =0
Compute disparity map from stereo image pair.
rtabmap::StereoDense::create
static StereoDense * create(const ParametersMap &parameters)
Factory method to create a StereoDense instance from parameters.
rtabmap::StereoDense::create
static StereoDense * create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
Factory method to create a StereoDense instance of a specific type.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/StereoSGBM_8h_source.html b/api/latest/StereoSGBM_8h_source.html index 72f619ca..1987dce7 100644 --- a/api/latest/StereoSGBM_8h_source.html +++ b/api/latest/StereoSGBM_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -179,7 +179,7 @@ $(document).ready(function(){initNavTree('StereoSGBM_8h_source.html',''); initRe
rtabmap::StereoSGBM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
rtabmap::StereoSGBM::StereoSGBM
StereoSGBM(const ParametersMap &parameters=ParametersMap())
Constructor with parameters map.
rtabmap::StereoSGBM::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const
Compute disparity map from stereo image pair.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Stereo_8h_source.html b/api/latest/Stereo_8h_source.html index e7a84bcb..e40880df 100644 --- a/api/latest/Stereo_8h_source.html +++ b/api/latest/Stereo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -263,7 +263,7 @@ $(document).ready(function(){initNavTree('Stereo_8h_source.html',''); initResiza
rtabmap::Stereo::~Stereo
virtual ~Stereo()
Virtual destructor.
Definition Stereo.h:87
rtabmap::Stereo::winSSD
bool winSSD() const
Check if SSD (Sum of Squared Differences) is used.
Definition Stereo.h:184
rtabmap::Stereo::computeCorrespondences
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Compute stereo correspondences using block matching.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Transform_8h_source.html b/api/latest/Transform_8h_source.html index 6b71619c..fed75287 100644 --- a/api/latest/Transform_8h_source.html +++ b/api/latest/Transform_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -368,7 +368,7 @@ $(document).ready(function(){initNavTree('Transform_8h_source.html',''); initRes
rtabmap::Transform::Transform
Transform(float x, float y, float z, float qx, float qy, float qz, float qw)
Constructs a Transform from position and quaternion.
rtabmap::Transform::z
float & z()
Translation z.
Definition Transform.h:151
rtabmap::Transform::setIdentity
void setIdentity()
Sets the transform to the identity transform.
-
rtabmap
Definition BayesFilter.h:39
+
rtabmap
Definition BayesFilter.h:42
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
diff --git a/api/latest/UConversion_8h.html b/api/latest/UConversion_8h.html index 86e0fc82..567b7bdd 100644 --- a/api/latest/UConversion_8h.html +++ b/api/latest/UConversion_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UConversion_8h_source.html b/api/latest/UConversion_8h_source.html index 2e963a74..0f23099f 100644 --- a/api/latest/UConversion_8h_source.html +++ b/api/latest/UConversion_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UDestroyer_8h_source.html b/api/latest/UDestroyer_8h_source.html index c1bf459e..28f5ef27 100644 --- a/api/latest/UDestroyer_8h_source.html +++ b/api/latest/UDestroyer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UDirectory_8h_source.html b/api/latest/UDirectory_8h_source.html index 937b2a44..2500059f 100644 --- a/api/latest/UDirectory_8h_source.html +++ b/api/latest/UDirectory_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEvent_8h_source.html b/api/latest/UEvent_8h_source.html index c20f7148..4a087f14 100644 --- a/api/latest/UEvent_8h_source.html +++ b/api/latest/UEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsHandler_8h_source.html b/api/latest/UEventsHandler_8h_source.html index b994549b..4f702d24 100644 --- a/api/latest/UEventsHandler_8h_source.html +++ b/api/latest/UEventsHandler_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsManager_8h_source.html b/api/latest/UEventsManager_8h_source.html index 2ff46947..49d6e651 100644 --- a/api/latest/UEventsManager_8h_source.html +++ b/api/latest/UEventsManager_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UEventsSender_8h_source.html b/api/latest/UEventsSender_8h_source.html index 11beacb1..343da5cb 100644 --- a/api/latest/UEventsSender_8h_source.html +++ b/api/latest/UEventsSender_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UException_8h_source.html b/api/latest/UException_8h_source.html index 0413990c..daf0e806 100644 --- a/api/latest/UException_8h_source.html +++ b/api/latest/UException_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UFile_8h_source.html b/api/latest/UFile_8h_source.html index 81f30610..43976542 100644 --- a/api/latest/UFile_8h_source.html +++ b/api/latest/UFile_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ULogger_8h.html b/api/latest/ULogger_8h.html index 8d033b9d..4a8a8023 100644 --- a/api/latest/ULogger_8h.html +++ b/api/latest/ULogger_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/ULogger_8h_source.html b/api/latest/ULogger_8h_source.html index e32066b0..203b2ab1 100644 --- a/api/latest/ULogger_8h_source.html +++ b/api/latest/ULogger_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMath_8h.html b/api/latest/UMath_8h.html index 6489a53f..26a3f7a8 100644 --- a/api/latest/UMath_8h.html +++ b/api/latest/UMath_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMath_8h_source.html b/api/latest/UMath_8h_source.html index 0f46e3c6..54dde0d9 100644 --- a/api/latest/UMath_8h_source.html +++ b/api/latest/UMath_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UMutex_8h_source.html b/api/latest/UMutex_8h_source.html index 285e0650..8d628c61 100644 --- a/api/latest/UMutex_8h_source.html +++ b/api/latest/UMutex_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UObjDeletionThread_8h_source.html b/api/latest/UObjDeletionThread_8h_source.html index 6eaafd2e..030c8fa9 100644 --- a/api/latest/UObjDeletionThread_8h_source.html +++ b/api/latest/UObjDeletionThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UProcessInfo_8h.html b/api/latest/UProcessInfo_8h.html index bb8eaec3..59f35f99 100644 --- a/api/latest/UProcessInfo_8h.html +++ b/api/latest/UProcessInfo_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UProcessInfo_8h_source.html b/api/latest/UProcessInfo_8h_source.html index fc63ffec..1eafe0d4 100644 --- a/api/latest/UProcessInfo_8h_source.html +++ b/api/latest/UProcessInfo_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/USemaphore_8h_source.html b/api/latest/USemaphore_8h_source.html index 4254a35c..58f3cd1a 100644 --- a/api/latest/USemaphore_8h_source.html +++ b/api/latest/USemaphore_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UStl_8h.html b/api/latest/UStl_8h.html index 93315969..57ace2c8 100644 --- a/api/latest/UStl_8h.html +++ b/api/latest/UStl_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UStl_8h_source.html b/api/latest/UStl_8h_source.html index 182a9edc..26b6a889 100644 --- a/api/latest/UStl_8h_source.html +++ b/api/latest/UStl_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadC_8h_source.html b/api/latest/UThreadC_8h_source.html index 12074f03..53c5af3c 100644 --- a/api/latest/UThreadC_8h_source.html +++ b/api/latest/UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadNode_8h.html b/api/latest/UThreadNode_8h.html index 0357e1fc..d31c8051 100644 --- a/api/latest/UThreadNode_8h.html +++ b/api/latest/UThreadNode_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThreadNode_8h_source.html b/api/latest/UThreadNode_8h_source.html index f4bc242b..43f1646d 100644 --- a/api/latest/UThreadNode_8h_source.html +++ b/api/latest/UThreadNode_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UThread_8h_source.html b/api/latest/UThread_8h_source.html index 8ad26191..6fa44355 100644 --- a/api/latest/UThread_8h_source.html +++ b/api/latest/UThread_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UTimer_8h_source.html b/api/latest/UTimer_8h_source.html index 2fd58a83..f9429e54 100644 --- a/api/latest/UTimer_8h_source.html +++ b/api/latest/UTimer_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UVariant_8h.html b/api/latest/UVariant_8h.html index ddcfdd0a..fc8a4442 100644 --- a/api/latest/UVariant_8h.html +++ b/api/latest/UVariant_8h.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UVariant_8h_source.html b/api/latest/UVariant_8h_source.html index 4c84134a..10214705 100644 --- a/api/latest/UVariant_8h_source.html +++ b/api/latest/UVariant_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UWin32_8h_source.html b/api/latest/UWin32_8h_source.html index 11a5a405..add92c70 100644 --- a/api/latest/UWin32_8h_source.html +++ b/api/latest/UWin32_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/UserDataEvent_8h_source.html b/api/latest/UserDataEvent_8h_source.html index 1307ef94..bea1150c 100644 --- a/api/latest/UserDataEvent_8h_source.html +++ b/api/latest/UserDataEvent_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -167,7 +167,7 @@ $(document).ready(function(){initNavTree('UserDataEvent_8h_source.html',''); ini
rtabmap::UserDataEvent::getClassName
virtual std::string getClassName() const
Definition UserDataEvent.h:48
- +
diff --git a/api/latest/UtiLite_8h_source.html b/api/latest/UtiLite_8h_source.html index 67867fcc..e5c531cb 100644 --- a/api/latest/UtiLite_8h_source.html +++ b/api/latest/UtiLite_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/VWDictionary_8h_source.html b/api/latest/VWDictionary_8h_source.html index 67ef7f18..4957d602 100644 --- a/api/latest/VWDictionary_8h_source.html +++ b/api/latest/VWDictionary_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -399,7 +399,7 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
rtabmap::VWDictionary::setNNStrategy
bool setNNStrategy(NNStrategy strategy)
Set the nearest neighbor search strategy.
rtabmap::VWDictionary::~VWDictionary
virtual ~VWDictionary()
Destructor.
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/api/latest/Version_8h_source.html b/api/latest/Version_8h_source.html index 00feff93..c1125fef 100644 --- a/api/latest/Version_8h_source.html +++ b/api/latest/Version_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
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 "0.23.10"
+
32#define RTABMAP_VERSION "0.23.11"
33
34#define RTABMAP_VERSION_MAJOR 0
35#define RTABMAP_VERSION_MINOR 23
-
36#define RTABMAP_VERSION_PATCH 10
+
36#define RTABMAP_VERSION_PATCH 11
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 04d8dab4..484aa2c4 100644 --- a/api/latest/VisualWord_8h_source.html +++ b/api/latest/VisualWord_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
@@ -192,7 +192,7 @@ $(document).ready(function(){initNavTree('VisualWord_8h_source.html',''); initRe
rtabmap::VisualWord::getMemoryUsed
unsigned long getMemoryUsed() const
Estimates the memory used by this visual word in bytes.
rtabmap::VisualWord::~VisualWord
~VisualWord()
Destructor.
rtabmap::VisualWord::getReferences
const std::map< int, int > & getReferences() const
Returns the references of this word.
Definition VisualWord.h:106
- +
diff --git a/api/latest/Win32_2UThreadC_8h_source.html b/api/latest/Win32_2UThreadC_8h_source.html index feab8218..f8094071 100644 --- a/api/latest/Win32_2UThreadC_8h_source.html +++ b/api/latest/Win32_2UThreadC_8h_source.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/annotated.html b/api/latest/annotated.html index 722814d2..09d46d9b 100644 --- a/api/latest/annotated.html +++ b/api/latest/annotated.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDestroyer-members.html b/api/latest/classUDestroyer-members.html index e2e7e011..d03e803f 100644 --- a/api/latest/classUDestroyer-members.html +++ b/api/latest/classUDestroyer-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDestroyer.html b/api/latest/classUDestroyer.html index f2d77359..44cc9756 100644 --- a/api/latest/classUDestroyer.html +++ b/api/latest/classUDestroyer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDirectory-members.html b/api/latest/classUDirectory-members.html index 3eb2dee1..84920cca 100644 --- a/api/latest/classUDirectory-members.html +++ b/api/latest/classUDirectory-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUDirectory.html b/api/latest/classUDirectory.html index fc9d2005..779e5a06 100644 --- a/api/latest/classUDirectory.html +++ b/api/latest/classUDirectory.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEvent-members.html b/api/latest/classUEvent-members.html index eb5ce45f..bcc45170 100644 --- a/api/latest/classUEvent-members.html +++ b/api/latest/classUEvent-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEvent.html b/api/latest/classUEvent.html index 4eeec791..d97c3e63 100644 --- a/api/latest/classUEvent.html +++ b/api/latest/classUEvent.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventDispatcher-members.html b/api/latest/classUEventDispatcher-members.html index 5580d314..2a105068 100644 --- a/api/latest/classUEventDispatcher-members.html +++ b/api/latest/classUEventDispatcher-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventDispatcher.html b/api/latest/classUEventDispatcher.html index 4c7f63c3..63f1ce29 100644 --- a/api/latest/classUEventDispatcher.html +++ b/api/latest/classUEventDispatcher.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsHandler-members.html b/api/latest/classUEventsHandler-members.html index 1633eca9..9a01f2b5 100644 --- a/api/latest/classUEventsHandler-members.html +++ b/api/latest/classUEventsHandler-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsHandler.html b/api/latest/classUEventsHandler.html index 85b3bfd3..6e9d5c8b 100644 --- a/api/latest/classUEventsHandler.html +++ b/api/latest/classUEventsHandler.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsManager-members.html b/api/latest/classUEventsManager-members.html index 6e299323..bcf65cd7 100644 --- a/api/latest/classUEventsManager-members.html +++ b/api/latest/classUEventsManager-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsManager.html b/api/latest/classUEventsManager.html index d7a219bc..18c986a0 100644 --- a/api/latest/classUEventsManager.html +++ b/api/latest/classUEventsManager.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsSender-members.html b/api/latest/classUEventsSender-members.html index ee3c87cf..e82b1570 100644 --- a/api/latest/classUEventsSender-members.html +++ b/api/latest/classUEventsSender-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUEventsSender.html b/api/latest/classUEventsSender.html index 1ff3553c..704d36b1 100644 --- a/api/latest/classUEventsSender.html +++ b/api/latest/classUEventsSender.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUException-members.html b/api/latest/classUException-members.html index 6a8baecb..2fddd56e 100644 --- a/api/latest/classUException-members.html +++ b/api/latest/classUException-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUException.html b/api/latest/classUException.html index 090de071..32e611e1 100644 --- a/api/latest/classUException.html +++ b/api/latest/classUException.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUFile-members.html b/api/latest/classUFile-members.html index af4ea64e..7bbc17f2 100644 --- a/api/latest/classUFile-members.html +++ b/api/latest/classUFile-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
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RTAB-Map 0.23.11
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RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
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Real-Time Appearance-Based Mapping
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RTAB-Map 0.23.11
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diff --git a/api/latest/classUProcessInfo.html b/api/latest/classUProcessInfo.html index ce2cf07a..c129d70a 100644 --- a/api/latest/classUProcessInfo.html +++ b/api/latest/classUProcessInfo.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
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diff --git a/api/latest/classUSemaphore.html b/api/latest/classUSemaphore.html index 3d15afcf..ae1f25a8 100644 --- a/api/latest/classUSemaphore.html +++ b/api/latest/classUSemaphore.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThread-members.html b/api/latest/classUThread-members.html index 3b2ae36e..83dd94a9 100644 --- a/api/latest/classUThread-members.html +++ b/api/latest/classUThread-members.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUThread.html b/api/latest/classUThread.html index 7130d18f..77471c88 100644 --- a/api/latest/classUThread.html +++ b/api/latest/classUThread.html @@ -33,7 +33,7 @@ -
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RTAB-Map 0.23.11
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diff --git a/api/latest/classUThreadC-members.html b/api/latest/classUThreadC-members.html index 3fbdbf62..93263dcb 100644 --- a/api/latest/classUThreadC-members.html +++ b/api/latest/classUThreadC-members.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classUThreadC.html b/api/latest/classUThreadC.html index 69452c7c..da3d0744 100644 --- a/api/latest/classUThreadC.html +++ b/api/latest/classUThreadC.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
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RTAB-Map 0.23.10 +
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RTAB-Map 0.23.10 +
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diff --git a/api/latest/classUTimer.html b/api/latest/classUTimer.html index 8caccaa2..1441752d 100644 --- a/api/latest/classUTimer.html +++ b/api/latest/classUTimer.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
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diff --git a/api/latest/classUVariant-members.html b/api/latest/classUVariant-members.html index d9b8bd0c..f33f55ee 100644 --- a/api/latest/classUVariant-members.html +++ b/api/latest/classUVariant-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
RTAB-Map 0.23.11
Real-Time Appearance-Based Mapping
diff --git a/api/latest/classUVariant.html b/api/latest/classUVariant.html index 7f813e8d..d3d43ac6 100644 --- a/api/latest/classUVariant.html +++ b/api/latest/classUVariant.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
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Real-Time Appearance-Based Mapping
diff --git a/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html b/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html index 5ad33cfc..7b04d5c1 100644 --- a/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html +++ b/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
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diff --git a/api/latest/classclams_1_1DiscreteDepthDistortionModel.html b/api/latest/classclams_1_1DiscreteDepthDistortionModel.html index 127dc4a4..7b0072b7 100644 --- a/api/latest/classclams_1_1DiscreteDepthDistortionModel.html +++ b/api/latest/classclams_1_1DiscreteDepthDistortionModel.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classclams_1_1FrameProjector.html b/api/latest/classclams_1_1FrameProjector.html index 6436b30a..8efe1e69 100644 --- a/api/latest/classclams_1_1FrameProjector.html +++ b/api/latest/classclams_1_1FrameProjector.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classclams_1_1ProjectivePoint.html b/api/latest/classclams_1_1ProjectivePoint.html index 890d146d..05fbdcda 100644 --- a/api/latest/classclams_1_1ProjectivePoint.html +++ b/api/latest/classclams_1_1ProjectivePoint.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classes.html b/api/latest/classes.html index 9debfc2a..360d2a9f 100644 --- a/api/latest/classes.html +++ b/api/latest/classes.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classrtabmap_1_1BRISK-members.html b/api/latest/classrtabmap_1_1BRISK-members.html index c6d980b1..2df2b233 100644 --- a/api/latest/classrtabmap_1_1BRISK-members.html +++ b/api/latest/classrtabmap_1_1BRISK-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
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diff --git a/api/latest/classrtabmap_1_1BRISK.html b/api/latest/classrtabmap_1_1BRISK.html index 3b54052d..5cd7a699 100644 --- a/api/latest/classrtabmap_1_1BRISK.html +++ b/api/latest/classrtabmap_1_1BRISK.html @@ -33,7 +33,7 @@ -
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diff --git a/api/latest/classrtabmap_1_1BayesFilter-members.html b/api/latest/classrtabmap_1_1BayesFilter-members.html index e64a8a04..c3125d87 100644 --- a/api/latest/classrtabmap_1_1BayesFilter-members.html +++ b/api/latest/classrtabmap_1_1BayesFilter-members.html @@ -33,7 +33,7 @@ -
RTAB-Map 0.23.10 +
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@@ -105,13 +105,15 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1BayesFilter.html','');

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

- + - - - - + + + + + + diff --git a/api/latest/classrtabmap_1_1BayesFilter.html b/api/latest/classrtabmap_1_1BayesFilter.html index 2382b0b8..dbc60e2f 100644 --- a/api/latest/classrtabmap_1_1BayesFilter.html +++ b/api/latest/classrtabmap_1_1BayesFilter.html @@ -33,7 +33,7 @@ @@ -118,9 +118,9 @@ Public Member Functions - - - + + + @@ -128,12 +128,18 @@ void  - - - + + + + + + + + + @@ -159,12 +165,13 @@ void Parameters::kBayesPredictionLC() — transition probabilities per graph depth level.
  • Parameters::kBayesVirtualPlacePriorThr() — prior for the virtual place.
  • Parameters::kBayesFullPredictionUpdate() — regenerate the full prediction matrix each iteration.
    • +
  • Parameters::kBayesSparsePrediction() — keep the prediction sparse and multiply it sparsely.
    • See also
    Memory::getNeighborsId()
    Rtabmap
    -

    Definition at line 71 of file BayesFilter.h.

    +

    Definition at line 81 of file BayesFilter.h.

    Constructor & Destructor Documentation

    ◆ BayesFilter()

    @@ -227,14 +234,14 @@ void  - -

    ◆ computePosterior()

    + +

    ◆ computePosterior()

    BayesFilter(const ParametersMap &parameters=ParametersMap())rtabmap::BayesFilter
    computePosterior(const Memory *memory, const std::map< int, float > &likelihood)rtabmap::BayesFilter
    computePosterior(const Memory *memory, const std::map< int, float > &likelihood)rtabmap::BayesFilter
    generatePrediction(const Memory *memory, const std::vector< int > &ids)rtabmap::BayesFilter
    getMemoryUsed() constrtabmap::BayesFilter
    getPosterior() constrtabmap::BayesFilterinline
    getPredictionLC() constrtabmap::BayesFilter
    getPredictionLCStr() constrtabmap::BayesFilter
    getVirtualPlacePrior() constrtabmap::BayesFilterinline
    getPosteriorIds() constrtabmap::BayesFilterinline
    getPosteriorValues() constrtabmap::BayesFilterinline
    getPredictionLC() constrtabmap::BayesFilter
    getPredictionLCStr() constrtabmap::BayesFilter
    getVirtualPlacePrior() constrtabmap::BayesFilter
    isPredictionSparse() constrtabmap::BayesFilter
    parseParameters(const ParametersMap &parameters)rtabmap::BayesFiltervirtual
    reset()rtabmap::BayesFilter
    setPredictionLC(const std::string &prediction)rtabmap::BayesFilter
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    virtual void parseParameters (const ParametersMap &parameters)
     Updates internal settings from the parameter map.
     
    const std::map< int, float > & computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
     Runs one Bayes filter iteration (prediction + update).
     
    bool computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
     Runs one Bayes filter iteration (prediction + update).
     
    void reset ()
     Clears posterior, prediction matrix and cached neighbor indices.
    reset ()
    void setPredictionLC (const std::string &prediction)
     Sets the loop-closure prediction model from a space-separated string.
     
    const std::map< int, float > & getPosterior () const
     Returns the current posterior probability map.
     
    const std::vector< int > & getPosteriorIds () const
     The locations the posterior is over, ascending by id.
     
    const std::vector< float > & getPosteriorValues () const
     The probability of each location of getPosteriorIds(), in the same order.
     
    float getVirtualPlacePrior () const
     Returns the virtual place prior threshold.
     
    bool isPredictionSparse () const
     Whether the prediction is being kept in its sparse form rather than as a matrix.
     
    const std::vector< double > & getPredictionLC () const
     Returns the loop-closure prediction model as a vector of values.
     
    reset ()
    reset ()
    - + @@ -255,6 +262,7 @@ void Runs one Bayes filter iteration (prediction + update).

    Given a likelihood map over signature ids, computes and stores the normalized posterior. The prediction matrix is generated or updated from Memory using the ids present in likelihood.

    +

    Read the result with getPosteriorIds() and getPosteriorValues().

    Parameters
    const std::map< int, float > & rtabmap::BayesFilter::computePosterior bool rtabmap::BayesFilter::computePosterior ( const Memory *  memory, reset ()
    @@ -262,7 +270,7 @@ void  -
    Returns
    Reference to the internal posterior map (id → probability). On error (null memory, empty likelihood, or invalid prediction model), returns the unchanged posterior.
    +
    Returns
    False on error (null memory, empty likelihood, or invalid prediction model), the posterior being left unchanged.
    @@ -298,8 +306,8 @@ void  - -

    ◆ getPosterior()

    + +

    ◆ getPosteriorIds()

    @@ -308,7 +316,7 @@ void 
    memoryWorking memory instance (must not be null).
    reset ()
    reset ()
    reset ()
    - + @@ -321,10 +329,39 @@ void 
    -

    Returns the current posterior probability map.

    -
    Returns
    Map of signature id to normalized posterior probability. This is the probability to be at the given location.
    +

    The locations the posterior is over, ascending by id.

    +

    The virtual place (Memory::kIdVirtual) is the first of them when it is one.

    -

    Definition at line 125 of file BayesFilter.h.

    +

    Definition at line 138 of file BayesFilter.h.

    + +
    + + +

    ◆ getPosteriorValues()

    + +
    +
    +
    const std::map< int, float > & rtabmap::BayesFilter::getPosterior const std::vector< int > & rtabmap::BayesFilter::getPosteriorIds ( ) constreset ()
    + + + + +
    + + + + + + + +
    const std::vector< float > & rtabmap::BayesFilter::getPosteriorValues () const
    +     		+inline
    +
    + +

    The probability of each location of getPosteriorIds(), in the same order.

    + +

    Definition at line 143 of file BayesFilter.h.

    @@ -333,9 +370,6 @@ void reset ()
    - - - - - -
    @@ -344,17 +378,30 @@ void  const
    float rtabmap::BayesFilter::getVirtualPlacePrior reset ()
    -     		-inline

    Returns the virtual place prior threshold.

    Returns
    Value in [0, 1] used when building the virtual place row of the prediction matrix.
    -

    Definition at line 131 of file BayesFilter.h.

    +
    +
    + +

    ◆ isPredictionSparse()

    + +
    +
    + + + + + + + +
    bool rtabmap::BayesFilter::isPredictionSparse () const
    +
    + +

    Whether the prediction is being kept in its sparse form rather than as a matrix.

    +

    False when Parameters::kBayesSparsePrediction() is disabled, and over a model whose values sum to less than 1, which leaves no zero in a column to keep out of the values.

    @@ -426,6 +473,7 @@ void reset ()Builds or updates the prediction (transition) matrix for the given signature ids.

    Rows and columns correspond to ids. Neighbor links are queried from Memory to fill transition probabilities according to getPredictionLC(). When ids match the current posterior keys, the cached matrix may be returned without recomputation.

    +

    When the prediction is being kept sparse, the matrix is expanded from it rather than kept: it costs the memory that keeping the prediction sparse is saving, so ask for it to read, dump or compare the prediction, not on every iteration.

    Parameters
    diff --git a/api/latest/classrtabmap_1_1BayesFilter.js b/api/latest/classrtabmap_1_1BayesFilter.js index c1dd2f51..c8586eea 100644 --- a/api/latest/classrtabmap_1_1BayesFilter.js +++ b/api/latest/classrtabmap_1_1BayesFilter.js @@ -2,11 +2,13 @@ var classrtabmap_1_1BayesFilter = [ [ "BayesFilter", "classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e", null ], [ "parseParameters", "classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28", null ], - [ "computePosterior", "classrtabmap_1_1BayesFilter.html#a7ab8bc28ec172a18a80001585161b238", null ], + [ "computePosterior", "classrtabmap_1_1BayesFilter.html#aa3ec78130d67d9cca8c2f11c31bc28d2", null ], [ "reset", "classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573", null ], [ "setPredictionLC", "classrtabmap_1_1BayesFilter.html#a3255a54c1d2fc5b9a6db91fb38d591ae", null ], - [ "getPosterior", "classrtabmap_1_1BayesFilter.html#aceaa52e62af32f176185305f5359ee79", null ], + [ "getPosteriorIds", "classrtabmap_1_1BayesFilter.html#a4b476a9fa8b1c67562be4134c936081c", null ], + [ "getPosteriorValues", "classrtabmap_1_1BayesFilter.html#aaebf1bee8c904dabdf1d8ea0f446c143", null ], [ "getVirtualPlacePrior", "classrtabmap_1_1BayesFilter.html#a1f479b2d242f05eef69532f454dc851f", null ], + [ "isPredictionSparse", "classrtabmap_1_1BayesFilter.html#a8d65b71c1a2230fdefae41d90f73c0d5", null ], [ "getPredictionLC", "classrtabmap_1_1BayesFilter.html#ab13c8acecfbb4fcfff4e809e2b0a7538", null ], [ "getPredictionLCStr", "classrtabmap_1_1BayesFilter.html#a18a6d97fe3088a4a356a85358f641376", null ], [ "generatePrediction", "classrtabmap_1_1BayesFilter.html#a489031236b91dbaba0ff192f90799cd4", null ], diff --git a/api/latest/classrtabmap_1_1Camera-members.html b/api/latest/classrtabmap_1_1Camera-members.html index 40ff24c6..62a9b85b 100644 --- a/api/latest/classrtabmap_1_1Camera-members.html +++ b/api/latest/classrtabmap_1_1Camera-members.html @@ -33,7 +33,7 @@ diff --git 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b/api/latest/classrtabmap_1_1CameraFreenect-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraFreenect.html b/api/latest/classrtabmap_1_1CameraFreenect.html index 92cf3282..a6910c4d 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect.html +++ b/api/latest/classrtabmap_1_1CameraFreenect.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraFreenect2-members.html b/api/latest/classrtabmap_1_1CameraFreenect2-members.html index faacd579..a639d60e 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect2-members.html +++ b/api/latest/classrtabmap_1_1CameraFreenect2-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraFreenect2.html b/api/latest/classrtabmap_1_1CameraFreenect2.html index bedbbe3d..573f7958 100644 --- a/api/latest/classrtabmap_1_1CameraFreenect2.html +++ b/api/latest/classrtabmap_1_1CameraFreenect2.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraImages-members.html b/api/latest/classrtabmap_1_1CameraImages-members.html index a82de850..b7f1655b 100644 --- a/api/latest/classrtabmap_1_1CameraImages-members.html +++ b/api/latest/classrtabmap_1_1CameraImages-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraImages.html b/api/latest/classrtabmap_1_1CameraImages.html index 52975f6f..e88544b3 100644 --- a/api/latest/classrtabmap_1_1CameraImages.html +++ b/api/latest/classrtabmap_1_1CameraImages.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraK4A-members.html b/api/latest/classrtabmap_1_1CameraK4A-members.html index e4164e4d..f79d9975 100644 --- a/api/latest/classrtabmap_1_1CameraK4A-members.html +++ b/api/latest/classrtabmap_1_1CameraK4A-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraK4A.html b/api/latest/classrtabmap_1_1CameraK4A.html index 44550b8f..57636924 100644 --- a/api/latest/classrtabmap_1_1CameraK4A.html +++ b/api/latest/classrtabmap_1_1CameraK4A.html @@ -33,7 +33,7 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a/api/latest/classrtabmap_1_1CameraRGBDImages-members.html b/api/latest/classrtabmap_1_1CameraRGBDImages-members.html index 45b15761..ecea0aa6 100644 --- a/api/latest/classrtabmap_1_1CameraRGBDImages-members.html +++ b/api/latest/classrtabmap_1_1CameraRGBDImages-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraRGBDImages.html b/api/latest/classrtabmap_1_1CameraRGBDImages.html index 1e9bf6da..9022d4c9 100644 --- a/api/latest/classrtabmap_1_1CameraRGBDImages.html +++ b/api/latest/classrtabmap_1_1CameraRGBDImages.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraRealSense-members.html b/api/latest/classrtabmap_1_1CameraRealSense-members.html index ce42fafe..ee01660c 100644 --- a/api/latest/classrtabmap_1_1CameraRealSense-members.html +++ b/api/latest/classrtabmap_1_1CameraRealSense-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraRealSense.html b/api/latest/classrtabmap_1_1CameraRealSense.html index 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a/api/latest/classrtabmap_1_1CameraStereoVideo-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoVideo-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraStereoVideo.html b/api/latest/classrtabmap_1_1CameraStereoVideo.html index ecd092d0..d0c76b79 100644 --- a/api/latest/classrtabmap_1_1CameraStereoVideo.html +++ b/api/latest/classrtabmap_1_1CameraStereoVideo.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraStereoZed-members.html b/api/latest/classrtabmap_1_1CameraStereoZed-members.html index 91de5a50..c5554ee0 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZed-members.html +++ b/api/latest/classrtabmap_1_1CameraStereoZed-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CameraStereoZed.html b/api/latest/classrtabmap_1_1CameraStereoZed.html index a7521e69..009993c9 100644 --- a/api/latest/classrtabmap_1_1CameraStereoZed.html +++ b/api/latest/classrtabmap_1_1CameraStereoZed.html @@ -33,7 +33,7 @@ diff --git 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a/api/latest/classrtabmap_1_1CameraVideo.html +++ b/api/latest/classrtabmap_1_1CameraVideo.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CloudMap-members.html b/api/latest/classrtabmap_1_1CloudMap-members.html index 6d3c479b..46feaa45 100644 --- a/api/latest/classrtabmap_1_1CloudMap-members.html +++ b/api/latest/classrtabmap_1_1CloudMap-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CloudMap.html b/api/latest/classrtabmap_1_1CloudMap.html index 0784d62c..d732fd87 100644 --- a/api/latest/classrtabmap_1_1CloudMap.html +++ b/api/latest/classrtabmap_1_1CloudMap.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CompressionThread-members.html b/api/latest/classrtabmap_1_1CompressionThread-members.html index 0b84a1b9..6cdddc33 100644 --- a/api/latest/classrtabmap_1_1CompressionThread-members.html +++ b/api/latest/classrtabmap_1_1CompressionThread-members.html @@ -33,7 +33,7 @@ diff --git a/api/latest/classrtabmap_1_1CompressionThread.html 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    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    -
    RTAB-Map 0.23.10 +
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    Real-Time Appearance-Based Mapping
    createDefaultWorkingDirectory() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    defaultBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic
    defaultBayesPredictionLC()rtabmap::Parametersinlinestatic
    defaultBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    defaultBRIEFBytes()rtabmap::Parametersinlinestatic
    defaultBRISKOctaves()rtabmap::Parametersinlinestatic
    defaultBRISKPatternScale()rtabmap::Parametersinlinestatic
    defaultBRISKThresh()rtabmap::Parametersinlinestatic
    defaultDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    defaultDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    defaultDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    defaultDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    defaultDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    defaultDbTargetVersion()rtabmap::Parametersinlinestatic
    defaultFASTCV()rtabmap::Parametersinlinestatic
    defaultFASTGpu()rtabmap::Parametersinlinestatic
    defaultFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    defaultFASTGridCols()rtabmap::Parametersinlinestatic
    defaultFASTGridRows()rtabmap::Parametersinlinestatic
    defaultFASTMaxThreshold()rtabmap::Parametersinlinestatic
    defaultFASTMinThreshold()rtabmap::Parametersinlinestatic
    defaultFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    defaultFASTThreshold()rtabmap::Parametersinlinestatic
    defaultFREAKNOctaves()rtabmap::Parametersinlinestatic
    defaultFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    defaultFREAKPatternScale()rtabmap::Parametersinlinestatic
    defaultFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    defaultg2oOptimizer()rtabmap::Parametersinlinestatic
    defaultg2oSolver()rtabmap::Parametersinlinestatic
    defaultGFTTBlockSize()rtabmap::Parametersinlinestatic
    defaultGFTTGpu()rtabmap::Parametersinlinestatic
    defaultGFTTK()rtabmap::Parametersinlinestatic
    defaultGFTTMinDistance()rtabmap::Parametersinlinestatic
    defaultGFTTQualityLevel()rtabmap::Parametersinlinestatic
    defaultGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    defaultGMSThresholdFactor()rtabmap::Parametersinlinestatic
    defaultGMSWithRotation()rtabmap::Parametersinlinestatic
    defaultGMSWithScale()rtabmap::Parametersinlinestatic
    defaultGrid3D()rtabmap::Parametersinlinestatic
    defaultGridCellSize()rtabmap::Parametersinlinestatic
    defaultGridClusterRadius()rtabmap::Parametersinlinestatic
    defaultGridDepthDecimation()rtabmap::Parametersinlinestatic
    defaultGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    defaultGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    defaultGridFootprintHeight()rtabmap::Parametersinlinestatic
    defaultGridFootprintLength()rtabmap::Parametersinlinestatic
    defaultGridFootprintWidth()rtabmap::Parametersinlinestatic
    defaultGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    defaultGridGlobalEroded()rtabmap::Parametersinlinestatic
    defaultGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    defaultGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    defaultGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    defaultGridGlobalMinSize()rtabmap::Parametersinlinestatic
    defaultGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbHit()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    defaultGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    defaultGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    defaultGridMapFrameProjection()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    defaultGridMinClusterSize()rtabmap::Parametersinlinestatic
    defaultGridMinGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    defaultGridNormalK()rtabmap::Parametersinlinestatic
    defaultGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    defaultGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    defaultGridRangeMax()rtabmap::Parametersinlinestatic
    defaultGridRangeMin()rtabmap::Parametersinlinestatic
    defaultGridRayTracing()rtabmap::Parametersinlinestatic
    defaultGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    defaultGridScanDecimation()rtabmap::Parametersinlinestatic
    defaultGridSensor()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    defaultGTSAMIncremental()rtabmap::Parametersinlinestatic
    defaultGTSAMOptimizer()rtabmap::Parametersinlinestatic
    defaultIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    defaultIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    defaultIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    defaultIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    defaultIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    defaultIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    defaultIcpEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    defaultIcpForce4DoF()rtabmap::Parametersinlinestatic
    defaultIcpIterations()rtabmap::Parametersinlinestatic
    defaultIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    defaultIcpMaxRotation()rtabmap::Parametersinlinestatic
    defaultIcpMaxTranslation()rtabmap::Parametersinlinestatic
    defaultIcpOutlierRatio()rtabmap::Parametersinlinestatic
    defaultIcpPMConfig()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlane()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    defaultIcpRangeMax()rtabmap::Parametersinlinestatic
    defaultIcpRangeMin()rtabmap::Parametersinlinestatic
    defaultIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    defaultIcpStrategy()rtabmap::Parametersinlinestatic
    defaultIcpVoxelSize()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    defaultKAZEDiffusivity()rtabmap::Parametersinlinestatic
    defaultKAZEExtended()rtabmap::Parametersinlinestatic
    defaultKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    defaultKAZENOctaves()rtabmap::Parametersinlinestatic
    defaultKAZEThreshold()rtabmap::Parametersinlinestatic
    defaultKAZEUpright()rtabmap::Parametersinlinestatic
    defaultKpBadSignRatio()rtabmap::Parametersinlinestatic
    defaultKpByteToFloat()rtabmap::Parametersinlinestatic
    defaultKpDetectorStrategy()rtabmap::Parametersinlinestatic
    defaultKpDictionaryPath()rtabmap::Parametersinlinestatic
    defaultKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    defaultKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    defaultKpGridCols()rtabmap::Parametersinlinestatic
    defaultKpGridRows()rtabmap::Parametersinlinestatic
    defaultKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    defaultKpIncrementalFlann()rtabmap::Parametersinlinestatic
    defaultKpMaxDepth()rtabmap::Parametersinlinestatic
    defaultKpMaxFeatures()rtabmap::Parametersinlinestatic
    defaultKpMinDepth()rtabmap::Parametersinlinestatic
    defaultKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    defaultKpNndrRatio()rtabmap::Parametersinlinestatic
    defaultKpNNStrategy()rtabmap::Parametersinlinestatic
    defaultKpParallelized()rtabmap::Parametersinlinestatic
    defaultKpRoiRatios()rtabmap::Parametersinlinestatic
    defaultKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    defaultKpSSC()rtabmap::Parametersinlinestatic
    defaultKpSubPixEps()rtabmap::Parametersinlinestatic
    defaultKpSubPixIterations()rtabmap::Parametersinlinestatic
    defaultKpSubPixWinSize()rtabmap::Parametersinlinestatic
    defaultKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    defaultMarkerDictionary()rtabmap::Parametersinlinestatic
    defaultMarkerLength()rtabmap::Parametersinlinestatic
    defaultMarkerLengths()rtabmap::Parametersinlinestatic
    defaultMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    defaultMarkerMaxRange()rtabmap::Parametersinlinestatic
    defaultMarkerMinRange()rtabmap::Parametersinlinestatic
    defaultMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    defaultMarkerPriors()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerStrategy()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    defaultMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    defaultMemBinDataKept()rtabmap::Parametersinlinestatic
    defaultMemCompressionParallelized()rtabmap::Parametersinlinestatic
    defaultMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    defaultMemDepthAsMask()rtabmap::Parametersinlinestatic
    defaultMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    defaultMemGenerateIds()rtabmap::Parametersinlinestatic
    defaultMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    defaultMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemImageKept()rtabmap::Parametersinlinestatic
    defaultMemImagePostDecimation()rtabmap::Parametersinlinestatic
    defaultMemImagePreDecimation()rtabmap::Parametersinlinestatic
    defaultMemIncrementalMemory()rtabmap::Parametersinlinestatic
    defaultMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    defaultMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    defaultMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    defaultMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    defaultMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    defaultMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    defaultMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    defaultMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    defaultMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    defaultMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    defaultMemRecentWmRatio()rtabmap::Parametersinlinestatic
    defaultMemReduceGraph()rtabmap::Parametersinlinestatic
    defaultMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    defaultMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    defaultMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    defaultMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    defaultMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    defaultMemStereoFromMotion()rtabmap::Parametersinlinestatic
    defaultMemSTMSize()rtabmap::Parametersinlinestatic
    defaultMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    defaultMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    defaultMemUseOdomGravity()rtabmap::Parametersinlinestatic
    defaultOdomAlignWithGround()rtabmap::Parametersinlinestatic
    defaultOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    defaultOdomDeskewing()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    defaultOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanRange()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    defaultOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    defaultOdomFillInfoData()rtabmap::Parametersinlinestatic
    defaultOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    defaultOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    defaultOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    defaultOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    defaultOdomGuessMotion()rtabmap::Parametersinlinestatic
    defaultOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    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
    defaultBayesSparsePrediction()rtabmap::Parametersinlinestatic
    defaultBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    defaultBRIEFBytes()rtabmap::Parametersinlinestatic
    defaultBRISKOctaves()rtabmap::Parametersinlinestatic
    defaultBRISKPatternScale()rtabmap::Parametersinlinestatic
    defaultBRISKThresh()rtabmap::Parametersinlinestatic
    defaultDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    defaultDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    defaultDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    defaultDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    defaultDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    defaultDbTargetVersion()rtabmap::Parametersinlinestatic
    defaultFASTCV()rtabmap::Parametersinlinestatic
    defaultFASTGpu()rtabmap::Parametersinlinestatic
    defaultFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    defaultFASTGridCols()rtabmap::Parametersinlinestatic
    defaultFASTGridRows()rtabmap::Parametersinlinestatic
    defaultFASTMaxThreshold()rtabmap::Parametersinlinestatic
    defaultFASTMinThreshold()rtabmap::Parametersinlinestatic
    defaultFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    defaultFASTThreshold()rtabmap::Parametersinlinestatic
    defaultFREAKNOctaves()rtabmap::Parametersinlinestatic
    defaultFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    defaultFREAKPatternScale()rtabmap::Parametersinlinestatic
    defaultFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    defaultg2oOptimizer()rtabmap::Parametersinlinestatic
    defaultg2oSolver()rtabmap::Parametersinlinestatic
    defaultGFTTBlockSize()rtabmap::Parametersinlinestatic
    defaultGFTTGpu()rtabmap::Parametersinlinestatic
    defaultGFTTK()rtabmap::Parametersinlinestatic
    defaultGFTTMinDistance()rtabmap::Parametersinlinestatic
    defaultGFTTQualityLevel()rtabmap::Parametersinlinestatic
    defaultGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    defaultGMSThresholdFactor()rtabmap::Parametersinlinestatic
    defaultGMSWithRotation()rtabmap::Parametersinlinestatic
    defaultGMSWithScale()rtabmap::Parametersinlinestatic
    defaultGrid3D()rtabmap::Parametersinlinestatic
    defaultGridCellSize()rtabmap::Parametersinlinestatic
    defaultGridClusterRadius()rtabmap::Parametersinlinestatic
    defaultGridDepthDecimation()rtabmap::Parametersinlinestatic
    defaultGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    defaultGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    defaultGridFootprintHeight()rtabmap::Parametersinlinestatic
    defaultGridFootprintLength()rtabmap::Parametersinlinestatic
    defaultGridFootprintWidth()rtabmap::Parametersinlinestatic
    defaultGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    defaultGridGlobalEroded()rtabmap::Parametersinlinestatic
    defaultGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    defaultGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    defaultGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    defaultGridGlobalMinSize()rtabmap::Parametersinlinestatic
    defaultGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbHit()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    defaultGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    defaultGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    defaultGridMapFrameProjection()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    defaultGridMinClusterSize()rtabmap::Parametersinlinestatic
    defaultGridMinGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    defaultGridNormalK()rtabmap::Parametersinlinestatic
    defaultGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    defaultGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    defaultGridRangeMax()rtabmap::Parametersinlinestatic
    defaultGridRangeMin()rtabmap::Parametersinlinestatic
    defaultGridRayTracing()rtabmap::Parametersinlinestatic
    defaultGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    defaultGridScanDecimation()rtabmap::Parametersinlinestatic
    defaultGridSensor()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    defaultGTSAMIncremental()rtabmap::Parametersinlinestatic
    defaultGTSAMOptimizer()rtabmap::Parametersinlinestatic
    defaultIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    defaultIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    defaultIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    defaultIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    defaultIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    defaultIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    defaultIcpEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    defaultIcpForce4DoF()rtabmap::Parametersinlinestatic
    defaultIcpIterations()rtabmap::Parametersinlinestatic
    defaultIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    defaultIcpMaxRotation()rtabmap::Parametersinlinestatic
    defaultIcpMaxTranslation()rtabmap::Parametersinlinestatic
    defaultIcpOutlierRatio()rtabmap::Parametersinlinestatic
    defaultIcpPMConfig()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlane()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    defaultIcpRangeMax()rtabmap::Parametersinlinestatic
    defaultIcpRangeMin()rtabmap::Parametersinlinestatic
    defaultIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    defaultIcpStrategy()rtabmap::Parametersinlinestatic
    defaultIcpVoxelSize()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    defaultKAZEDiffusivity()rtabmap::Parametersinlinestatic
    defaultKAZEExtended()rtabmap::Parametersinlinestatic
    defaultKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    defaultKAZENOctaves()rtabmap::Parametersinlinestatic
    defaultKAZEThreshold()rtabmap::Parametersinlinestatic
    defaultKAZEUpright()rtabmap::Parametersinlinestatic
    defaultKpBadSignRatio()rtabmap::Parametersinlinestatic
    defaultKpByteToFloat()rtabmap::Parametersinlinestatic
    defaultKpDetectorStrategy()rtabmap::Parametersinlinestatic
    defaultKpDictionaryPath()rtabmap::Parametersinlinestatic
    defaultKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    defaultKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    defaultKpGridCols()rtabmap::Parametersinlinestatic
    defaultKpGridRows()rtabmap::Parametersinlinestatic
    defaultKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    defaultKpIncrementalFlann()rtabmap::Parametersinlinestatic
    defaultKpMaxDepth()rtabmap::Parametersinlinestatic
    defaultKpMaxFeatures()rtabmap::Parametersinlinestatic
    defaultKpMinDepth()rtabmap::Parametersinlinestatic
    defaultKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    defaultKpNndrRatio()rtabmap::Parametersinlinestatic
    defaultKpNNStrategy()rtabmap::Parametersinlinestatic
    defaultKpParallelized()rtabmap::Parametersinlinestatic
    defaultKpRoiRatios()rtabmap::Parametersinlinestatic
    defaultKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    defaultKpSSC()rtabmap::Parametersinlinestatic
    defaultKpSubPixEps()rtabmap::Parametersinlinestatic
    defaultKpSubPixIterations()rtabmap::Parametersinlinestatic
    defaultKpSubPixWinSize()rtabmap::Parametersinlinestatic
    defaultKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    defaultMarkerDictionary()rtabmap::Parametersinlinestatic
    defaultMarkerLength()rtabmap::Parametersinlinestatic
    defaultMarkerLengths()rtabmap::Parametersinlinestatic
    defaultMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    defaultMarkerMaxRange()rtabmap::Parametersinlinestatic
    defaultMarkerMinRange()rtabmap::Parametersinlinestatic
    defaultMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    defaultMarkerPriors()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerStrategy()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    defaultMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    defaultMemBinDataKept()rtabmap::Parametersinlinestatic
    defaultMemCompressionParallelized()rtabmap::Parametersinlinestatic
    defaultMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    defaultMemDepthAsMask()rtabmap::Parametersinlinestatic
    defaultMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    defaultMemGenerateIds()rtabmap::Parametersinlinestatic
    defaultMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    defaultMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemImageKept()rtabmap::Parametersinlinestatic
    defaultMemImagePostDecimation()rtabmap::Parametersinlinestatic
    defaultMemImagePreDecimation()rtabmap::Parametersinlinestatic
    defaultMemIncrementalMemory()rtabmap::Parametersinlinestatic
    defaultMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    defaultMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    defaultMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    defaultMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    defaultMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    defaultMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    defaultMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    defaultMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    defaultMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    defaultMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    defaultMemRecentWmRatio()rtabmap::Parametersinlinestatic
    defaultMemReduceGraph()rtabmap::Parametersinlinestatic
    defaultMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    defaultMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    defaultMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    defaultMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    defaultMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    defaultMemStereoFromMotion()rtabmap::Parametersinlinestatic
    defaultMemSTMSize()rtabmap::Parametersinlinestatic
    defaultMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    defaultMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    defaultMemUseOdomGravity()rtabmap::Parametersinlinestatic
    defaultOdomAlignWithGround()rtabmap::Parametersinlinestatic
    defaultOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    defaultOdomDeskewing()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    defaultOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanRange()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    defaultOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    defaultOdomFillInfoData()rtabmap::Parametersinlinestatic
    defaultOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    defaultOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    defaultOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    defaultOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    defaultOdomGuessMotion()rtabmap::Parametersinlinestatic
    defaultOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    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
    showUsage() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    typeBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic
    typeBayesPredictionLC()rtabmap::Parametersinlinestatic
    typeBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    typeBRIEFBytes()rtabmap::Parametersinlinestatic
    typeBRISKOctaves()rtabmap::Parametersinlinestatic
    typeBRISKPatternScale()rtabmap::Parametersinlinestatic
    typeBRISKThresh()rtabmap::Parametersinlinestatic
    typeDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    typeDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    typeDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    typeDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    typeDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    typeDbTargetVersion()rtabmap::Parametersinlinestatic
    typeFASTCV()rtabmap::Parametersinlinestatic
    typeFASTGpu()rtabmap::Parametersinlinestatic
    typeFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    typeFASTGridCols()rtabmap::Parametersinlinestatic
    typeFASTGridRows()rtabmap::Parametersinlinestatic
    typeFASTMaxThreshold()rtabmap::Parametersinlinestatic
    typeFASTMinThreshold()rtabmap::Parametersinlinestatic
    typeFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    typeFASTThreshold()rtabmap::Parametersinlinestatic
    typeFREAKNOctaves()rtabmap::Parametersinlinestatic
    typeFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    typeFREAKPatternScale()rtabmap::Parametersinlinestatic
    typeFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    typeg2oOptimizer()rtabmap::Parametersinlinestatic
    typeg2oSolver()rtabmap::Parametersinlinestatic
    typeGFTTBlockSize()rtabmap::Parametersinlinestatic
    typeGFTTGpu()rtabmap::Parametersinlinestatic
    typeGFTTK()rtabmap::Parametersinlinestatic
    typeGFTTMinDistance()rtabmap::Parametersinlinestatic
    typeGFTTQualityLevel()rtabmap::Parametersinlinestatic
    typeGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    typeGMSThresholdFactor()rtabmap::Parametersinlinestatic
    typeGMSWithRotation()rtabmap::Parametersinlinestatic
    typeGMSWithScale()rtabmap::Parametersinlinestatic
    typeGrid3D()rtabmap::Parametersinlinestatic
    typeGridCellSize()rtabmap::Parametersinlinestatic
    typeGridClusterRadius()rtabmap::Parametersinlinestatic
    typeGridDepthDecimation()rtabmap::Parametersinlinestatic
    typeGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    typeGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    typeGridFootprintHeight()rtabmap::Parametersinlinestatic
    typeGridFootprintLength()rtabmap::Parametersinlinestatic
    typeGridFootprintWidth()rtabmap::Parametersinlinestatic
    typeGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    typeGridGlobalEroded()rtabmap::Parametersinlinestatic
    typeGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    typeGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    typeGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    typeGridGlobalMinSize()rtabmap::Parametersinlinestatic
    typeGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    typeGridGlobalProbHit()rtabmap::Parametersinlinestatic
    typeGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    typeGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    typeGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    typeGridMapFrameProjection()rtabmap::Parametersinlinestatic
    typeGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    typeGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    typeGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    typeGridMinClusterSize()rtabmap::Parametersinlinestatic
    typeGridMinGroundHeight()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    typeGridNormalK()rtabmap::Parametersinlinestatic
    typeGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    typeGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    typeGridRangeMax()rtabmap::Parametersinlinestatic
    typeGridRangeMin()rtabmap::Parametersinlinestatic
    typeGridRayTracing()rtabmap::Parametersinlinestatic
    typeGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    typeGridScanDecimation()rtabmap::Parametersinlinestatic
    typeGridSensor()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    typeGTSAMIncremental()rtabmap::Parametersinlinestatic
    typeGTSAMOptimizer()rtabmap::Parametersinlinestatic
    typeIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    typeIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    typeIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    typeIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    typeIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    typeIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    typeIcpEpsilon()rtabmap::Parametersinlinestatic
    typeIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    typeIcpForce4DoF()rtabmap::Parametersinlinestatic
    typeIcpIterations()rtabmap::Parametersinlinestatic
    typeIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    typeIcpMaxRotation()rtabmap::Parametersinlinestatic
    typeIcpMaxTranslation()rtabmap::Parametersinlinestatic
    typeIcpOutlierRatio()rtabmap::Parametersinlinestatic
    typeIcpPMConfig()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    typeIcpPointToPlane()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    typeIcpRangeMax()rtabmap::Parametersinlinestatic
    typeIcpRangeMin()rtabmap::Parametersinlinestatic
    typeIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    typeIcpStrategy()rtabmap::Parametersinlinestatic
    typeIcpVoxelSize()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    typeKAZEDiffusivity()rtabmap::Parametersinlinestatic
    typeKAZEExtended()rtabmap::Parametersinlinestatic
    typeKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    typeKAZENOctaves()rtabmap::Parametersinlinestatic
    typeKAZEThreshold()rtabmap::Parametersinlinestatic
    typeKAZEUpright()rtabmap::Parametersinlinestatic
    typeKpBadSignRatio()rtabmap::Parametersinlinestatic
    typeKpByteToFloat()rtabmap::Parametersinlinestatic
    typeKpDetectorStrategy()rtabmap::Parametersinlinestatic
    typeKpDictionaryPath()rtabmap::Parametersinlinestatic
    typeKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    typeKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    typeKpGridCols()rtabmap::Parametersinlinestatic
    typeKpGridRows()rtabmap::Parametersinlinestatic
    typeKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    typeKpIncrementalFlann()rtabmap::Parametersinlinestatic
    typeKpMaxDepth()rtabmap::Parametersinlinestatic
    typeKpMaxFeatures()rtabmap::Parametersinlinestatic
    typeKpMinDepth()rtabmap::Parametersinlinestatic
    typeKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    typeKpNndrRatio()rtabmap::Parametersinlinestatic
    typeKpNNStrategy()rtabmap::Parametersinlinestatic
    typeKpParallelized()rtabmap::Parametersinlinestatic
    typeKpRoiRatios()rtabmap::Parametersinlinestatic
    typeKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    typeKpSSC()rtabmap::Parametersinlinestatic
    typeKpSubPixEps()rtabmap::Parametersinlinestatic
    typeKpSubPixIterations()rtabmap::Parametersinlinestatic
    typeKpSubPixWinSize()rtabmap::Parametersinlinestatic
    typeKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    typeMarkerDictionary()rtabmap::Parametersinlinestatic
    typeMarkerLength()rtabmap::Parametersinlinestatic
    typeMarkerLengths()rtabmap::Parametersinlinestatic
    typeMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    typeMarkerMaxRange()rtabmap::Parametersinlinestatic
    typeMarkerMinRange()rtabmap::Parametersinlinestatic
    typeMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    typeMarkerPriors()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerStrategy()rtabmap::Parametersinlinestatic
    typeMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    typeMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    typeMemBinDataKept()rtabmap::Parametersinlinestatic
    typeMemCompressionParallelized()rtabmap::Parametersinlinestatic
    typeMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    typeMemDepthAsMask()rtabmap::Parametersinlinestatic
    typeMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    typeMemGenerateIds()rtabmap::Parametersinlinestatic
    typeMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    typeMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemImageKept()rtabmap::Parametersinlinestatic
    typeMemImagePostDecimation()rtabmap::Parametersinlinestatic
    typeMemImagePreDecimation()rtabmap::Parametersinlinestatic
    typeMemIncrementalMemory()rtabmap::Parametersinlinestatic
    typeMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    typeMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    typeMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    typeMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    typeMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    typeMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    typeMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    typeMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    typeMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    typeMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    typeMemRecentWmRatio()rtabmap::Parametersinlinestatic
    typeMemReduceGraph()rtabmap::Parametersinlinestatic
    typeMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    typeMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    typeMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    typeMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    typeMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    typeMemStereoFromMotion()rtabmap::Parametersinlinestatic
    typeMemSTMSize()rtabmap::Parametersinlinestatic
    typeMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    typeMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    typeMemUseOdomGravity()rtabmap::Parametersinlinestatic
    typeOdomAlignWithGround()rtabmap::Parametersinlinestatic
    typeOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    typeOdomDeskewing()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    typeOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanRange()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    typeOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    typeOdomFillInfoData()rtabmap::Parametersinlinestatic
    typeOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    typeOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    typeOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    typeOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    typeOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    typeOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    typeOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    typeOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    typeOdomGuessMotion()rtabmap::Parametersinlinestatic
    typeOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    typeOdomHolonomic()rtabmap::Parametersinlinestatic
    typeOdomImageBufferSize()rtabmap::Parametersinlinestatic
    typeOdomImageDecimation()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
    typeBayesSparsePrediction()rtabmap::Parametersinlinestatic
    typeBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    typeBRIEFBytes()rtabmap::Parametersinlinestatic
    typeBRISKOctaves()rtabmap::Parametersinlinestatic
    typeBRISKPatternScale()rtabmap::Parametersinlinestatic
    typeBRISKThresh()rtabmap::Parametersinlinestatic
    typeDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    typeDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    typeDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    typeDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    typeDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    typeDbTargetVersion()rtabmap::Parametersinlinestatic
    typeFASTCV()rtabmap::Parametersinlinestatic
    typeFASTGpu()rtabmap::Parametersinlinestatic
    typeFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    typeFASTGridCols()rtabmap::Parametersinlinestatic
    typeFASTGridRows()rtabmap::Parametersinlinestatic
    typeFASTMaxThreshold()rtabmap::Parametersinlinestatic
    typeFASTMinThreshold()rtabmap::Parametersinlinestatic
    typeFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    typeFASTThreshold()rtabmap::Parametersinlinestatic
    typeFREAKNOctaves()rtabmap::Parametersinlinestatic
    typeFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    typeFREAKPatternScale()rtabmap::Parametersinlinestatic
    typeFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    typeg2oOptimizer()rtabmap::Parametersinlinestatic
    typeg2oSolver()rtabmap::Parametersinlinestatic
    typeGFTTBlockSize()rtabmap::Parametersinlinestatic
    typeGFTTGpu()rtabmap::Parametersinlinestatic
    typeGFTTK()rtabmap::Parametersinlinestatic
    typeGFTTMinDistance()rtabmap::Parametersinlinestatic
    typeGFTTQualityLevel()rtabmap::Parametersinlinestatic
    typeGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    typeGMSThresholdFactor()rtabmap::Parametersinlinestatic
    typeGMSWithRotation()rtabmap::Parametersinlinestatic
    typeGMSWithScale()rtabmap::Parametersinlinestatic
    typeGrid3D()rtabmap::Parametersinlinestatic
    typeGridCellSize()rtabmap::Parametersinlinestatic
    typeGridClusterRadius()rtabmap::Parametersinlinestatic
    typeGridDepthDecimation()rtabmap::Parametersinlinestatic
    typeGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    typeGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    typeGridFootprintHeight()rtabmap::Parametersinlinestatic
    typeGridFootprintLength()rtabmap::Parametersinlinestatic
    typeGridFootprintWidth()rtabmap::Parametersinlinestatic
    typeGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    typeGridGlobalEroded()rtabmap::Parametersinlinestatic
    typeGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    typeGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    typeGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    typeGridGlobalMinSize()rtabmap::Parametersinlinestatic
    typeGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    typeGridGlobalProbHit()rtabmap::Parametersinlinestatic
    typeGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    typeGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    typeGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    typeGridMapFrameProjection()rtabmap::Parametersinlinestatic
    typeGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    typeGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    typeGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    typeGridMinClusterSize()rtabmap::Parametersinlinestatic
    typeGridMinGroundHeight()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    typeGridNormalK()rtabmap::Parametersinlinestatic
    typeGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    typeGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    typeGridRangeMax()rtabmap::Parametersinlinestatic
    typeGridRangeMin()rtabmap::Parametersinlinestatic
    typeGridRayTracing()rtabmap::Parametersinlinestatic
    typeGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    typeGridScanDecimation()rtabmap::Parametersinlinestatic
    typeGridSensor()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    typeGTSAMIncremental()rtabmap::Parametersinlinestatic
    typeGTSAMOptimizer()rtabmap::Parametersinlinestatic
    typeIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    typeIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    typeIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    typeIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    typeIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    typeIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    typeIcpEpsilon()rtabmap::Parametersinlinestatic
    typeIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    typeIcpForce4DoF()rtabmap::Parametersinlinestatic
    typeIcpIterations()rtabmap::Parametersinlinestatic
    typeIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    typeIcpMaxRotation()rtabmap::Parametersinlinestatic
    typeIcpMaxTranslation()rtabmap::Parametersinlinestatic
    typeIcpOutlierRatio()rtabmap::Parametersinlinestatic
    typeIcpPMConfig()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    typeIcpPointToPlane()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    typeIcpRangeMax()rtabmap::Parametersinlinestatic
    typeIcpRangeMin()rtabmap::Parametersinlinestatic
    typeIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    typeIcpStrategy()rtabmap::Parametersinlinestatic
    typeIcpVoxelSize()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    typeKAZEDiffusivity()rtabmap::Parametersinlinestatic
    typeKAZEExtended()rtabmap::Parametersinlinestatic
    typeKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    typeKAZENOctaves()rtabmap::Parametersinlinestatic
    typeKAZEThreshold()rtabmap::Parametersinlinestatic
    typeKAZEUpright()rtabmap::Parametersinlinestatic
    typeKpBadSignRatio()rtabmap::Parametersinlinestatic
    typeKpByteToFloat()rtabmap::Parametersinlinestatic
    typeKpDetectorStrategy()rtabmap::Parametersinlinestatic
    typeKpDictionaryPath()rtabmap::Parametersinlinestatic
    typeKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    typeKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    typeKpGridCols()rtabmap::Parametersinlinestatic
    typeKpGridRows()rtabmap::Parametersinlinestatic
    typeKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    typeKpIncrementalFlann()rtabmap::Parametersinlinestatic
    typeKpMaxDepth()rtabmap::Parametersinlinestatic
    typeKpMaxFeatures()rtabmap::Parametersinlinestatic
    typeKpMinDepth()rtabmap::Parametersinlinestatic
    typeKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    typeKpNndrRatio()rtabmap::Parametersinlinestatic
    typeKpNNStrategy()rtabmap::Parametersinlinestatic
    typeKpParallelized()rtabmap::Parametersinlinestatic
    typeKpRoiRatios()rtabmap::Parametersinlinestatic
    typeKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    typeKpSSC()rtabmap::Parametersinlinestatic
    typeKpSubPixEps()rtabmap::Parametersinlinestatic
    typeKpSubPixIterations()rtabmap::Parametersinlinestatic
    typeKpSubPixWinSize()rtabmap::Parametersinlinestatic
    typeKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    typeMarkerDictionary()rtabmap::Parametersinlinestatic
    typeMarkerLength()rtabmap::Parametersinlinestatic
    typeMarkerLengths()rtabmap::Parametersinlinestatic
    typeMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    typeMarkerMaxRange()rtabmap::Parametersinlinestatic
    typeMarkerMinRange()rtabmap::Parametersinlinestatic
    typeMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    typeMarkerPriors()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerStrategy()rtabmap::Parametersinlinestatic
    typeMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    typeMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    typeMemBinDataKept()rtabmap::Parametersinlinestatic
    typeMemCompressionParallelized()rtabmap::Parametersinlinestatic
    typeMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    typeMemDepthAsMask()rtabmap::Parametersinlinestatic
    typeMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    typeMemGenerateIds()rtabmap::Parametersinlinestatic
    typeMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    typeMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemImageKept()rtabmap::Parametersinlinestatic
    typeMemImagePostDecimation()rtabmap::Parametersinlinestatic
    typeMemImagePreDecimation()rtabmap::Parametersinlinestatic
    typeMemIncrementalMemory()rtabmap::Parametersinlinestatic
    typeMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    typeMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    typeMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    typeMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    typeMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    typeMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    typeMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    typeMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    typeMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    typeMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    typeMemRecentWmRatio()rtabmap::Parametersinlinestatic
    typeMemReduceGraph()rtabmap::Parametersinlinestatic
    typeMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    typeMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    typeMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    typeMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    typeMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    typeMemStereoFromMotion()rtabmap::Parametersinlinestatic
    typeMemSTMSize()rtabmap::Parametersinlinestatic
    typeMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    typeMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    typeMemUseOdomGravity()rtabmap::Parametersinlinestatic
    typeOdomAlignWithGround()rtabmap::Parametersinlinestatic
    typeOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    typeOdomDeskewing()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    typeOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanRange()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    typeOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    typeOdomFillInfoData()rtabmap::Parametersinlinestatic
    typeOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    typeOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    typeOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    typeOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    typeOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    typeOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    typeOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    typeOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    typeOdomGuessMotion()rtabmap::Parametersinlinestatic
    typeOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    typeOdomHolonomic()rtabmap::Parametersinlinestatic
    typeOdomImageBufferSize()rtabmap::Parametersinlinestatic
    typeOdomImageDecimation()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 bacf5b9f..8aa6a705 100644 --- a/api/latest/classrtabmap_1_1Parameters.html +++ b/api/latest/classrtabmap_1_1Parameters.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -1569,10 +1569,10 @@ Static Public Member Functions  Type of parameter Bayes/VirtualPlacePriorThr , as a string: float .
      static std::string kBayesPredictionLC () - Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).
    + Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).
      static std::string defaultBayesPredictionLC () - Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .
    + Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .
      static std::string typeBayesPredictionLC ()  Type of parameter Bayes/PredictionLC , as a string: string.
    @@ -1586,6 +1586,15 @@ Static Public Member Functions static std::string typeBayesFullPredictionUpdate ()  Type of parameter Bayes/FullPredictionUpdate , as a string: bool .
      +static std::string kBayesSparsePrediction () + Key of parameter Bayes/SparsePrediction : uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str() Default value: true ( bool ).
    +  +static bool defaultBayesSparsePrediction () + Default value of parameter Bayes/SparsePrediction : true .
    +  +static std::string typeBayesSparsePrediction () + Type of parameter Bayes/SparsePrediction , as a string: bool .
    +  static std::string kVhEpEnabled ()  Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).
      @@ -5726,7 +5735,7 @@ 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:990
    +
    rtabmap::Parameters::getDefaultParameters
    static const ParametersMap & getDefaultParameters()
    Definition Parameters.h:991
    See also
    getDefaultParameters()
    The Parameter reference page, which lists every parameter with its type, default value and description.
    @@ -19850,7 +19859,7 @@ The Parameter reference page, which lis
    -

    Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).

    +

    Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).

    Definition at line 391 of file Parameters.h.

    @@ -19879,7 +19888,7 @@ The Parameter reference page, which lis
    -

    Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .

    +

    Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .

    Definition at line 391 of file Parameters.h.

    @@ -19999,6 +20008,93 @@ The Parameter reference page, which lis

    Definition at line 392 of file Parameters.h.

    +
    +
    + +

    ◆ kBayesSparsePrediction()

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

    Key of parameter Bayes/SparsePrediction : uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str() Default value: true ( bool ).

    + +

    Definition at line 393 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBayesSparsePrediction()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultBayesSparsePrediction ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Bayes/SparsePrediction : true .

    + +

    Definition at line 393 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBayesSparsePrediction()

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

    Type of parameter Bayes/SparsePrediction , as a string: bool .

    + +

    Definition at line 393 of file Parameters.h.

    +
    @@ -20026,7 +20122,7 @@ The Parameter reference page, which lis

    Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).

    -

    Definition at line 395 of file Parameters.h.

    +

    Definition at line 396 of file Parameters.h.

    @@ -20055,7 +20151,7 @@ The Parameter reference page, which lis

    Default value of parameter VhEp/Enabled : false .

    -

    Definition at line 395 of file Parameters.h.

    +

    Definition at line 396 of file Parameters.h.

    @@ -20084,7 +20180,7 @@ The Parameter reference page, which lis

    Type of parameter VhEp/Enabled , as a string: bool .

    -

    Definition at line 395 of file Parameters.h.

    +

    Definition at line 396 of file Parameters.h.

    @@ -20113,7 +20209,7 @@ The Parameter reference page, which lis

    Key of parameter VhEp/MatchCountMin : "Minimum of matching visual words pairs to accept the loop hypothesis." Default value: 8 ( int ).

    -

    Definition at line 396 of file Parameters.h.

    +

    Definition at line 397 of file Parameters.h.

    @@ -20142,7 +20238,7 @@ The Parameter reference page, which lis

    Default value of parameter VhEp/MatchCountMin : 8 .

    -

    Definition at line 396 of file Parameters.h.

    +

    Definition at line 397 of file Parameters.h.

    @@ -20171,7 +20267,7 @@ The Parameter reference page, which lis

    Type of parameter VhEp/MatchCountMin , as a string: int .

    -

    Definition at line 396 of file Parameters.h.

    +

    Definition at line 397 of file Parameters.h.

    @@ -20200,7 +20296,7 @@ The Parameter reference page, which lis

    Key of parameter VhEp/RansacParam1 : "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier." Default value: 3 ( float ).

    -

    Definition at line 397 of file Parameters.h.

    +

    Definition at line 398 of file Parameters.h.

    @@ -20229,7 +20325,7 @@ The Parameter reference page, which lis

    Default value of parameter VhEp/RansacParam1 : 3 .

    -

    Definition at line 397 of file Parameters.h.

    +

    Definition at line 398 of file Parameters.h.

    @@ -20258,7 +20354,7 @@ The Parameter reference page, which lis

    Type of parameter VhEp/RansacParam1 , as a string: float .

    -

    Definition at line 397 of file Parameters.h.

    +

    Definition at line 398 of file Parameters.h.

    @@ -20287,7 +20383,7 @@ The Parameter reference page, which lis

    Key of parameter VhEp/RansacParam2 : "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC." Default value: 0.99 ( float ).

    -

    Definition at line 398 of file Parameters.h.

    +

    Definition at line 399 of file Parameters.h.

    @@ -20316,7 +20412,7 @@ The Parameter reference page, which lis

    Default value of parameter VhEp/RansacParam2 : 0.99 .

    -

    Definition at line 398 of file Parameters.h.

    +

    Definition at line 399 of file Parameters.h.

    @@ -20345,7 +20441,7 @@ The Parameter reference page, which lis

    Type of parameter VhEp/RansacParam2 , as a string: float .

    -

    Definition at line 398 of file Parameters.h.

    +

    Definition at line 399 of file Parameters.h.

    @@ -20374,7 +20470,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/Enabled : "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information." Default value: true ( bool ).

    -

    Definition at line 401 of file Parameters.h.

    +

    Definition at line 402 of file Parameters.h.

    @@ -20403,7 +20499,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/Enabled : true .

    -

    Definition at line 401 of file Parameters.h.

    +

    Definition at line 402 of file Parameters.h.

    @@ -20432,7 +20528,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/Enabled , as a string: bool .

    -

    Definition at line 401 of file Parameters.h.

    +

    Definition at line 402 of file Parameters.h.

    @@ -20461,7 +20557,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LinearUpdate : uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

    -

    Definition at line 402 of file Parameters.h.

    +

    Definition at line 403 of file Parameters.h.

    @@ -20490,7 +20586,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LinearUpdate : 0.1 .

    -

    Definition at line 402 of file Parameters.h.

    +

    Definition at line 403 of file Parameters.h.

    @@ -20519,7 +20615,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LinearUpdate , as a string: float .

    -

    Definition at line 402 of file Parameters.h.

    +

    Definition at line 403 of file Parameters.h.

    @@ -20548,7 +20644,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/AngularUpdate : uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

    -

    Definition at line 403 of file Parameters.h.

    +

    Definition at line 404 of file Parameters.h.

    @@ -20577,7 +20673,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/AngularUpdate : 0.1 .

    -

    Definition at line 403 of file Parameters.h.

    +

    Definition at line 404 of file Parameters.h.

    @@ -20606,7 +20702,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/AngularUpdate , as a string: float .

    -

    Definition at line 403 of file Parameters.h.

    +

    Definition at line 404 of file Parameters.h.

    @@ -20635,7 +20731,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LinearSpeedUpdate : "Maximum linear speed (m/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

    -

    Definition at line 404 of file Parameters.h.

    +

    Definition at line 405 of file Parameters.h.

    @@ -20664,7 +20760,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .

    -

    Definition at line 404 of file Parameters.h.

    +

    Definition at line 405 of file Parameters.h.

    @@ -20693,7 +20789,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LinearSpeedUpdate , as a string: float .

    -

    Definition at line 404 of file Parameters.h.

    +

    Definition at line 405 of file Parameters.h.

    @@ -20722,7 +20818,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/AngularSpeedUpdate : "Maximum angular speed (rad/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

    -

    Definition at line 405 of file Parameters.h.

    +

    Definition at line 406 of file Parameters.h.

    @@ -20751,7 +20847,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .

    -

    Definition at line 405 of file Parameters.h.

    +

    Definition at line 406 of file Parameters.h.

    @@ -20780,7 +20876,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/AngularSpeedUpdate , as a string: float .

    -

    Definition at line 405 of file Parameters.h.

    +

    Definition at line 406 of file Parameters.h.

    @@ -20809,7 +20905,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/AggressiveLoopThr : uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()) Default value: 0.05 ( float ).

    -

    Definition at line 406 of file Parameters.h.

    +

    Definition at line 407 of file Parameters.h.

    @@ -20838,7 +20934,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/AggressiveLoopThr : 0.05 .

    -

    Definition at line 406 of file Parameters.h.

    +

    Definition at line 407 of file Parameters.h.

    @@ -20867,7 +20963,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/AggressiveLoopThr , as a string: float .

    -

    Definition at line 406 of file Parameters.h.

    +

    Definition at line 407 of file Parameters.h.

    @@ -20896,7 +20992,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/NewMapOdomChangeDistance : "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)." Default value: 0 ( float ).

    -

    Definition at line 407 of file Parameters.h.

    +

    Definition at line 408 of file Parameters.h.

    @@ -20925,7 +21021,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .

    -

    Definition at line 407 of file Parameters.h.

    +

    Definition at line 408 of file Parameters.h.

    @@ -20954,7 +21050,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/NewMapOdomChangeDistance , as a string: float .

    -

    Definition at line 407 of file Parameters.h.

    +

    Definition at line 408 of file Parameters.h.

    @@ -20983,7 +21079,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/OptimizeFromGraphEnd : "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation)." Default value: false ( bool ).

    -

    Definition at line 408 of file Parameters.h.

    +

    Definition at line 409 of file Parameters.h.

    @@ -21012,7 +21108,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/OptimizeFromGraphEnd : false .

    -

    Definition at line 408 of file Parameters.h.

    +

    Definition at line 409 of file Parameters.h.

    @@ -21041,7 +21137,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/OptimizeFromGraphEnd , as a string: bool .

    -

    Definition at line 408 of file Parameters.h.

    +

    Definition at line 409 of file Parameters.h.

    @@ -21070,7 +21166,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/OptimizeMaxError : uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()) Default value: 3.0 ( float ).

    -

    Definition at line 409 of file Parameters.h.

    +

    Definition at line 410 of file Parameters.h.

    @@ -21099,7 +21195,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/OptimizeMaxError : 3.0 .

    -

    Definition at line 409 of file Parameters.h.

    +

    Definition at line 410 of file Parameters.h.

    @@ -21128,7 +21224,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/OptimizeMaxError , as a string: float .

    -

    Definition at line 409 of file Parameters.h.

    +

    Definition at line 410 of file Parameters.h.

    @@ -21157,7 +21253,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/OptimizeMaxErrorRepairRadius : uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()) Default value: 0.0 ( float ).

    -

    Definition at line 410 of file Parameters.h.

    +

    Definition at line 411 of file Parameters.h.

    @@ -21186,7 +21282,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .

    -

    Definition at line 410 of file Parameters.h.

    +

    Definition at line 411 of file Parameters.h.

    @@ -21215,7 +21311,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/OptimizeMaxErrorRepairRadius , as a string: float .

    -

    Definition at line 410 of file Parameters.h.

    +

    Definition at line 411 of file Parameters.h.

    @@ -21244,7 +21340,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/MaxLoopClosureDistance : "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled)." Default value: 0.0 ( float ).

    -

    Definition at line 411 of file Parameters.h.

    +

    Definition at line 412 of file Parameters.h.

    @@ -21273,7 +21369,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .

    -

    Definition at line 411 of file Parameters.h.

    +

    Definition at line 412 of file Parameters.h.

    @@ -21302,7 +21398,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/MaxLoopClosureDistance , as a string: float .

    -

    Definition at line 411 of file Parameters.h.

    +

    Definition at line 412 of file Parameters.h.

    @@ -21331,7 +21427,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ForceOdom3DoF : uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()) Default value: true ( bool ).

    -

    Definition at line 412 of file Parameters.h.

    +

    Definition at line 413 of file Parameters.h.

    @@ -21360,7 +21456,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ForceOdom3DoF : true .

    -

    Definition at line 412 of file Parameters.h.

    +

    Definition at line 413 of file Parameters.h.

    @@ -21389,7 +21485,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ForceOdom3DoF , as a string: bool .

    -

    Definition at line 412 of file Parameters.h.

    +

    Definition at line 413 of file Parameters.h.

    @@ -21418,7 +21514,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/StartAtOrigin : uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

    -

    Definition at line 413 of file Parameters.h.

    +

    Definition at line 414 of file Parameters.h.

    @@ -21447,7 +21543,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/StartAtOrigin : false .

    -

    Definition at line 413 of file Parameters.h.

    +

    Definition at line 414 of file Parameters.h.

    @@ -21476,7 +21572,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/StartAtOrigin , as a string: bool .

    -

    Definition at line 413 of file Parameters.h.

    +

    Definition at line 414 of file Parameters.h.

    @@ -21505,7 +21601,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/GoalReachedRadius : "Goal reached radius (m)." Default value: 0.5 ( float ).

    -

    Definition at line 414 of file Parameters.h.

    +

    Definition at line 415 of file Parameters.h.

    @@ -21534,7 +21630,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/GoalReachedRadius : 0.5 .

    -

    Definition at line 414 of file Parameters.h.

    +

    Definition at line 415 of file Parameters.h.

    @@ -21563,7 +21659,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/GoalReachedRadius , as a string: float .

    -

    Definition at line 414 of file Parameters.h.

    +

    Definition at line 415 of file Parameters.h.

    @@ -21592,7 +21688,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/PlanStuckIterations : "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails." Default value: 0 ( int ).

    -

    Definition at line 415 of file Parameters.h.

    +

    Definition at line 416 of file Parameters.h.

    @@ -21621,7 +21717,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/PlanStuckIterations : 0 .

    -

    Definition at line 415 of file Parameters.h.

    +

    Definition at line 416 of file Parameters.h.

    @@ -21650,7 +21746,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/PlanStuckIterations , as a string: int .

    -

    Definition at line 415 of file Parameters.h.

    +

    Definition at line 416 of file Parameters.h.

    @@ -21679,7 +21775,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/PlanLinearVelocity : "Linear velocity (m/sec) used to compute path weights." Default value: 0 ( float ).

    -

    Definition at line 416 of file Parameters.h.

    +

    Definition at line 417 of file Parameters.h.

    @@ -21708,7 +21804,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/PlanLinearVelocity : 0 .

    -

    Definition at line 416 of file Parameters.h.

    +

    Definition at line 417 of file Parameters.h.

    @@ -21737,7 +21833,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/PlanLinearVelocity , as a string: float .

    -

    Definition at line 416 of file Parameters.h.

    +

    Definition at line 417 of file Parameters.h.

    @@ -21766,7 +21862,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/PlanAngularVelocity : "Angular velocity (rad/sec) used to compute path weights." Default value: 0 ( float ).

    -

    Definition at line 417 of file Parameters.h.

    +

    Definition at line 418 of file Parameters.h.

    @@ -21795,7 +21891,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/PlanAngularVelocity : 0 .

    -

    Definition at line 417 of file Parameters.h.

    +

    Definition at line 418 of file Parameters.h.

    @@ -21824,7 +21920,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/PlanAngularVelocity , as a string: float .

    -

    Definition at line 417 of file Parameters.h.

    +

    Definition at line 418 of file Parameters.h.

    @@ -21853,7 +21949,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/GoalsSavedInUserData : "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\"." Default value: false ( bool ).

    -

    Definition at line 418 of file Parameters.h.

    +

    Definition at line 419 of file Parameters.h.

    @@ -21882,7 +21978,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/GoalsSavedInUserData : false .

    -

    Definition at line 418 of file Parameters.h.

    +

    Definition at line 419 of file Parameters.h.

    @@ -21911,7 +22007,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/GoalsSavedInUserData , as a string: bool .

    -

    Definition at line 418 of file Parameters.h.

    +

    Definition at line 419 of file Parameters.h.

    @@ -21940,7 +22036,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/MaxLocalRetrieved : "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority)." Default value: 2 ( unsigned int ).

    -

    Definition at line 419 of file Parameters.h.

    +

    Definition at line 420 of file Parameters.h.

    @@ -21969,7 +22065,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/MaxLocalRetrieved : 2 .

    -

    Definition at line 419 of file Parameters.h.

    +

    Definition at line 420 of file Parameters.h.

    @@ -21998,7 +22094,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/MaxLocalRetrieved , as a string: unsigned int .

    -

    Definition at line 419 of file Parameters.h.

    +

    Definition at line 420 of file Parameters.h.

    @@ -22027,7 +22123,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalRadius : "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management." Default value: 10 ( float ).

    -

    Definition at line 420 of file Parameters.h.

    +

    Definition at line 421 of file Parameters.h.

    @@ -22056,7 +22152,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalRadius : 10 .

    -

    Definition at line 420 of file Parameters.h.

    +

    Definition at line 421 of file Parameters.h.

    @@ -22085,7 +22181,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalRadius , as a string: float .

    -

    Definition at line 420 of file Parameters.h.

    +

    Definition at line 421 of file Parameters.h.

    @@ -22114,7 +22210,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalImmunizationRatio : "Ratio of working memory for which local nodes are immunized from transfer." Default value: 0.25 ( float ).

    -

    Definition at line 421 of file Parameters.h.

    +

    Definition at line 422 of file Parameters.h.

    @@ -22143,7 +22239,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .

    -

    Definition at line 421 of file Parameters.h.

    +

    Definition at line 422 of file Parameters.h.

    @@ -22172,7 +22268,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalImmunizationRatio , as a string: float .

    -

    Definition at line 421 of file Parameters.h.

    +

    Definition at line 422 of file Parameters.h.

    @@ -22201,7 +22297,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ScanMatchingIdsSavedInLinks : "Save scan matching IDs from one-to-many proximity detection in link's user data." Default value: true ( bool ).

    -

    Definition at line 422 of file Parameters.h.

    +

    Definition at line 423 of file Parameters.h.

    @@ -22230,7 +22326,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .

    -

    Definition at line 422 of file Parameters.h.

    +

    Definition at line 423 of file Parameters.h.

    @@ -22259,7 +22355,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ScanMatchingIdsSavedInLinks , as a string: bool .

    -

    Definition at line 422 of file Parameters.h.

    +

    Definition at line 423 of file Parameters.h.

    @@ -22288,7 +22384,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/NeighborLinkRefining : uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()) Default value: false ( bool ).

    -

    Definition at line 423 of file Parameters.h.

    +

    Definition at line 424 of file Parameters.h.

    @@ -22317,7 +22413,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/NeighborLinkRefining : false .

    -

    Definition at line 423 of file Parameters.h.

    +

    Definition at line 424 of file Parameters.h.

    @@ -22346,7 +22442,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/NeighborLinkRefining , as a string: bool .

    -

    Definition at line 423 of file Parameters.h.

    +

    Definition at line 424 of file Parameters.h.

    @@ -22375,7 +22471,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LoopClosureIdentityGuess : uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()) Default value: false ( bool ).

    -

    Definition at line 424 of file Parameters.h.

    +

    Definition at line 425 of file Parameters.h.

    @@ -22404,7 +22500,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LoopClosureIdentityGuess : false .

    -

    Definition at line 424 of file Parameters.h.

    +

    Definition at line 425 of file Parameters.h.

    @@ -22433,7 +22529,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LoopClosureIdentityGuess , as a string: bool .

    -

    Definition at line 424 of file Parameters.h.

    +

    Definition at line 425 of file Parameters.h.

    @@ -22462,7 +22558,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LoopClosureReextractFeatures : "Extract features even if there are some already in the nodes. Raw features are not saved in database." Default value: false ( bool ).

    -

    Definition at line 425 of file Parameters.h.

    +

    Definition at line 426 of file Parameters.h.

    @@ -22491,7 +22587,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LoopClosureReextractFeatures : false .

    -

    Definition at line 425 of file Parameters.h.

    +

    Definition at line 426 of file Parameters.h.

    @@ -22520,7 +22616,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LoopClosureReextractFeatures , as a string: bool .

    -

    Definition at line 425 of file Parameters.h.

    +

    Definition at line 426 of file Parameters.h.

    @@ -22549,7 +22645,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalBundleOnLoopClosure : "Do local bundle adjustment with neighborhood of the loop closure." Default value: false ( bool ).

    -

    Definition at line 426 of file Parameters.h.

    +

    Definition at line 427 of file Parameters.h.

    @@ -22578,7 +22674,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalBundleOnLoopClosure : false .

    -

    Definition at line 426 of file Parameters.h.

    +

    Definition at line 427 of file Parameters.h.

    @@ -22607,7 +22703,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalBundleOnLoopClosure , as a string: bool .

    -

    Definition at line 426 of file Parameters.h.

    +

    Definition at line 427 of file Parameters.h.

    @@ -22636,7 +22732,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/InvertedReg : "On loop closure, do registration from the target to reference instead of reference to target." Default value: false ( bool ).

    -

    Definition at line 427 of file Parameters.h.

    +

    Definition at line 428 of file Parameters.h.

    @@ -22665,7 +22761,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/InvertedReg : false .

    -

    Definition at line 427 of file Parameters.h.

    +

    Definition at line 428 of file Parameters.h.

    @@ -22694,7 +22790,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/InvertedReg , as a string: bool .

    -

    Definition at line 427 of file Parameters.h.

    +

    Definition at line 428 of file Parameters.h.

    @@ -22723,7 +22819,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/CreateOccupancyGrid : "Create local occupancy grid maps. See \"Grid\" group for parameters." Default value: false ( bool ).

    -

    Definition at line 428 of file Parameters.h.

    +

    Definition at line 429 of file Parameters.h.

    @@ -22752,7 +22848,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/CreateOccupancyGrid : false .

    -

    Definition at line 428 of file Parameters.h.

    +

    Definition at line 429 of file Parameters.h.

    @@ -22781,7 +22877,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/CreateOccupancyGrid , as a string: bool .

    -

    Definition at line 428 of file Parameters.h.

    +

    Definition at line 429 of file Parameters.h.

    @@ -22810,7 +22906,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/MarkerDetection : "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters." Default value: false ( bool ).

    -

    Definition at line 429 of file Parameters.h.

    +

    Definition at line 430 of file Parameters.h.

    @@ -22839,7 +22935,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/MarkerDetection : false .

    -

    Definition at line 429 of file Parameters.h.

    +

    Definition at line 430 of file Parameters.h.

    @@ -22868,7 +22964,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/MarkerDetection , as a string: bool .

    -

    Definition at line 429 of file Parameters.h.

    +

    Definition at line 430 of file Parameters.h.

    @@ -22897,7 +22993,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LoopCovLimited : "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links." Default value: false ( bool ).

    -

    Definition at line 430 of file Parameters.h.

    +

    Definition at line 431 of file Parameters.h.

    @@ -22926,7 +23022,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LoopCovLimited : false .

    -

    Definition at line 430 of file Parameters.h.

    +

    Definition at line 431 of file Parameters.h.

    @@ -22955,7 +23051,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LoopCovLimited , as a string: bool .

    -

    Definition at line 430 of file Parameters.h.

    +

    Definition at line 431 of file Parameters.h.

    @@ -22984,7 +23080,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/MaxOdomCacheSize : uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()) Default value: 10 ( int ).

    -

    Definition at line 431 of file Parameters.h.

    +

    Definition at line 432 of file Parameters.h.

    @@ -23013,7 +23109,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/MaxOdomCacheSize : 10 .

    -

    Definition at line 431 of file Parameters.h.

    +

    Definition at line 432 of file Parameters.h.

    @@ -23042,7 +23138,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/MaxOdomCacheSize , as a string: int .

    -

    Definition at line 431 of file Parameters.h.

    +

    Definition at line 432 of file Parameters.h.

    @@ -23071,7 +23167,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalizationSmoothing : uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

    -

    Definition at line 432 of file Parameters.h.

    +

    Definition at line 433 of file Parameters.h.

    @@ -23100,7 +23196,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalizationSmoothing : true .

    -

    Definition at line 432 of file Parameters.h.

    +

    Definition at line 433 of file Parameters.h.

    @@ -23129,7 +23225,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalizationSmoothing , as a string: bool .

    -

    Definition at line 432 of file Parameters.h.

    +

    Definition at line 433 of file Parameters.h.

    @@ -23158,7 +23254,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalizationPriorError : uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: 0.001 ( double ).

    -

    Definition at line 433 of file Parameters.h.

    +

    Definition at line 434 of file Parameters.h.

    @@ -23187,7 +23283,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalizationPriorError : 0.001 .

    -

    Definition at line 433 of file Parameters.h.

    +

    Definition at line 434 of file Parameters.h.

    @@ -23216,7 +23312,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalizationPriorError , as a string: double .

    -

    Definition at line 433 of file Parameters.h.

    +

    Definition at line 434 of file Parameters.h.

    @@ -23245,7 +23341,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

    -

    Definition at line 434 of file Parameters.h.

    +

    Definition at line 435 of file Parameters.h.

    @@ -23274,7 +23370,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .

    -

    Definition at line 434 of file Parameters.h.

    +

    Definition at line 435 of file Parameters.h.

    @@ -23303,7 +23399,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/LocalizationSecondTryWithoutProximityLinks , as a string: bool .

    -

    Definition at line 434 of file Parameters.h.

    +

    Definition at line 435 of file Parameters.h.

    @@ -23332,7 +23428,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityByTime : "Detection over all locations in STM." Default value: false ( bool ).

    -

    Definition at line 437 of file Parameters.h.

    +

    Definition at line 438 of file Parameters.h.

    @@ -23361,7 +23457,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityByTime : false .

    -

    Definition at line 437 of file Parameters.h.

    +

    Definition at line 438 of file Parameters.h.

    @@ -23390,7 +23486,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityByTime , as a string: bool .

    -

    Definition at line 437 of file Parameters.h.

    +

    Definition at line 438 of file Parameters.h.

    @@ -23419,7 +23515,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityBySpace : "Detection over locations (in Working Memory) near in space." Default value: true ( bool ).

    -

    Definition at line 438 of file Parameters.h.

    +

    Definition at line 439 of file Parameters.h.

    @@ -23448,7 +23544,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityBySpace : true .

    -

    Definition at line 438 of file Parameters.h.

    +

    Definition at line 439 of file Parameters.h.

    @@ -23477,7 +23573,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityBySpace , as a string: bool .

    -

    Definition at line 438 of file Parameters.h.

    +

    Definition at line 439 of file Parameters.h.

    @@ -23506,7 +23602,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityMaxGraphDepth : "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore." Default value: 50 ( int ).

    -

    Definition at line 439 of file Parameters.h.

    +

    Definition at line 440 of file Parameters.h.

    @@ -23535,7 +23631,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .

    -

    Definition at line 439 of file Parameters.h.

    +

    Definition at line 440 of file Parameters.h.

    @@ -23564,7 +23660,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityMaxGraphDepth , as a string: int .

    -

    Definition at line 439 of file Parameters.h.

    +

    Definition at line 440 of file Parameters.h.

    @@ -23593,7 +23689,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityMaxPaths : "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit." Default value: 3 ( int ).

    -

    Definition at line 440 of file Parameters.h.

    +

    Definition at line 441 of file Parameters.h.

    @@ -23622,7 +23718,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityMaxPaths : 3 .

    -

    Definition at line 440 of file Parameters.h.

    +

    Definition at line 441 of file Parameters.h.

    @@ -23651,7 +23747,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityMaxPaths , as a string: int .

    -

    Definition at line 440 of file Parameters.h.

    +

    Definition at line 441 of file Parameters.h.

    @@ -23680,7 +23776,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityPathFilteringRadius : "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection." Default value: 1 ( float ).

    -

    Definition at line 441 of file Parameters.h.

    +

    Definition at line 442 of file Parameters.h.

    @@ -23709,7 +23805,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .

    -

    Definition at line 441 of file Parameters.h.

    +

    Definition at line 442 of file Parameters.h.

    @@ -23738,7 +23834,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityPathFilteringRadius , as a string: float .

    -

    Definition at line 441 of file Parameters.h.

    +

    Definition at line 442 of file Parameters.h.

    @@ -23767,7 +23863,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityPathMaxNeighbors : "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans)." Default value: 0 ( int ).

    -

    Definition at line 442 of file Parameters.h.

    +

    Definition at line 443 of file Parameters.h.

    @@ -23796,7 +23892,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .

    -

    Definition at line 442 of file Parameters.h.

    +

    Definition at line 443 of file Parameters.h.

    @@ -23825,7 +23921,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityPathMaxNeighbors , as a string: int .

    -

    Definition at line 442 of file Parameters.h.

    +

    Definition at line 443 of file Parameters.h.

    @@ -23854,7 +23950,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityPathRawPosesUsed : "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph." Default value: true ( bool ).

    -

    Definition at line 443 of file Parameters.h.

    +

    Definition at line 444 of file Parameters.h.

    @@ -23883,7 +23979,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityPathRawPosesUsed : true .

    -

    Definition at line 443 of file Parameters.h.

    +

    Definition at line 444 of file Parameters.h.

    @@ -23912,7 +24008,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityPathRawPosesUsed , as a string: bool .

    -

    Definition at line 443 of file Parameters.h.

    +

    Definition at line 444 of file Parameters.h.

    @@ -23941,7 +24037,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityAngle : "Maximum angle (degrees) for one-to-one proximity detection." Default value: 45 ( float ).

    -

    Definition at line 444 of file Parameters.h.

    +

    Definition at line 445 of file Parameters.h.

    @@ -23970,7 +24066,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityAngle : 45 .

    -

    Definition at line 444 of file Parameters.h.

    +

    Definition at line 445 of file Parameters.h.

    @@ -23999,7 +24095,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityAngle , as a string: float .

    -

    Definition at line 444 of file Parameters.h.

    +

    Definition at line 445 of file Parameters.h.

    @@ -24028,7 +24124,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityOdomGuess : "Use odometry as motion guess for one-to-one proximity detection." Default value: false ( bool ).

    -

    Definition at line 445 of file Parameters.h.

    +

    Definition at line 446 of file Parameters.h.

    @@ -24057,7 +24153,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityOdomGuess : false .

    -

    Definition at line 445 of file Parameters.h.

    +

    Definition at line 446 of file Parameters.h.

    @@ -24086,7 +24182,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityOdomGuess , as a string: bool .

    -

    Definition at line 445 of file Parameters.h.

    +

    Definition at line 446 of file Parameters.h.

    @@ -24115,7 +24211,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityGlobalScanMap : uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

    -

    Definition at line 446 of file Parameters.h.

    +

    Definition at line 447 of file Parameters.h.

    @@ -24144,7 +24240,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityGlobalScanMap : false .

    -

    Definition at line 446 of file Parameters.h.

    +

    Definition at line 447 of file Parameters.h.

    @@ -24173,7 +24269,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityGlobalScanMap , as a string: bool .

    -

    Definition at line 446 of file Parameters.h.

    +

    Definition at line 447 of file Parameters.h.

    @@ -24202,7 +24298,7 @@ The Parameter reference page, which lis

    Key of parameter RGBD/ProximityMergedScanCovFactor : uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()) Default value: 100.0 ( double ).

    -

    Definition at line 447 of file Parameters.h.

    +

    Definition at line 448 of file Parameters.h.

    @@ -24231,7 +24327,7 @@ The Parameter reference page, which lis

    Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .

    -

    Definition at line 447 of file Parameters.h.

    +

    Definition at line 448 of file Parameters.h.

    @@ -24260,7 +24356,7 @@ The Parameter reference page, which lis

    Type of parameter RGBD/ProximityMergedScanCovFactor , as a string: double .

    -

    Definition at line 447 of file Parameters.h.

    +

    Definition at line 448 of file Parameters.h.

    @@ -24289,7 +24385,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/Strategy : "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres." Default value: 0 ( int ).

    -

    Definition at line 465 of file Parameters.h.

    +

    Definition at line 466 of file Parameters.h.

    @@ -24318,7 +24414,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/Strategy : 0 .

    -

    Definition at line 465 of file Parameters.h.

    +

    Definition at line 466 of file Parameters.h.

    @@ -24347,7 +24443,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/Strategy , as a string: int .

    -

    Definition at line 465 of file Parameters.h.

    +

    Definition at line 466 of file Parameters.h.

    @@ -24376,7 +24472,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/Iterations : "Optimization iterations." Default value: 100 ( int ).

    -

    Definition at line 466 of file Parameters.h.

    +

    Definition at line 467 of file Parameters.h.

    @@ -24405,7 +24501,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/Iterations : 100 .

    -

    Definition at line 466 of file Parameters.h.

    +

    Definition at line 467 of file Parameters.h.

    @@ -24434,7 +24530,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/Iterations , as a string: int .

    -

    Definition at line 466 of file Parameters.h.

    +

    Definition at line 467 of file Parameters.h.

    @@ -24463,7 +24559,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/Epsilon : "Stop optimizing when the error improvement is less than this value." Default value: 0.00001 ( double ).

    -

    Definition at line 467 of file Parameters.h.

    +

    Definition at line 468 of file Parameters.h.

    @@ -24492,7 +24588,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/Epsilon : 0.00001 .

    -

    Definition at line 467 of file Parameters.h.

    +

    Definition at line 468 of file Parameters.h.

    @@ -24521,7 +24617,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/Epsilon , as a string: double .

    -

    Definition at line 467 of file Parameters.h.

    +

    Definition at line 468 of file Parameters.h.

    @@ -24550,7 +24646,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/VarianceIgnored : "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links." Default value: false ( bool ).

    -

    Definition at line 471 of file Parameters.h.

    +

    Definition at line 472 of file Parameters.h.

    @@ -24579,7 +24675,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/VarianceIgnored : false .

    -

    Definition at line 471 of file Parameters.h.

    +

    Definition at line 472 of file Parameters.h.

    @@ -24608,7 +24704,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/VarianceIgnored , as a string: bool .

    -

    Definition at line 471 of file Parameters.h.

    +

    Definition at line 472 of file Parameters.h.

    @@ -24637,7 +24733,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/Robust : "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)." Default value: false ( bool ).

    -

    Definition at line 472 of file Parameters.h.

    +

    Definition at line 473 of file Parameters.h.

    @@ -24666,7 +24762,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/Robust : false .

    -

    Definition at line 472 of file Parameters.h.

    +

    Definition at line 473 of file Parameters.h.

    @@ -24695,7 +24791,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/Robust , as a string: bool .

    -

    Definition at line 472 of file Parameters.h.

    +

    Definition at line 473 of file Parameters.h.

    @@ -24724,7 +24820,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ).

    -

    Definition at line 473 of file Parameters.h.

    +

    Definition at line 474 of file Parameters.h.

    @@ -24753,7 +24849,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/PriorsIgnored : true .

    -

    Definition at line 473 of file Parameters.h.

    +

    Definition at line 474 of file Parameters.h.

    @@ -24782,7 +24878,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/PriorsIgnored , as a string: bool .

    -

    Definition at line 473 of file Parameters.h.

    +

    Definition at line 474 of file Parameters.h.

    @@ -24811,7 +24907,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/LandmarksIgnored : "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this." Default value: false ( bool ).

    -

    Definition at line 474 of file Parameters.h.

    +

    Definition at line 475 of file Parameters.h.

    @@ -24840,7 +24936,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/LandmarksIgnored : false .

    -

    Definition at line 474 of file Parameters.h.

    +

    Definition at line 475 of file Parameters.h.

    @@ -24869,7 +24965,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/LandmarksIgnored , as a string: bool .

    -

    Definition at line 474 of file Parameters.h.

    +

    Definition at line 475 of file Parameters.h.

    @@ -24898,7 +24994,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/GravitySigma : uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()) Default value: 0.0 ( float ).

    -

    Definition at line 478 of file Parameters.h.

    +

    Definition at line 479 of file Parameters.h.

    @@ -24927,7 +25023,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/GravitySigma : 0.0 .

    -

    Definition at line 478 of file Parameters.h.

    +

    Definition at line 479 of file Parameters.h.

    @@ -24956,7 +25052,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/GravitySigma , as a string: float .

    -

    Definition at line 478 of file Parameters.h.

    +

    Definition at line 479 of file Parameters.h.

    @@ -24985,7 +25081,7 @@ The Parameter reference page, which lis

    Key of parameter g2o/Solver : "0=csparse 1=pcg 2=cholmod 3=Eigen" Default value: 0 ( int ).

    -

    Definition at line 484 of file Parameters.h.

    +

    Definition at line 485 of file Parameters.h.

    @@ -25014,7 +25110,7 @@ The Parameter reference page, which lis

    Default value of parameter g2o/Solver : 0 .

    -

    Definition at line 484 of file Parameters.h.

    +

    Definition at line 485 of file Parameters.h.

    @@ -25043,7 +25139,7 @@ The Parameter reference page, which lis

    Type of parameter g2o/Solver , as a string: int .

    -

    Definition at line 484 of file Parameters.h.

    +

    Definition at line 485 of file Parameters.h.

    @@ -25072,7 +25168,7 @@ The Parameter reference page, which lis

    Key of parameter g2o/Optimizer : "0=Levenberg 1=GaussNewton" Default value: 0 ( int ).

    -

    Definition at line 486 of file Parameters.h.

    +

    Definition at line 487 of file Parameters.h.

    @@ -25101,7 +25197,7 @@ The Parameter reference page, which lis

    Default value of parameter g2o/Optimizer : 0 .

    -

    Definition at line 486 of file Parameters.h.

    +

    Definition at line 487 of file Parameters.h.

    @@ -25130,7 +25226,7 @@ The Parameter reference page, which lis

    Type of parameter g2o/Optimizer , as a string: int .

    -

    Definition at line 486 of file Parameters.h.

    +

    Definition at line 487 of file Parameters.h.

    @@ -25159,7 +25255,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/Baseline : "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." Default value: 0.075 ( double ).

    -

    Definition at line 488 of file Parameters.h.

    +

    Definition at line 489 of file Parameters.h.

    @@ -25188,7 +25284,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/Baseline : 0.075 .

    -

    Definition at line 488 of file Parameters.h.

    +

    Definition at line 489 of file Parameters.h.

    @@ -25217,7 +25313,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/Baseline , as a string: double .

    -

    Definition at line 488 of file Parameters.h.

    +

    Definition at line 489 of file Parameters.h.

    @@ -25246,7 +25342,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/PixelVariance : "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." Default value: 1.0 ( double ).

    -

    Definition at line 489 of file Parameters.h.

    +

    Definition at line 490 of file Parameters.h.

    @@ -25275,7 +25371,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/PixelVariance : 1.0 .

    -

    Definition at line 489 of file Parameters.h.

    +

    Definition at line 490 of file Parameters.h.

    @@ -25304,7 +25400,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/PixelVariance , as a string: double .

    -

    Definition at line 489 of file Parameters.h.

    +

    Definition at line 490 of file Parameters.h.

    @@ -25333,7 +25429,7 @@ 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 ).

    -

    Definition at line 490 of file Parameters.h.

    +

    Definition at line 491 of file Parameters.h.

    @@ -25362,7 +25458,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/DisparityVariance : 1.0 .

    -

    Definition at line 490 of file Parameters.h.

    +

    Definition at line 491 of file Parameters.h.

    @@ -25391,7 +25487,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/DisparityVariance , as a string: double .

    -

    Definition at line 490 of file Parameters.h.

    +

    Definition at line 491 of file Parameters.h.

    @@ -25420,7 +25516,7 @@ The Parameter reference page, which lis

    Key of parameter Optimizer/RobustKernelDelta : "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." Default value: 8 ( double ).

    -

    Definition at line 491 of file Parameters.h.

    +

    Definition at line 492 of file Parameters.h.

    @@ -25449,7 +25545,7 @@ The Parameter reference page, which lis

    Default value of parameter Optimizer/RobustKernelDelta : 8 .

    -

    Definition at line 491 of file Parameters.h.

    +

    Definition at line 492 of file Parameters.h.

    @@ -25478,7 +25574,7 @@ The Parameter reference page, which lis

    Type of parameter Optimizer/RobustKernelDelta , as a string: double .

    -

    Definition at line 491 of file Parameters.h.

    +

    Definition at line 492 of file Parameters.h.

    @@ -25507,7 +25603,7 @@ The Parameter reference page, which lis

    Key of parameter GTSAM/Optimizer : "0=Levenberg 1=GaussNewton 2=Dogleg" Default value: 1 ( int ).

    -

    Definition at line 493 of file Parameters.h.

    +

    Definition at line 494 of file Parameters.h.

    @@ -25536,7 +25632,7 @@ The Parameter reference page, which lis

    Default value of parameter GTSAM/Optimizer : 1 .

    -

    Definition at line 493 of file Parameters.h.

    +

    Definition at line 494 of file Parameters.h.

    @@ -25565,7 +25661,7 @@ The Parameter reference page, which lis

    Type of parameter GTSAM/Optimizer , as a string: int .

    -

    Definition at line 493 of file Parameters.h.

    +

    Definition at line 494 of file Parameters.h.

    @@ -25594,7 +25690,7 @@ The Parameter reference page, which lis

    Key of parameter GTSAM/Incremental : uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()) Default value: false ( bool ).

    -

    Definition at line 494 of file Parameters.h.

    +

    Definition at line 495 of file Parameters.h.

    @@ -25623,7 +25719,7 @@ The Parameter reference page, which lis

    Default value of parameter GTSAM/Incremental : false .

    -

    Definition at line 494 of file Parameters.h.

    +

    Definition at line 495 of file Parameters.h.

    @@ -25652,7 +25748,7 @@ The Parameter reference page, which lis

    Type of parameter GTSAM/Incremental , as a string: bool .

    -

    Definition at line 494 of file Parameters.h.

    +

    Definition at line 495 of file Parameters.h.

    @@ -25681,7 +25777,7 @@ The Parameter reference page, which lis

    Key of parameter GTSAM/IncRelinearizeThreshold : "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info." Default value: 0.01 ( double ).

    -

    Definition at line 495 of file Parameters.h.

    +

    Definition at line 496 of file Parameters.h.

    @@ -25710,7 +25806,7 @@ The Parameter reference page, which lis

    Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .

    -

    Definition at line 495 of file Parameters.h.

    +

    Definition at line 496 of file Parameters.h.

    @@ -25739,7 +25835,7 @@ The Parameter reference page, which lis

    Type of parameter GTSAM/IncRelinearizeThreshold , as a string: double .

    -

    Definition at line 495 of file Parameters.h.

    +

    Definition at line 496 of file Parameters.h.

    @@ -25768,7 +25864,7 @@ The Parameter reference page, which lis

    Key of parameter GTSAM/IncRelinearizeSkip : "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info." Default value: 1 ( int ).

    -

    Definition at line 496 of file Parameters.h.

    +

    Definition at line 497 of file Parameters.h.

    @@ -25797,7 +25893,7 @@ The Parameter reference page, which lis

    Default value of parameter GTSAM/IncRelinearizeSkip : 1 .

    -

    Definition at line 496 of file Parameters.h.

    +

    Definition at line 497 of file Parameters.h.

    @@ -25826,7 +25922,7 @@ The Parameter reference page, which lis

    Type of parameter GTSAM/IncRelinearizeSkip , as a string: int .

    -

    Definition at line 496 of file Parameters.h.

    +

    Definition at line 497 of file Parameters.h.

    @@ -25855,7 +25951,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/Strategy : "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM" Default value: 0 ( int ).

    -

    Definition at line 499 of file Parameters.h.

    +

    Definition at line 500 of file Parameters.h.

    @@ -25884,7 +25980,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/Strategy : 0 .

    -

    Definition at line 499 of file Parameters.h.

    +

    Definition at line 500 of file Parameters.h.

    @@ -25913,7 +26009,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 499 of file Parameters.h.

    +

    Definition at line 500 of file Parameters.h.

    @@ -25942,7 +26038,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ResetCountdown : "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered." Default value: 0 ( int ).

    -

    Definition at line 500 of file Parameters.h.

    +

    Definition at line 501 of file Parameters.h.

    @@ -25971,7 +26067,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ResetCountdown : 0 .

    -

    Definition at line 500 of file Parameters.h.

    +

    Definition at line 501 of file Parameters.h.

    @@ -26000,7 +26096,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 500 of file Parameters.h.

    +

    Definition at line 501 of file Parameters.h.

    @@ -26029,7 +26125,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/Holonomic : "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))." Default value: true ( bool ).

    -

    Definition at line 501 of file Parameters.h.

    +

    Definition at line 502 of file Parameters.h.

    @@ -26058,7 +26154,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/Holonomic : true .

    -

    Definition at line 501 of file Parameters.h.

    +

    Definition at line 502 of file Parameters.h.

    @@ -26087,7 +26183,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 501 of file Parameters.h.

    +

    Definition at line 502 of file Parameters.h.

    @@ -26116,7 +26212,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/FillInfoData : "Fill info with data (inliers/outliers features)." Default value: true ( bool ).

    -

    Definition at line 502 of file Parameters.h.

    +

    Definition at line 503 of file Parameters.h.

    @@ -26145,7 +26241,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/FillInfoData : true .

    -

    Definition at line 502 of file Parameters.h.

    +

    Definition at line 503 of file Parameters.h.

    @@ -26174,7 +26270,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 502 of file Parameters.h.

    +

    Definition at line 503 of file Parameters.h.

    @@ -26203,7 +26299,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).

    -

    Definition at line 503 of file Parameters.h.

    +

    Definition at line 504 of file Parameters.h.

    @@ -26232,7 +26328,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ImageBufferSize : 1 .

    -

    Definition at line 503 of file Parameters.h.

    +

    Definition at line 504 of file Parameters.h.

    @@ -26261,7 +26357,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 503 of file Parameters.h.

    +

    Definition at line 504 of file Parameters.h.

    @@ -26290,7 +26386,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/FilteringStrategy : "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output." Default value: 0 ( int ).

    -

    Definition at line 504 of file Parameters.h.

    +

    Definition at line 505 of file Parameters.h.

    @@ -26319,7 +26415,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/FilteringStrategy : 0 .

    -

    Definition at line 504 of file Parameters.h.

    +

    Definition at line 505 of file Parameters.h.

    @@ -26348,7 +26444,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 504 of file Parameters.h.

    +

    Definition at line 505 of file Parameters.h.

    @@ -26377,7 +26473,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ParticleSize : "Number of particles of the filter." Default value: 400 ( unsigned int ).

    -

    Definition at line 505 of file Parameters.h.

    +

    Definition at line 506 of file Parameters.h.

    @@ -26406,7 +26502,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ParticleSize : 400 .

    -

    Definition at line 505 of file Parameters.h.

    +

    Definition at line 506 of file Parameters.h.

    @@ -26435,7 +26531,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 505 of file Parameters.h.

    +

    Definition at line 506 of file Parameters.h.

    @@ -26464,7 +26560,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ParticleNoiseT : "Noise (m) of translation components (x,y,z)." Default value: 0.002 ( float ).

    -

    Definition at line 506 of file Parameters.h.

    +

    Definition at line 507 of file Parameters.h.

    @@ -26493,7 +26589,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ParticleNoiseT : 0.002 .

    -

    Definition at line 506 of file Parameters.h.

    +

    Definition at line 507 of file Parameters.h.

    @@ -26522,7 +26618,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 506 of file Parameters.h.

    +

    Definition at line 507 of file Parameters.h.

    @@ -26551,7 +26647,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ParticleLambdaT : "Lambda of translation components (x,y,z)." Default value: 100 ( float ).

    -

    Definition at line 507 of file Parameters.h.

    +

    Definition at line 508 of file Parameters.h.

    @@ -26580,7 +26676,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ParticleLambdaT : 100 .

    -

    Definition at line 507 of file Parameters.h.

    +

    Definition at line 508 of file Parameters.h.

    @@ -26609,7 +26705,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 507 of file Parameters.h.

    +

    Definition at line 508 of file Parameters.h.

    @@ -26638,7 +26734,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ParticleNoiseR : "Noise (rad) of rotational components (roll,pitch,yaw)." Default value: 0.002 ( float ).

    -

    Definition at line 508 of file Parameters.h.

    +

    Definition at line 509 of file Parameters.h.

    @@ -26667,7 +26763,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ParticleNoiseR : 0.002 .

    -

    Definition at line 508 of file Parameters.h.

    +

    Definition at line 509 of file Parameters.h.

    @@ -26696,7 +26792,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 508 of file Parameters.h.

    +

    Definition at line 509 of file Parameters.h.

    @@ -26725,7 +26821,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/ParticleLambdaR : "Lambda of rotational components (roll,pitch,yaw)." Default value: 100 ( float ).

    -

    Definition at line 509 of file Parameters.h.

    +

    Definition at line 510 of file Parameters.h.

    @@ -26754,7 +26850,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ParticleLambdaR : 100 .

    -

    Definition at line 509 of file Parameters.h.

    +

    Definition at line 510 of file Parameters.h.

    @@ -26783,7 +26879,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 509 of file Parameters.h.

    +

    Definition at line 510 of file Parameters.h.

    @@ -26812,7 +26908,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/KalmanProcessNoise : "Process noise covariance value." Default value: 0.001 ( float ).

    -

    Definition at line 510 of file Parameters.h.

    +

    Definition at line 511 of file Parameters.h.

    @@ -26841,7 +26937,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/KalmanProcessNoise : 0.001 .

    -

    Definition at line 510 of file Parameters.h.

    +

    Definition at line 511 of file Parameters.h.

    @@ -26870,7 +26966,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 510 of file Parameters.h.

    +

    Definition at line 511 of file Parameters.h.

    @@ -26899,7 +26995,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/KalmanMeasurementNoise : "Process measurement covariance value." Default value: 0.01 ( float ).

    -

    Definition at line 511 of file Parameters.h.

    +

    Definition at line 512 of file Parameters.h.

    @@ -26928,7 +27024,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .

    -

    Definition at line 511 of file Parameters.h.

    +

    Definition at line 512 of file Parameters.h.

    @@ -26957,7 +27053,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 511 of file Parameters.h.

    +

    Definition at line 512 of file Parameters.h.

    @@ -26986,7 +27082,7 @@ The Parameter reference page, which lis

    Key of parameter Odom/GuessMotion : "Guess next transformation from the last motion computed." Default value: true ( bool ).

    -

    Definition at line 512 of file Parameters.h.

    +

    Definition at line 513 of file Parameters.h.

    @@ -27015,7 +27111,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/GuessMotion : true .

    -

    Definition at line 512 of file Parameters.h.

    +

    Definition at line 513 of file Parameters.h.

    @@ -27044,7 +27140,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 512 of file Parameters.h.

    +

    Definition at line 513 of file Parameters.h.

    @@ -27073,7 +27169,7 @@ 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 ).

    -

    Definition at line 513 of file Parameters.h.

    +

    Definition at line 514 of file Parameters.h.

    @@ -27102,7 +27198,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/GuessSmoothingDelay : 0 .

    -

    Definition at line 513 of file Parameters.h.

    +

    Definition at line 514 of file Parameters.h.

    @@ -27131,7 +27227,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 513 of file Parameters.h.

    +

    Definition at line 514 of file Parameters.h.

    @@ -27160,7 +27256,7 @@ 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 514 of file Parameters.h.

    +

    Definition at line 515 of file Parameters.h.

    @@ -27189,7 +27285,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/KeyFrameThr : 0.3 .

    -

    Definition at line 514 of file Parameters.h.

    +

    Definition at line 515 of file Parameters.h.

    @@ -27218,7 +27314,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 514 of file Parameters.h.

    +

    Definition at line 515 of file Parameters.h.

    @@ -27247,7 +27343,7 @@ 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 515 of file Parameters.h.

    +

    Definition at line 516 of file Parameters.h.

    @@ -27276,7 +27372,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/VisKeyFrameThr : 150 .

    -

    Definition at line 515 of file Parameters.h.

    +

    Definition at line 516 of file Parameters.h.

    @@ -27305,7 +27401,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 515 of file Parameters.h.

    +

    Definition at line 516 of file Parameters.h.

    @@ -27334,7 +27430,7 @@ 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 516 of file Parameters.h.

    +

    Definition at line 517 of file Parameters.h.

    @@ -27363,7 +27459,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ScanKeyFrameThr : 0.9 .

    -

    Definition at line 516 of file Parameters.h.

    +

    Definition at line 517 of file Parameters.h.

    @@ -27392,7 +27488,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 516 of file Parameters.h.

    +

    Definition at line 517 of file Parameters.h.

    @@ -27421,7 +27517,7 @@ 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 517 of file Parameters.h.

    +

    Definition at line 518 of file Parameters.h.

    @@ -27450,7 +27546,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/ImageDecimation : 1 .

    -

    Definition at line 517 of file Parameters.h.

    +

    Definition at line 518 of file Parameters.h.

    @@ -27479,7 +27575,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 517 of file Parameters.h.

    +

    Definition at line 518 of file Parameters.h.

    @@ -27508,7 +27604,7 @@ 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 518 of file Parameters.h.

    +

    Definition at line 519 of file Parameters.h.

    @@ -27537,7 +27633,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/AlignWithGround : false .

    -

    Definition at line 518 of file Parameters.h.

    +

    Definition at line 519 of file Parameters.h.

    @@ -27566,7 +27662,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 518 of file Parameters.h.

    +

    Definition at line 519 of file Parameters.h.

    @@ -27595,7 +27691,7 @@ 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 ).

    -

    Definition at line 519 of file Parameters.h.

    +

    Definition at line 520 of file Parameters.h.

    @@ -27624,7 +27720,7 @@ The Parameter reference page, which lis

    Default value of parameter Odom/Deskewing : true .

    -

    Definition at line 519 of file Parameters.h.

    +

    Definition at line 520 of file Parameters.h.

    @@ -27653,7 +27749,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 519 of file Parameters.h.

    +

    Definition at line 520 of file Parameters.h.

    @@ -27682,7 +27778,7 @@ 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 522 of file Parameters.h.

    +

    Definition at line 523 of file Parameters.h.

    @@ -27711,7 +27807,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/MaxSize : 2000 .

    -

    Definition at line 522 of file Parameters.h.

    +

    Definition at line 523 of file Parameters.h.

    @@ -27740,7 +27836,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 522 of file Parameters.h.

    +

    Definition at line 523 of file Parameters.h.

    @@ -27769,7 +27865,7 @@ 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 523 of file Parameters.h.

    +

    Definition at line 524 of file Parameters.h.

    @@ -27798,7 +27894,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/MaxNewFeatures : 0 .

    -

    Definition at line 523 of file Parameters.h.

    +

    Definition at line 524 of file Parameters.h.

    @@ -27827,7 +27923,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 523 of file Parameters.h.

    +

    Definition at line 524 of file Parameters.h.

    @@ -27856,7 +27952,7 @@ 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 524 of file Parameters.h.

    +

    Definition at line 525 of file Parameters.h.

    @@ -27885,7 +27981,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/InitDepthFactor : 0.05 .

    -

    Definition at line 524 of file Parameters.h.

    +

    Definition at line 525 of file Parameters.h.

    @@ -27914,7 +28010,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 524 of file Parameters.h.

    +

    Definition at line 525 of file Parameters.h.

    @@ -27943,7 +28039,7 @@ 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 525 of file Parameters.h.

    +

    Definition at line 526 of file Parameters.h.

    @@ -27972,7 +28068,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/FloorThreshold : 0.0 .

    -

    Definition at line 525 of file Parameters.h.

    +

    Definition at line 526 of file Parameters.h.

    @@ -28001,7 +28097,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 525 of file Parameters.h.

    +

    Definition at line 526 of file Parameters.h.

    @@ -28030,7 +28126,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 526 of file Parameters.h.

    +

    Definition at line 527 of file Parameters.h.

    @@ -28059,7 +28155,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/ScanMaxSize : 2000 .

    -

    Definition at line 526 of file Parameters.h.

    +

    Definition at line 527 of file Parameters.h.

    @@ -28088,7 +28184,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 526 of file Parameters.h.

    +

    Definition at line 527 of file Parameters.h.

    @@ -28117,7 +28213,7 @@ 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 527 of file Parameters.h.

    +

    Definition at line 528 of file Parameters.h.

    @@ -28146,7 +28242,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .

    -

    Definition at line 527 of file Parameters.h.

    +

    Definition at line 528 of file Parameters.h.

    @@ -28175,7 +28271,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 527 of file Parameters.h.

    +

    Definition at line 528 of file Parameters.h.

    @@ -28204,7 +28300,7 @@ 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 528 of file Parameters.h.

    +

    Definition at line 529 of file Parameters.h.

    @@ -28233,7 +28329,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/ScanSubtractAngle : 45 .

    -

    Definition at line 528 of file Parameters.h.

    +

    Definition at line 529 of file Parameters.h.

    @@ -28262,7 +28358,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 528 of file Parameters.h.

    +

    Definition at line 529 of file Parameters.h.

    @@ -28291,7 +28387,7 @@ 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 529 of file Parameters.h.

    +

    Definition at line 530 of file Parameters.h.

    @@ -28320,7 +28416,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/ScanRange : 0 .

    -

    Definition at line 529 of file Parameters.h.

    +

    Definition at line 530 of file Parameters.h.

    @@ -28349,7 +28445,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 529 of file Parameters.h.

    +

    Definition at line 530 of file Parameters.h.

    @@ -28378,7 +28474,7 @@ 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 530 of file Parameters.h.

    +

    Definition at line 531 of file Parameters.h.

    @@ -28407,7 +28503,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .

    -

    Definition at line 530 of file Parameters.h.

    +

    Definition at line 531 of file Parameters.h.

    @@ -28436,7 +28532,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 530 of file Parameters.h.

    +

    Definition at line 531 of file Parameters.h.

    @@ -28465,7 +28561,7 @@ 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 534 of file Parameters.h.

    +

    Definition at line 535 of file Parameters.h.

    @@ -28494,7 +28590,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/BundleAdjustment : 0 .

    -

    Definition at line 534 of file Parameters.h.

    +

    Definition at line 535 of file Parameters.h.

    @@ -28523,7 +28619,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 534 of file Parameters.h.

    +

    Definition at line 535 of file Parameters.h.

    @@ -28552,7 +28648,7 @@ 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 536 of file Parameters.h.

    +

    Definition at line 537 of file Parameters.h.

    @@ -28581,7 +28677,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .

    -

    Definition at line 536 of file Parameters.h.

    +

    Definition at line 537 of file Parameters.h.

    @@ -28610,7 +28706,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 536 of file Parameters.h.

    +

    Definition at line 537 of file Parameters.h.

    @@ -28639,7 +28735,7 @@ 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 537 of file Parameters.h.

    +

    Definition at line 538 of file Parameters.h.

    @@ -28668,7 +28764,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .

    -

    Definition at line 537 of file Parameters.h.

    +

    Definition at line 538 of file Parameters.h.

    @@ -28697,7 +28793,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 537 of file Parameters.h.

    +

    Definition at line 538 of file Parameters.h.

    @@ -28726,7 +28822,7 @@ 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 538 of file Parameters.h.

    +

    Definition at line 539 of file Parameters.h.

    @@ -28755,7 +28851,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .

    -

    Definition at line 538 of file Parameters.h.

    +

    Definition at line 539 of file Parameters.h.

    @@ -28784,7 +28880,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 538 of file Parameters.h.

    +

    Definition at line 539 of file Parameters.h.

    @@ -28813,7 +28909,7 @@ 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 539 of file Parameters.h.

    +

    Definition at line 540 of file Parameters.h.

    @@ -28842,7 +28938,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .

    -

    Definition at line 539 of file Parameters.h.

    +

    Definition at line 540 of file Parameters.h.

    @@ -28871,7 +28967,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 539 of file Parameters.h.

    +

    Definition at line 540 of file Parameters.h.

    @@ -28900,7 +28996,7 @@ 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 542 of file Parameters.h.

    +

    Definition at line 543 of file Parameters.h.

    @@ -28929,7 +29025,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMono/InitMinFlow : 100 .

    -

    Definition at line 542 of file Parameters.h.

    +

    Definition at line 543 of file Parameters.h.

    @@ -28958,7 +29054,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 542 of file Parameters.h.

    +

    Definition at line 543 of file Parameters.h.

    @@ -28987,7 +29083,7 @@ 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 543 of file Parameters.h.

    +

    Definition at line 544 of file Parameters.h.

    @@ -29016,7 +29112,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMono/InitMinTranslation : 0.1 .

    -

    Definition at line 543 of file Parameters.h.

    +

    Definition at line 544 of file Parameters.h.

    @@ -29045,7 +29141,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 543 of file Parameters.h.

    +

    Definition at line 544 of file Parameters.h.

    @@ -29074,7 +29170,7 @@ 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 544 of file Parameters.h.

    +

    Definition at line 545 of file Parameters.h.

    @@ -29103,7 +29199,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMono/MinTranslation : 0.02 .

    -

    Definition at line 544 of file Parameters.h.

    +

    Definition at line 545 of file Parameters.h.

    @@ -29132,7 +29228,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 544 of file Parameters.h.

    +

    Definition at line 545 of file Parameters.h.

    @@ -29161,7 +29257,7 @@ 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 545 of file Parameters.h.

    +

    Definition at line 546 of file Parameters.h.

    @@ -29190,7 +29286,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMono/MaxVariance : 0.01 .

    -

    Definition at line 545 of file Parameters.h.

    +

    Definition at line 546 of file Parameters.h.

    @@ -29219,7 +29315,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 545 of file Parameters.h.

    +

    Definition at line 546 of file Parameters.h.

    @@ -29248,7 +29344,7 @@ 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 548 of file Parameters.h.

    +

    Definition at line 549 of file Parameters.h.

    @@ -29277,7 +29373,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/FeatureWindowSize : 9 .

    -

    Definition at line 548 of file Parameters.h.

    +

    Definition at line 549 of file Parameters.h.

    @@ -29306,7 +29402,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 548 of file Parameters.h.

    +

    Definition at line 549 of file Parameters.h.

    @@ -29335,7 +29431,7 @@ 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 549 of file Parameters.h.

    +

    Definition at line 550 of file Parameters.h.

    @@ -29364,7 +29460,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/MaxPyramidLevel : 3 .

    -

    Definition at line 549 of file Parameters.h.

    +

    Definition at line 550 of file Parameters.h.

    @@ -29393,7 +29489,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 549 of file Parameters.h.

    +

    Definition at line 550 of file Parameters.h.

    @@ -29422,7 +29518,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 550 of file Parameters.h.

    +

    Definition at line 551 of file Parameters.h.

    @@ -29451,7 +29547,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/MinPyramidLevel : 0 .

    -

    Definition at line 550 of file Parameters.h.

    +

    Definition at line 551 of file Parameters.h.

    @@ -29480,7 +29576,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 550 of file Parameters.h.

    +

    Definition at line 551 of file Parameters.h.

    @@ -29509,7 +29605,7 @@ 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 551 of file Parameters.h.

    +

    Definition at line 552 of file Parameters.h.

    @@ -29538,7 +29634,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .

    -

    Definition at line 551 of file Parameters.h.

    +

    Definition at line 552 of file Parameters.h.

    @@ -29567,7 +29663,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 551 of file Parameters.h.

    +

    Definition at line 552 of file Parameters.h.

    @@ -29596,7 +29692,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 552 of file Parameters.h.

    +

    Definition at line 553 of file Parameters.h.

    @@ -29625,7 +29721,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/FastThreshold : 20 .

    -

    Definition at line 552 of file Parameters.h.

    +

    Definition at line 553 of file Parameters.h.

    @@ -29654,7 +29750,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 552 of file Parameters.h.

    +

    Definition at line 553 of file Parameters.h.

    @@ -29683,7 +29779,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 553 of file Parameters.h.

    +

    Definition at line 554 of file Parameters.h.

    @@ -29712,7 +29808,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UseAdaptiveThreshold : true .

    -

    Definition at line 553 of file Parameters.h.

    +

    Definition at line 554 of file Parameters.h.

    @@ -29741,7 +29837,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 553 of file Parameters.h.

    +

    Definition at line 554 of file Parameters.h.

    @@ -29770,7 +29866,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 554 of file Parameters.h.

    +

    Definition at line 555 of file Parameters.h.

    @@ -29799,7 +29895,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .

    -

    Definition at line 554 of file Parameters.h.

    +

    Definition at line 555 of file Parameters.h.

    @@ -29828,7 +29924,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 554 of file Parameters.h.

    +

    Definition at line 555 of file Parameters.h.

    @@ -29857,7 +29953,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 555 of file Parameters.h.

    +

    Definition at line 556 of file Parameters.h.

    @@ -29886,7 +29982,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UseHomographyInitialization : true .

    -

    Definition at line 555 of file Parameters.h.

    +

    Definition at line 556 of file Parameters.h.

    @@ -29915,7 +30011,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 555 of file Parameters.h.

    +

    Definition at line 556 of file Parameters.h.

    @@ -29944,7 +30040,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 557 of file Parameters.h.

    +

    Definition at line 558 of file Parameters.h.

    @@ -29973,7 +30069,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UseBucketing : true .

    -

    Definition at line 557 of file Parameters.h.

    +

    Definition at line 558 of file Parameters.h.

    @@ -30002,7 +30098,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 557 of file Parameters.h.

    +

    Definition at line 558 of file Parameters.h.

    @@ -30031,7 +30127,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 558 of file Parameters.h.

    +

    Definition at line 559 of file Parameters.h.

    @@ -30060,7 +30156,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/BucketWidth : 80 .

    -

    Definition at line 558 of file Parameters.h.

    +

    Definition at line 559 of file Parameters.h.

    @@ -30089,7 +30185,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 558 of file Parameters.h.

    +

    Definition at line 559 of file Parameters.h.

    @@ -30118,7 +30214,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 559 of file Parameters.h.

    +

    Definition at line 560 of file Parameters.h.

    @@ -30147,7 +30243,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/BucketHeight : 80 .

    -

    Definition at line 559 of file Parameters.h.

    +

    Definition at line 560 of file Parameters.h.

    @@ -30176,7 +30272,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 559 of file Parameters.h.

    +

    Definition at line 560 of file Parameters.h.

    @@ -30205,7 +30301,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 560 of file Parameters.h.

    +

    Definition at line 561 of file Parameters.h.

    @@ -30234,7 +30330,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .

    -

    Definition at line 560 of file Parameters.h.

    +

    Definition at line 561 of file Parameters.h.

    @@ -30263,7 +30359,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 560 of file Parameters.h.

    +

    Definition at line 561 of file Parameters.h.

    @@ -30292,7 +30388,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 561 of file Parameters.h.

    +

    Definition at line 562 of file Parameters.h.

    @@ -30321,7 +30417,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UseImageNormalization : false .

    -

    Definition at line 561 of file Parameters.h.

    +

    Definition at line 562 of file Parameters.h.

    @@ -30350,7 +30446,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 561 of file Parameters.h.

    +

    Definition at line 562 of file Parameters.h.

    @@ -30379,7 +30475,7 @@ 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 563 of file Parameters.h.

    +

    Definition at line 564 of file Parameters.h.

    @@ -30408,7 +30504,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .

    -

    Definition at line 563 of file Parameters.h.

    +

    Definition at line 564 of file Parameters.h.

    @@ -30437,7 +30533,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 563 of file Parameters.h.

    +

    Definition at line 564 of file Parameters.h.

    @@ -30466,7 +30562,7 @@ 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 564 of file Parameters.h.

    +

    Definition at line 565 of file Parameters.h.

    @@ -30495,7 +30591,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .

    -

    Definition at line 564 of file Parameters.h.

    +

    Definition at line 565 of file Parameters.h.

    @@ -30524,7 +30620,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 564 of file Parameters.h.

    +

    Definition at line 565 of file Parameters.h.

    @@ -30553,7 +30649,7 @@ 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 565 of file Parameters.h.

    +

    Definition at line 566 of file Parameters.h.

    @@ -30582,7 +30678,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .

    -

    Definition at line 565 of file Parameters.h.

    +

    Definition at line 566 of file Parameters.h.

    @@ -30611,7 +30707,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 565 of file Parameters.h.

    +

    Definition at line 566 of file Parameters.h.

    @@ -30640,7 +30736,7 @@ 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 566 of file Parameters.h.

    +

    Definition at line 567 of file Parameters.h.

    @@ -30669,7 +30765,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .

    -

    Definition at line 566 of file Parameters.h.

    +

    Definition at line 567 of file Parameters.h.

    @@ -30698,7 +30794,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 566 of file Parameters.h.

    +

    Definition at line 567 of file Parameters.h.

    @@ -30727,7 +30823,7 @@ 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 567 of file Parameters.h.

    +

    Definition at line 568 of file Parameters.h.

    @@ -30756,7 +30852,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UseSubpixelRefinement : true .

    -

    Definition at line 567 of file Parameters.h.

    +

    Definition at line 568 of file Parameters.h.

    @@ -30785,7 +30881,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 567 of file Parameters.h.

    +

    Definition at line 568 of file Parameters.h.

    @@ -30814,7 +30910,7 @@ 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 568 of file Parameters.h.

    +

    Definition at line 569 of file Parameters.h.

    @@ -30843,7 +30939,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/FeatureSearchWindow : 25 .

    -

    Definition at line 568 of file Parameters.h.

    +

    Definition at line 569 of file Parameters.h.

    @@ -30872,7 +30968,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 568 of file Parameters.h.

    +

    Definition at line 569 of file Parameters.h.

    @@ -30901,7 +30997,7 @@ 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 569 of file Parameters.h.

    +

    Definition at line 570 of file Parameters.h.

    @@ -30930,7 +31026,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .

    -

    Definition at line 569 of file Parameters.h.

    +

    Definition at line 570 of file Parameters.h.

    @@ -30959,7 +31055,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 569 of file Parameters.h.

    +

    Definition at line 570 of file Parameters.h.

    @@ -30988,7 +31084,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 571 of file Parameters.h.

    +

    Definition at line 572 of file Parameters.h.

    @@ -31017,7 +31113,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/StereoRequireMutualMatch : true .

    -

    Definition at line 571 of file Parameters.h.

    +

    Definition at line 572 of file Parameters.h.

    @@ -31046,7 +31142,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 571 of file Parameters.h.

    +

    Definition at line 572 of file Parameters.h.

    @@ -31075,7 +31171,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 572 of file Parameters.h.

    +

    Definition at line 573 of file Parameters.h.

    @@ -31104,7 +31200,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .

    -

    Definition at line 572 of file Parameters.h.

    +

    Definition at line 573 of file Parameters.h.

    @@ -31133,7 +31229,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 572 of file Parameters.h.

    +

    Definition at line 573 of file Parameters.h.

    @@ -31162,7 +31258,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 573 of file Parameters.h.

    +

    Definition at line 574 of file Parameters.h.

    @@ -31191,7 +31287,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .

    -

    Definition at line 573 of file Parameters.h.

    +

    Definition at line 574 of file Parameters.h.

    @@ -31220,7 +31316,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 573 of file Parameters.h.

    +

    Definition at line 574 of file Parameters.h.

    @@ -31249,7 +31345,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 574 of file Parameters.h.

    +

    Definition at line 575 of file Parameters.h.

    @@ -31278,7 +31374,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomFovis/StereoMaxDisparity : 128 .

    -

    Definition at line 574 of file Parameters.h.

    +

    Definition at line 575 of file Parameters.h.

    @@ -31307,7 +31403,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 574 of file Parameters.h.

    +

    Definition at line 575 of file Parameters.h.

    @@ -31336,7 +31432,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 577 of file Parameters.h.

    +

    Definition at line 578 of file Parameters.h.

    @@ -31365,7 +31461,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/RansacIters : 200 .

    -

    Definition at line 577 of file Parameters.h.

    +

    Definition at line 578 of file Parameters.h.

    @@ -31394,7 +31490,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 577 of file Parameters.h.

    +

    Definition at line 578 of file Parameters.h.

    @@ -31423,7 +31519,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 578 of file Parameters.h.

    +

    Definition at line 579 of file Parameters.h.

    @@ -31452,7 +31548,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/InlierThreshold : 2.0 .

    -

    Definition at line 578 of file Parameters.h.

    +

    Definition at line 579 of file Parameters.h.

    @@ -31481,7 +31577,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 578 of file Parameters.h.

    +

    Definition at line 579 of file Parameters.h.

    @@ -31510,7 +31606,7 @@ 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 579 of file Parameters.h.

    +

    Definition at line 580 of file Parameters.h.

    @@ -31539,7 +31635,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/Reweighting : true .

    -

    Definition at line 579 of file Parameters.h.

    +

    Definition at line 580 of file Parameters.h.

    @@ -31568,7 +31664,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 579 of file Parameters.h.

    +

    Definition at line 580 of file Parameters.h.

    @@ -31597,7 +31693,7 @@ 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 580 of file Parameters.h.

    +

    Definition at line 581 of file Parameters.h.

    @@ -31626,7 +31722,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchNmsN : 3 .

    -

    Definition at line 580 of file Parameters.h.

    +

    Definition at line 581 of file Parameters.h.

    @@ -31655,7 +31751,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 580 of file Parameters.h.

    +

    Definition at line 581 of file Parameters.h.

    @@ -31684,7 +31780,7 @@ 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 581 of file Parameters.h.

    +

    Definition at line 582 of file Parameters.h.

    @@ -31713,7 +31809,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchNmsTau : 50 .

    -

    Definition at line 581 of file Parameters.h.

    +

    Definition at line 582 of file Parameters.h.

    @@ -31742,7 +31838,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 581 of file Parameters.h.

    +

    Definition at line 582 of file Parameters.h.

    @@ -31771,7 +31867,7 @@ 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 582 of file Parameters.h.

    +

    Definition at line 583 of file Parameters.h.

    @@ -31800,7 +31896,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchBinsize : 50 .

    -

    Definition at line 582 of file Parameters.h.

    +

    Definition at line 583 of file Parameters.h.

    @@ -31829,7 +31925,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 582 of file Parameters.h.

    +

    Definition at line 583 of file Parameters.h.

    @@ -31858,7 +31954,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 583 of file Parameters.h.

    +

    Definition at line 584 of file Parameters.h.

    @@ -31887,7 +31983,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchRadius : 200 .

    -

    Definition at line 583 of file Parameters.h.

    +

    Definition at line 584 of file Parameters.h.

    @@ -31916,7 +32012,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 583 of file Parameters.h.

    +

    Definition at line 584 of file Parameters.h.

    @@ -31945,7 +32041,7 @@ 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 584 of file Parameters.h.

    +

    Definition at line 585 of file Parameters.h.

    @@ -31974,7 +32070,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchDispTolerance : 2 .

    -

    Definition at line 584 of file Parameters.h.

    +

    Definition at line 585 of file Parameters.h.

    @@ -32003,7 +32099,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 584 of file Parameters.h.

    +

    Definition at line 585 of file Parameters.h.

    @@ -32032,7 +32128,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 585 of file Parameters.h.

    +

    Definition at line 586 of file Parameters.h.

    @@ -32061,7 +32157,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .

    -

    Definition at line 585 of file Parameters.h.

    +

    Definition at line 586 of file Parameters.h.

    @@ -32090,7 +32186,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 585 of file Parameters.h.

    +

    Definition at line 586 of file Parameters.h.

    @@ -32119,7 +32215,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 586 of file Parameters.h.

    +

    Definition at line 587 of file Parameters.h.

    @@ -32148,7 +32244,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .

    -

    Definition at line 586 of file Parameters.h.

    +

    Definition at line 587 of file Parameters.h.

    @@ -32177,7 +32273,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 586 of file Parameters.h.

    +

    Definition at line 587 of file Parameters.h.

    @@ -32206,7 +32302,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 587 of file Parameters.h.

    +

    Definition at line 588 of file Parameters.h.

    @@ -32235,7 +32331,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchMultiStage : true .

    -

    Definition at line 587 of file Parameters.h.

    +

    Definition at line 588 of file Parameters.h.

    @@ -32264,7 +32360,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 587 of file Parameters.h.

    +

    Definition at line 588 of file Parameters.h.

    @@ -32293,7 +32389,7 @@ 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 588 of file Parameters.h.

    +

    Definition at line 589 of file Parameters.h.

    @@ -32322,7 +32418,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchHalfResolution : true .

    -

    Definition at line 588 of file Parameters.h.

    +

    Definition at line 589 of file Parameters.h.

    @@ -32351,7 +32447,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 588 of file Parameters.h.

    +

    Definition at line 589 of file Parameters.h.

    @@ -32380,7 +32476,7 @@ 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 589 of file Parameters.h.

    +

    Definition at line 590 of file Parameters.h.

    @@ -32409,7 +32505,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/MatchRefinement : 1 .

    -

    Definition at line 589 of file Parameters.h.

    +

    Definition at line 590 of file Parameters.h.

    @@ -32438,7 +32534,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 589 of file Parameters.h.

    +

    Definition at line 590 of file Parameters.h.

    @@ -32467,7 +32563,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 590 of file Parameters.h.

    +

    Definition at line 591 of file Parameters.h.

    @@ -32496,7 +32592,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/BucketMaxFeatures : 2 .

    -

    Definition at line 590 of file Parameters.h.

    +

    Definition at line 591 of file Parameters.h.

    @@ -32525,7 +32621,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 590 of file Parameters.h.

    +

    Definition at line 591 of file Parameters.h.

    @@ -32554,7 +32650,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 591 of file Parameters.h.

    +

    Definition at line 592 of file Parameters.h.

    @@ -32583,7 +32679,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/BucketWidth : 50 .

    -

    Definition at line 591 of file Parameters.h.

    +

    Definition at line 592 of file Parameters.h.

    @@ -32612,7 +32708,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 591 of file Parameters.h.

    +

    Definition at line 592 of file Parameters.h.

    @@ -32641,7 +32737,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 592 of file Parameters.h.

    +

    Definition at line 593 of file Parameters.h.

    @@ -32670,7 +32766,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomViso2/BucketHeight : 50 .

    -

    Definition at line 592 of file Parameters.h.

    +

    Definition at line 593 of file Parameters.h.

    @@ -32699,7 +32795,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 592 of file Parameters.h.

    +

    Definition at line 593 of file Parameters.h.

    @@ -32728,7 +32824,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 595 of file Parameters.h.

    +

    Definition at line 596 of file Parameters.h.

    @@ -32757,7 +32853,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/VocPath : "" .

    -

    Definition at line 595 of file Parameters.h.

    +

    Definition at line 596 of file Parameters.h.

    @@ -32786,7 +32882,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 595 of file Parameters.h.

    +

    Definition at line 596 of file Parameters.h.

    @@ -32815,7 +32911,7 @@ 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 596 of file Parameters.h.

    +

    Definition at line 597 of file Parameters.h.

    @@ -32844,7 +32940,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/Bf : 0.076 .

    -

    Definition at line 596 of file Parameters.h.

    +

    Definition at line 597 of file Parameters.h.

    @@ -32873,7 +32969,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 596 of file Parameters.h.

    +

    Definition at line 597 of file Parameters.h.

    @@ -32902,7 +32998,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 597 of file Parameters.h.

    +

    Definition at line 598 of file Parameters.h.

    @@ -32931,7 +33027,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/ThDepth : 40.0 .

    -

    Definition at line 597 of file Parameters.h.

    +

    Definition at line 598 of file Parameters.h.

    @@ -32960,7 +33056,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 597 of file Parameters.h.

    +

    Definition at line 598 of file Parameters.h.

    @@ -32989,7 +33085,7 @@ 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 598 of file Parameters.h.

    +

    Definition at line 599 of file Parameters.h.

    @@ -33018,7 +33114,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/Fps : 0.0 .

    -

    Definition at line 598 of file Parameters.h.

    +

    Definition at line 599 of file Parameters.h.

    @@ -33047,7 +33143,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 598 of file Parameters.h.

    +

    Definition at line 599 of file Parameters.h.

    @@ -33076,7 +33172,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 599 of file Parameters.h.

    +

    Definition at line 600 of file Parameters.h.

    @@ -33105,7 +33201,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .

    -

    Definition at line 599 of file Parameters.h.

    +

    Definition at line 600 of file Parameters.h.

    @@ -33134,7 +33230,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 599 of file Parameters.h.

    +

    Definition at line 600 of file Parameters.h.

    @@ -33163,7 +33259,7 @@ 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 600 of file Parameters.h.

    +

    Definition at line 601 of file Parameters.h.

    @@ -33192,7 +33288,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/MapSize : 3000 .

    -

    Definition at line 600 of file Parameters.h.

    +

    Definition at line 601 of file Parameters.h.

    @@ -33221,7 +33317,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 600 of file Parameters.h.

    +

    Definition at line 601 of file Parameters.h.

    @@ -33250,7 +33346,7 @@ 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 601 of file Parameters.h.

    +

    Definition at line 602 of file Parameters.h.

    @@ -33279,7 +33375,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/Inertial : false .

    -

    Definition at line 601 of file Parameters.h.

    +

    Definition at line 602 of file Parameters.h.

    @@ -33308,7 +33404,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 601 of file Parameters.h.

    +

    Definition at line 602 of file Parameters.h.

    @@ -33337,7 +33433,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 602 of file Parameters.h.

    +

    Definition at line 603 of file Parameters.h.

    @@ -33366,7 +33462,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .

    -

    Definition at line 602 of file Parameters.h.

    +

    Definition at line 603 of file Parameters.h.

    @@ -33395,7 +33491,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 602 of file Parameters.h.

    +

    Definition at line 603 of file Parameters.h.

    @@ -33424,7 +33520,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 603 of file Parameters.h.

    +

    Definition at line 604 of file Parameters.h.

    @@ -33453,7 +33549,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/AccNoise : 0.1 .

    -

    Definition at line 603 of file Parameters.h.

    +

    Definition at line 604 of file Parameters.h.

    @@ -33482,7 +33578,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 603 of file Parameters.h.

    +

    Definition at line 604 of file Parameters.h.

    @@ -33511,7 +33607,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 604 of file Parameters.h.

    +

    Definition at line 605 of file Parameters.h.

    @@ -33540,7 +33636,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .

    -

    Definition at line 604 of file Parameters.h.

    +

    Definition at line 605 of file Parameters.h.

    @@ -33569,7 +33665,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 604 of file Parameters.h.

    +

    Definition at line 605 of file Parameters.h.

    @@ -33598,7 +33694,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 605 of file Parameters.h.

    +

    Definition at line 606 of file Parameters.h.

    @@ -33627,7 +33723,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .

    -

    Definition at line 605 of file Parameters.h.

    +

    Definition at line 606 of file Parameters.h.

    @@ -33656,7 +33752,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 605 of file Parameters.h.

    +

    Definition at line 606 of file Parameters.h.

    @@ -33685,7 +33781,7 @@ 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 606 of file Parameters.h.

    +

    Definition at line 607 of file Parameters.h.

    @@ -33714,7 +33810,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomORBSLAM/SamplingRate : 0 .

    -

    Definition at line 606 of file Parameters.h.

    +

    Definition at line 607 of file Parameters.h.

    @@ -33743,7 +33839,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 606 of file Parameters.h.

    +

    Definition at line 607 of file Parameters.h.

    @@ -33772,7 +33868,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 610 of file Parameters.h.

    +

    Definition at line 611 of file Parameters.h.

    @@ -33801,7 +33897,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOKVIS/ConfigPath : "" .

    -

    Definition at line 610 of file Parameters.h.

    +

    Definition at line 611 of file Parameters.h.

    @@ -33830,7 +33926,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 610 of file Parameters.h.

    +

    Definition at line 611 of file Parameters.h.

    @@ -33859,7 +33955,7 @@ 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 613 of file Parameters.h.

    +

    Definition at line 614 of file Parameters.h.

    @@ -33888,7 +33984,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/Sensor : 2 .

    -

    Definition at line 613 of file Parameters.h.

    +

    Definition at line 614 of file Parameters.h.

    @@ -33917,7 +34013,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 613 of file Parameters.h.

    +

    Definition at line 614 of file Parameters.h.

    @@ -33946,7 +34042,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 614 of file Parameters.h.

    +

    Definition at line 615 of file Parameters.h.

    @@ -33975,7 +34071,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/ScanPeriod : 0.1 .

    -

    Definition at line 614 of file Parameters.h.

    +

    Definition at line 615 of file Parameters.h.

    @@ -34004,7 +34100,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 614 of file Parameters.h.

    +

    Definition at line 615 of file Parameters.h.

    @@ -34033,7 +34129,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 615 of file Parameters.h.

    +

    Definition at line 616 of file Parameters.h.

    @@ -34062,7 +34158,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/Resolution : 0.2 .

    -

    Definition at line 615 of file Parameters.h.

    +

    Definition at line 616 of file Parameters.h.

    @@ -34091,7 +34187,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 615 of file Parameters.h.

    +

    Definition at line 616 of file Parameters.h.

    @@ -34120,7 +34216,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 616 of file Parameters.h.

    +

    Definition at line 617 of file Parameters.h.

    @@ -34149,7 +34245,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/LinVar : 0.01 .

    -

    Definition at line 616 of file Parameters.h.

    +

    Definition at line 617 of file Parameters.h.

    @@ -34178,7 +34274,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 616 of file Parameters.h.

    +

    Definition at line 617 of file Parameters.h.

    @@ -34207,7 +34303,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 617 of file Parameters.h.

    +

    Definition at line 618 of file Parameters.h.

    @@ -34236,7 +34332,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/AngVar : 0.01 .

    -

    Definition at line 617 of file Parameters.h.

    +

    Definition at line 618 of file Parameters.h.

    @@ -34265,7 +34361,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 617 of file Parameters.h.

    +

    Definition at line 618 of file Parameters.h.

    @@ -34294,7 +34390,7 @@ 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 618 of file Parameters.h.

    +

    Definition at line 619 of file Parameters.h.

    @@ -34323,7 +34419,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLOAM/LocalMapping : true .

    -

    Definition at line 618 of file Parameters.h.

    +

    Definition at line 619 of file Parameters.h.

    @@ -34352,7 +34448,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 618 of file Parameters.h.

    +

    Definition at line 619 of file Parameters.h.

    @@ -34381,7 +34477,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 621 of file Parameters.h.

    +

    Definition at line 622 of file Parameters.h.

    @@ -34410,7 +34506,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/GridRow : 4 .

    -

    Definition at line 621 of file Parameters.h.

    +

    Definition at line 622 of file Parameters.h.

    @@ -34439,7 +34535,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 621 of file Parameters.h.

    +

    Definition at line 622 of file Parameters.h.

    @@ -34468,7 +34564,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 622 of file Parameters.h.

    +

    Definition at line 623 of file Parameters.h.

    @@ -34497,7 +34593,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/GridCol : 5 .

    -

    Definition at line 622 of file Parameters.h.

    +

    Definition at line 623 of file Parameters.h.

    @@ -34526,7 +34622,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 622 of file Parameters.h.

    +

    Definition at line 623 of file Parameters.h.

    @@ -34555,7 +34651,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 623 of file Parameters.h.

    +

    Definition at line 624 of file Parameters.h.

    @@ -34584,7 +34680,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .

    -

    Definition at line 623 of file Parameters.h.

    +

    Definition at line 624 of file Parameters.h.

    @@ -34613,7 +34709,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 623 of file Parameters.h.

    +

    Definition at line 624 of file Parameters.h.

    @@ -34642,7 +34738,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 624 of file Parameters.h.

    +

    Definition at line 625 of file Parameters.h.

    @@ -34671,7 +34767,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .

    -

    Definition at line 624 of file Parameters.h.

    +

    Definition at line 625 of file Parameters.h.

    @@ -34700,7 +34796,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 624 of file Parameters.h.

    +

    Definition at line 625 of file Parameters.h.

    @@ -34729,7 +34825,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 625 of file Parameters.h.

    +

    Definition at line 626 of file Parameters.h.

    @@ -34758,7 +34854,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/PyramidLevels : 3 .

    -

    Definition at line 625 of file Parameters.h.

    +

    Definition at line 626 of file Parameters.h.

    @@ -34787,7 +34883,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 625 of file Parameters.h.

    +

    Definition at line 626 of file Parameters.h.

    @@ -34816,7 +34912,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 626 of file Parameters.h.

    +

    Definition at line 627 of file Parameters.h.

    @@ -34845,7 +34941,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/PatchSize : 15 .

    -

    Definition at line 626 of file Parameters.h.

    +

    Definition at line 627 of file Parameters.h.

    @@ -34874,7 +34970,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 626 of file Parameters.h.

    +

    Definition at line 627 of file Parameters.h.

    @@ -34903,7 +34999,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 627 of file Parameters.h.

    +

    Definition at line 628 of file Parameters.h.

    @@ -34932,7 +35028,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/FastThreshold : 10 .

    -

    Definition at line 627 of file Parameters.h.

    +

    Definition at line 628 of file Parameters.h.

    @@ -34961,7 +35057,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 627 of file Parameters.h.

    +

    Definition at line 628 of file Parameters.h.

    @@ -34990,7 +35086,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 628 of file Parameters.h.

    +

    Definition at line 629 of file Parameters.h.

    @@ -35019,7 +35115,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/MaxIteration : 30 .

    -

    Definition at line 628 of file Parameters.h.

    +

    Definition at line 629 of file Parameters.h.

    @@ -35048,7 +35144,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 628 of file Parameters.h.

    +

    Definition at line 629 of file Parameters.h.

    @@ -35077,7 +35173,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 629 of file Parameters.h.

    +

    Definition at line 630 of file Parameters.h.

    @@ -35106,7 +35202,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .

    -

    Definition at line 629 of file Parameters.h.

    +

    Definition at line 630 of file Parameters.h.

    @@ -35135,7 +35231,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 629 of file Parameters.h.

    +

    Definition at line 630 of file Parameters.h.

    @@ -35164,7 +35260,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 630 of file Parameters.h.

    +

    Definition at line 631 of file Parameters.h.

    @@ -35193,7 +35289,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/RansacThreshold : 3 .

    -

    Definition at line 630 of file Parameters.h.

    +

    Definition at line 631 of file Parameters.h.

    @@ -35222,7 +35318,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 630 of file Parameters.h.

    +

    Definition at line 631 of file Parameters.h.

    @@ -35251,7 +35347,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 631 of file Parameters.h.

    +

    Definition at line 632 of file Parameters.h.

    @@ -35280,7 +35376,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/StereoThreshold : 5 .

    -

    Definition at line 631 of file Parameters.h.

    +

    Definition at line 632 of file Parameters.h.

    @@ -35309,7 +35405,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 631 of file Parameters.h.

    +

    Definition at line 632 of file Parameters.h.

    @@ -35338,7 +35434,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 632 of file Parameters.h.

    +

    Definition at line 633 of file Parameters.h.

    @@ -35367,7 +35463,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .

    -

    Definition at line 632 of file Parameters.h.

    +

    Definition at line 633 of file Parameters.h.

    @@ -35396,7 +35492,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 632 of file Parameters.h.

    +

    Definition at line 633 of file Parameters.h.

    @@ -35425,7 +35521,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 633 of file Parameters.h.

    +

    Definition at line 634 of file Parameters.h.

    @@ -35454,7 +35550,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .

    -

    Definition at line 633 of file Parameters.h.

    +

    Definition at line 634 of file Parameters.h.

    @@ -35483,7 +35579,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 633 of file Parameters.h.

    +

    Definition at line 634 of file Parameters.h.

    @@ -35512,7 +35608,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 634 of file Parameters.h.

    +

    Definition at line 635 of file Parameters.h.

    @@ -35541,7 +35637,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .

    -

    Definition at line 634 of file Parameters.h.

    +

    Definition at line 635 of file Parameters.h.

    @@ -35570,7 +35666,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 634 of file Parameters.h.

    +

    Definition at line 635 of file Parameters.h.

    @@ -35599,7 +35695,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 635 of file Parameters.h.

    +

    Definition at line 636 of file Parameters.h.

    @@ -35628,7 +35724,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .

    -

    Definition at line 635 of file Parameters.h.

    +

    Definition at line 636 of file Parameters.h.

    @@ -35657,7 +35753,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 635 of file Parameters.h.

    +

    Definition at line 636 of file Parameters.h.

    @@ -35686,7 +35782,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 636 of file Parameters.h.

    +

    Definition at line 637 of file Parameters.h.

    @@ -35715,7 +35811,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .

    -

    Definition at line 636 of file Parameters.h.

    +

    Definition at line 637 of file Parameters.h.

    @@ -35744,7 +35840,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 636 of file Parameters.h.

    +

    Definition at line 637 of file Parameters.h.

    @@ -35773,7 +35869,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 637 of file Parameters.h.

    +

    Definition at line 638 of file Parameters.h.

    @@ -35802,7 +35898,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .

    -

    Definition at line 637 of file Parameters.h.

    +

    Definition at line 638 of file Parameters.h.

    @@ -35831,7 +35927,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 637 of file Parameters.h.

    +

    Definition at line 638 of file Parameters.h.

    @@ -35860,7 +35956,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 638 of file Parameters.h.

    +

    Definition at line 639 of file Parameters.h.

    @@ -35889,7 +35985,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .

    -

    Definition at line 638 of file Parameters.h.

    +

    Definition at line 639 of file Parameters.h.

    @@ -35918,7 +36014,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 638 of file Parameters.h.

    +

    Definition at line 639 of file Parameters.h.

    @@ -35947,7 +36043,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 639 of file Parameters.h.

    +

    Definition at line 640 of file Parameters.h.

    @@ -35976,7 +36072,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .

    -

    Definition at line 639 of file Parameters.h.

    +

    Definition at line 640 of file Parameters.h.

    @@ -36005,7 +36101,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 639 of file Parameters.h.

    +

    Definition at line 640 of file Parameters.h.

    @@ -36034,7 +36130,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 640 of file Parameters.h.

    +

    Definition at line 641 of file Parameters.h.

    @@ -36063,7 +36159,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .

    -

    Definition at line 640 of file Parameters.h.

    +

    Definition at line 641 of file Parameters.h.

    @@ -36092,7 +36188,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 640 of file Parameters.h.

    +

    Definition at line 641 of file Parameters.h.

    @@ -36121,7 +36217,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 641 of file Parameters.h.

    +

    Definition at line 642 of file Parameters.h.

    @@ -36150,7 +36246,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .

    -

    Definition at line 641 of file Parameters.h.

    +

    Definition at line 642 of file Parameters.h.

    @@ -36179,7 +36275,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 641 of file Parameters.h.

    +

    Definition at line 642 of file Parameters.h.

    @@ -36208,7 +36304,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 642 of file Parameters.h.

    +

    Definition at line 643 of file Parameters.h.

    @@ -36237,7 +36333,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/InitCovVel : 0.25 .

    -

    Definition at line 642 of file Parameters.h.

    +

    Definition at line 643 of file Parameters.h.

    @@ -36266,7 +36362,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 642 of file Parameters.h.

    +

    Definition at line 643 of file Parameters.h.

    @@ -36295,7 +36391,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 643 of file Parameters.h.

    +

    Definition at line 644 of file Parameters.h.

    @@ -36324,7 +36420,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .

    -

    Definition at line 643 of file Parameters.h.

    +

    Definition at line 644 of file Parameters.h.

    @@ -36353,7 +36449,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 643 of file Parameters.h.

    +

    Definition at line 644 of file Parameters.h.

    @@ -36382,7 +36478,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 644 of file Parameters.h.

    +

    Definition at line 645 of file Parameters.h.

    @@ -36411,7 +36507,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .

    -

    Definition at line 644 of file Parameters.h.

    +

    Definition at line 645 of file Parameters.h.

    @@ -36440,7 +36536,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 644 of file Parameters.h.

    +

    Definition at line 645 of file Parameters.h.

    @@ -36469,7 +36565,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 645 of file Parameters.h.

    +

    Definition at line 646 of file Parameters.h.

    @@ -36498,7 +36594,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .

    -

    Definition at line 645 of file Parameters.h.

    +

    Definition at line 646 of file Parameters.h.

    @@ -36527,7 +36623,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 645 of file Parameters.h.

    +

    Definition at line 646 of file Parameters.h.

    @@ -36556,7 +36652,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 646 of file Parameters.h.

    +

    Definition at line 647 of file Parameters.h.

    @@ -36585,7 +36681,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .

    -

    Definition at line 646 of file Parameters.h.

    +

    Definition at line 647 of file Parameters.h.

    @@ -36614,7 +36710,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 646 of file Parameters.h.

    +

    Definition at line 647 of file Parameters.h.

    @@ -36643,7 +36739,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 647 of file Parameters.h.

    +

    Definition at line 648 of file Parameters.h.

    @@ -36672,7 +36768,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .

    -

    Definition at line 647 of file Parameters.h.

    +

    Definition at line 648 of file Parameters.h.

    @@ -36701,7 +36797,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 647 of file Parameters.h.

    +

    Definition at line 648 of file Parameters.h.

    @@ -36730,7 +36826,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 650 of file Parameters.h.

    +

    Definition at line 651 of file Parameters.h.

    @@ -36759,7 +36855,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomVINSFusion/ConfigPath : "" .

    -

    Definition at line 650 of file Parameters.h.

    +

    Definition at line 651 of file Parameters.h.

    @@ -36788,7 +36884,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 650 of file Parameters.h.

    +

    Definition at line 651 of file Parameters.h.

    @@ -36817,7 +36913,7 @@ 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 653 of file Parameters.h.

    +

    Definition at line 654 of file Parameters.h.

    @@ -36846,7 +36942,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ConfigPath : "" .

    -

    Definition at line 653 of file Parameters.h.

    +

    Definition at line 654 of file Parameters.h.

    @@ -36875,7 +36971,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 653 of file Parameters.h.

    +

    Definition at line 654 of file Parameters.h.

    @@ -36904,7 +37000,7 @@ 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 654 of file Parameters.h.

    +

    Definition at line 655 of file Parameters.h.

    @@ -36933,7 +37029,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UseStereo : true .

    -

    Definition at line 654 of file Parameters.h.

    +

    Definition at line 655 of file Parameters.h.

    @@ -36962,7 +37058,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 654 of file Parameters.h.

    +

    Definition at line 655 of file Parameters.h.

    @@ -36991,7 +37087,7 @@ 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 655 of file Parameters.h.

    +

    Definition at line 656 of file Parameters.h.

    @@ -37020,7 +37116,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UseKLT : true .

    -

    Definition at line 655 of file Parameters.h.

    +

    Definition at line 656 of file Parameters.h.

    @@ -37049,7 +37145,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 655 of file Parameters.h.

    +

    Definition at line 656 of file Parameters.h.

    @@ -37078,7 +37174,7 @@ 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 656 of file Parameters.h.

    +

    Definition at line 657 of file Parameters.h.

    @@ -37107,7 +37203,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/NumPts : 200 .

    -

    Definition at line 656 of file Parameters.h.

    +

    Definition at line 657 of file Parameters.h.

    @@ -37136,7 +37232,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 656 of file Parameters.h.

    +

    Definition at line 657 of file Parameters.h.

    @@ -37165,7 +37261,7 @@ 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 657 of file Parameters.h.

    +

    Definition at line 658 of file Parameters.h.

    @@ -37194,7 +37290,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/MinPxDist : 15 .

    -

    Definition at line 657 of file Parameters.h.

    +

    Definition at line 658 of file Parameters.h.

    @@ -37223,7 +37319,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 657 of file Parameters.h.

    +

    Definition at line 658 of file Parameters.h.

    @@ -37252,7 +37348,7 @@ 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 658 of file Parameters.h.

    +

    Definition at line 659 of file Parameters.h.

    @@ -37281,7 +37377,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FiTriangulate1d : false .

    -

    Definition at line 658 of file Parameters.h.

    +

    Definition at line 659 of file Parameters.h.

    @@ -37310,7 +37406,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 658 of file Parameters.h.

    +

    Definition at line 659 of file Parameters.h.

    @@ -37339,7 +37435,7 @@ 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 659 of file Parameters.h.

    +

    Definition at line 660 of file Parameters.h.

    @@ -37368,7 +37464,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FiRefineFeatures : true .

    -

    Definition at line 659 of file Parameters.h.

    +

    Definition at line 660 of file Parameters.h.

    @@ -37397,7 +37493,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 659 of file Parameters.h.

    +

    Definition at line 660 of file Parameters.h.

    @@ -37426,7 +37522,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 660 of file Parameters.h.

    +

    Definition at line 661 of file Parameters.h.

    @@ -37455,7 +37551,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .

    -

    Definition at line 660 of file Parameters.h.

    +

    Definition at line 661 of file Parameters.h.

    @@ -37484,7 +37580,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 660 of file Parameters.h.

    +

    Definition at line 661 of file Parameters.h.

    @@ -37513,7 +37609,7 @@ 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 661 of file Parameters.h.

    +

    Definition at line 662 of file Parameters.h.

    @@ -37542,7 +37638,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .

    -

    Definition at line 661 of file Parameters.h.

    +

    Definition at line 662 of file Parameters.h.

    @@ -37571,7 +37667,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 661 of file Parameters.h.

    +

    Definition at line 662 of file Parameters.h.

    @@ -37600,7 +37696,7 @@ 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 662 of file Parameters.h.

    +

    Definition at line 663 of file Parameters.h.

    @@ -37629,7 +37725,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .

    -

    Definition at line 662 of file Parameters.h.

    +

    Definition at line 663 of file Parameters.h.

    @@ -37658,7 +37754,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 662 of file Parameters.h.

    +

    Definition at line 663 of file Parameters.h.

    @@ -37687,7 +37783,7 @@ 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 664 of file Parameters.h.

    +

    Definition at line 665 of file Parameters.h.

    @@ -37716,7 +37812,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UseFEJ : true .

    -

    Definition at line 664 of file Parameters.h.

    +

    Definition at line 665 of file Parameters.h.

    @@ -37745,7 +37841,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 664 of file Parameters.h.

    +

    Definition at line 665 of file Parameters.h.

    @@ -37774,7 +37870,7 @@ 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 665 of file Parameters.h.

    +

    Definition at line 666 of file Parameters.h.

    @@ -37803,7 +37899,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/Integration : 1 .

    -

    Definition at line 665 of file Parameters.h.

    +

    Definition at line 666 of file Parameters.h.

    @@ -37832,7 +37928,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 665 of file Parameters.h.

    +

    Definition at line 666 of file Parameters.h.

    @@ -37861,7 +37957,7 @@ 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 666 of file Parameters.h.

    +

    Definition at line 667 of file Parameters.h.

    @@ -37890,7 +37986,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .

    -

    Definition at line 666 of file Parameters.h.

    +

    Definition at line 667 of file Parameters.h.

    @@ -37919,7 +38015,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 666 of file Parameters.h.

    +

    Definition at line 667 of file Parameters.h.

    @@ -37948,7 +38044,7 @@ 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 667 of file Parameters.h.

    +

    Definition at line 668 of file Parameters.h.

    @@ -37977,7 +38073,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .

    -

    Definition at line 667 of file Parameters.h.

    +

    Definition at line 668 of file Parameters.h.

    @@ -38006,7 +38102,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 667 of file Parameters.h.

    +

    Definition at line 668 of file Parameters.h.

    @@ -38035,7 +38131,7 @@ 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 668 of file Parameters.h.

    +

    Definition at line 669 of file Parameters.h.

    @@ -38064,7 +38160,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .

    -

    Definition at line 668 of file Parameters.h.

    +

    Definition at line 669 of file Parameters.h.

    @@ -38093,7 +38189,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 668 of file Parameters.h.

    +

    Definition at line 669 of file Parameters.h.

    @@ -38122,7 +38218,7 @@ 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 669 of file Parameters.h.

    +

    Definition at line 670 of file Parameters.h.

    @@ -38151,7 +38247,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .

    -

    Definition at line 669 of file Parameters.h.

    +

    Definition at line 670 of file Parameters.h.

    @@ -38180,7 +38276,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 669 of file Parameters.h.

    +

    Definition at line 670 of file Parameters.h.

    @@ -38209,7 +38305,7 @@ 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 670 of file Parameters.h.

    +

    Definition at line 671 of file Parameters.h.

    @@ -38238,7 +38334,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .

    -

    Definition at line 670 of file Parameters.h.

    +

    Definition at line 671 of file Parameters.h.

    @@ -38267,7 +38363,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 670 of file Parameters.h.

    +

    Definition at line 671 of file Parameters.h.

    @@ -38296,7 +38392,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 671 of file Parameters.h.

    +

    Definition at line 672 of file Parameters.h.

    @@ -38325,7 +38421,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/MaxClones : 11 .

    -

    Definition at line 671 of file Parameters.h.

    +

    Definition at line 672 of file Parameters.h.

    @@ -38354,7 +38450,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 671 of file Parameters.h.

    +

    Definition at line 672 of file Parameters.h.

    @@ -38383,7 +38479,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 672 of file Parameters.h.

    +

    Definition at line 673 of file Parameters.h.

    @@ -38412,7 +38508,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/MaxSLAM : 50 .

    -

    Definition at line 672 of file Parameters.h.

    +

    Definition at line 673 of file Parameters.h.

    @@ -38441,7 +38537,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 672 of file Parameters.h.

    +

    Definition at line 673 of file Parameters.h.

    @@ -38470,7 +38566,7 @@ 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 673 of file Parameters.h.

    +

    Definition at line 674 of file Parameters.h.

    @@ -38499,7 +38595,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .

    -

    Definition at line 673 of file Parameters.h.

    +

    Definition at line 674 of file Parameters.h.

    @@ -38528,7 +38624,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 673 of file Parameters.h.

    +

    Definition at line 674 of file Parameters.h.

    @@ -38557,7 +38653,7 @@ 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 674 of file Parameters.h.

    +

    Definition at line 675 of file Parameters.h.

    @@ -38586,7 +38682,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .

    -

    Definition at line 674 of file Parameters.h.

    +

    Definition at line 675 of file Parameters.h.

    @@ -38615,7 +38711,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 674 of file Parameters.h.

    +

    Definition at line 675 of file Parameters.h.

    @@ -38644,7 +38740,7 @@ 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 675 of file Parameters.h.

    +

    Definition at line 676 of file Parameters.h.

    @@ -38673,7 +38769,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .

    -

    Definition at line 675 of file Parameters.h.

    +

    Definition at line 676 of file Parameters.h.

    @@ -38702,7 +38798,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 675 of file Parameters.h.

    +

    Definition at line 676 of file Parameters.h.

    @@ -38731,7 +38827,7 @@ 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 676 of file Parameters.h.

    +

    Definition at line 677 of file Parameters.h.

    @@ -38760,7 +38856,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .

    -

    Definition at line 676 of file Parameters.h.

    +

    Definition at line 677 of file Parameters.h.

    @@ -38789,7 +38885,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 676 of file Parameters.h.

    +

    Definition at line 677 of file Parameters.h.

    @@ -38818,7 +38914,7 @@ 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 677 of file Parameters.h.

    +

    Definition at line 678 of file Parameters.h.

    @@ -38847,7 +38943,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .

    -

    Definition at line 677 of file Parameters.h.

    +

    Definition at line 678 of file Parameters.h.

    @@ -38876,7 +38972,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 677 of file Parameters.h.

    +

    Definition at line 678 of file Parameters.h.

    @@ -38905,7 +39001,7 @@ 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 678 of file Parameters.h.

    +

    Definition at line 679 of file Parameters.h.

    @@ -38934,7 +39030,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/GravityMag : 9.81 .

    -

    Definition at line 678 of file Parameters.h.

    +

    Definition at line 679 of file Parameters.h.

    @@ -38963,7 +39059,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 678 of file Parameters.h.

    +

    Definition at line 679 of file Parameters.h.

    @@ -38992,7 +39088,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 679 of file Parameters.h.

    +

    Definition at line 680 of file Parameters.h.

    @@ -39021,7 +39117,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/LeftMaskPath : "" .

    -

    Definition at line 679 of file Parameters.h.

    +

    Definition at line 680 of file Parameters.h.

    @@ -39050,7 +39146,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 679 of file Parameters.h.

    +

    Definition at line 680 of file Parameters.h.

    @@ -39079,7 +39175,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 680 of file Parameters.h.

    +

    Definition at line 681 of file Parameters.h.

    @@ -39108,7 +39204,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/RightMaskPath : "" .

    -

    Definition at line 680 of file Parameters.h.

    +

    Definition at line 681 of file Parameters.h.

    @@ -39137,7 +39233,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 680 of file Parameters.h.

    +

    Definition at line 681 of file Parameters.h.

    @@ -39166,7 +39262,7 @@ 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 682 of file Parameters.h.

    +

    Definition at line 683 of file Parameters.h.

    @@ -39195,7 +39291,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .

    -

    Definition at line 682 of file Parameters.h.

    +

    Definition at line 683 of file Parameters.h.

    @@ -39224,7 +39320,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 682 of file Parameters.h.

    +

    Definition at line 683 of file Parameters.h.

    @@ -39253,7 +39349,7 @@ 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 683 of file Parameters.h.

    +

    Definition at line 684 of file Parameters.h.

    @@ -39282,7 +39378,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .

    -

    Definition at line 683 of file Parameters.h.

    +

    Definition at line 684 of file Parameters.h.

    @@ -39311,7 +39407,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 683 of file Parameters.h.

    +

    Definition at line 684 of file Parameters.h.

    @@ -39340,7 +39436,7 @@ 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 684 of file Parameters.h.

    +

    Definition at line 685 of file Parameters.h.

    @@ -39369,7 +39465,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .

    -

    Definition at line 684 of file Parameters.h.

    +

    Definition at line 685 of file Parameters.h.

    @@ -39398,7 +39494,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 684 of file Parameters.h.

    +

    Definition at line 685 of file Parameters.h.

    @@ -39427,7 +39523,7 @@ 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 685 of file Parameters.h.

    +

    Definition at line 686 of file Parameters.h.

    @@ -39456,7 +39552,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .

    -

    Definition at line 685 of file Parameters.h.

    +

    Definition at line 686 of file Parameters.h.

    @@ -39485,7 +39581,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 685 of file Parameters.h.

    +

    Definition at line 686 of file Parameters.h.

    @@ -39514,7 +39610,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 686 of file Parameters.h.

    +

    Definition at line 687 of file Parameters.h.

    @@ -39543,7 +39639,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynUse : false .

    -

    Definition at line 686 of file Parameters.h.

    +

    Definition at line 687 of file Parameters.h.

    @@ -39572,7 +39668,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 686 of file Parameters.h.

    +

    Definition at line 687 of file Parameters.h.

    @@ -39601,7 +39697,7 @@ 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 687 of file Parameters.h.

    +

    Definition at line 688 of file Parameters.h.

    @@ -39630,7 +39726,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .

    -

    Definition at line 687 of file Parameters.h.

    +

    Definition at line 688 of file Parameters.h.

    @@ -39659,7 +39755,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 687 of file Parameters.h.

    +

    Definition at line 688 of file Parameters.h.

    @@ -39688,7 +39784,7 @@ 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 688 of file Parameters.h.

    +

    Definition at line 689 of file Parameters.h.

    @@ -39717,7 +39813,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .

    -

    Definition at line 688 of file Parameters.h.

    +

    Definition at line 689 of file Parameters.h.

    @@ -39746,7 +39842,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 688 of file Parameters.h.

    +

    Definition at line 689 of file Parameters.h.

    @@ -39775,7 +39871,7 @@ 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 689 of file Parameters.h.

    +

    Definition at line 690 of file Parameters.h.

    @@ -39804,7 +39900,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .

    -

    Definition at line 689 of file Parameters.h.

    +

    Definition at line 690 of file Parameters.h.

    @@ -39833,7 +39929,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 689 of file Parameters.h.

    +

    Definition at line 690 of file Parameters.h.

    @@ -39862,7 +39958,7 @@ 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 690 of file Parameters.h.

    +

    Definition at line 691 of file Parameters.h.

    @@ -39891,7 +39987,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .

    -

    Definition at line 690 of file Parameters.h.

    +

    Definition at line 691 of file Parameters.h.

    @@ -39920,7 +40016,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 690 of file Parameters.h.

    +

    Definition at line 691 of file Parameters.h.

    @@ -39949,7 +40045,7 @@ 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 691 of file Parameters.h.

    +

    Definition at line 692 of file Parameters.h.

    @@ -39978,7 +40074,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .

    -

    Definition at line 691 of file Parameters.h.

    +

    Definition at line 692 of file Parameters.h.

    @@ -40007,7 +40103,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 691 of file Parameters.h.

    +

    Definition at line 692 of file Parameters.h.

    @@ -40036,7 +40132,7 @@ 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 692 of file Parameters.h.

    +

    Definition at line 693 of file Parameters.h.

    @@ -40065,7 +40161,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .

    -

    Definition at line 692 of file Parameters.h.

    +

    Definition at line 693 of file Parameters.h.

    @@ -40094,7 +40190,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 692 of file Parameters.h.

    +

    Definition at line 693 of file Parameters.h.

    @@ -40123,7 +40219,7 @@ 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 693 of file Parameters.h.

    +

    Definition at line 694 of file Parameters.h.

    @@ -40152,7 +40248,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .

    -

    Definition at line 693 of file Parameters.h.

    +

    Definition at line 694 of file Parameters.h.

    @@ -40181,7 +40277,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 693 of file Parameters.h.

    +

    Definition at line 694 of file Parameters.h.

    @@ -40210,7 +40306,7 @@ 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 694 of file Parameters.h.

    +

    Definition at line 695 of file Parameters.h.

    @@ -40239,7 +40335,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .

    -

    Definition at line 694 of file Parameters.h.

    +

    Definition at line 695 of file Parameters.h.

    @@ -40268,7 +40364,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 694 of file Parameters.h.

    +

    Definition at line 695 of file Parameters.h.

    @@ -40297,7 +40393,7 @@ 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 695 of file Parameters.h.

    +

    Definition at line 696 of file Parameters.h.

    @@ -40326,7 +40422,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .

    -

    Definition at line 695 of file Parameters.h.

    +

    Definition at line 696 of file Parameters.h.

    @@ -40355,7 +40451,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 695 of file Parameters.h.

    +

    Definition at line 696 of file Parameters.h.

    @@ -40384,7 +40480,7 @@ 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 696 of file Parameters.h.

    +

    Definition at line 697 of file Parameters.h.

    @@ -40413,7 +40509,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .

    -

    Definition at line 696 of file Parameters.h.

    +

    Definition at line 697 of file Parameters.h.

    @@ -40442,7 +40538,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 696 of file Parameters.h.

    +

    Definition at line 697 of file Parameters.h.

    @@ -40471,7 +40567,7 @@ 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 697 of file Parameters.h.

    +

    Definition at line 698 of file Parameters.h.

    @@ -40500,7 +40596,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .

    -

    Definition at line 697 of file Parameters.h.

    +

    Definition at line 698 of file Parameters.h.

    @@ -40529,7 +40625,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 697 of file Parameters.h.

    +

    Definition at line 698 of file Parameters.h.

    @@ -40558,7 +40654,7 @@ 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 699 of file Parameters.h.

    +

    Definition at line 700 of file Parameters.h.

    @@ -40587,7 +40683,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/TryZUPT : true .

    -

    Definition at line 699 of file Parameters.h.

    +

    Definition at line 700 of file Parameters.h.

    @@ -40616,7 +40712,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 699 of file Parameters.h.

    +

    Definition at line 700 of file Parameters.h.

    @@ -40645,7 +40741,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).

    -

    Definition at line 700 of file Parameters.h.

    +

    Definition at line 701 of file Parameters.h.

    @@ -40674,7 +40770,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .

    -

    Definition at line 700 of file Parameters.h.

    +

    Definition at line 701 of file Parameters.h.

    @@ -40703,7 +40799,7 @@ The Parameter reference page, which lis

    Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .

    -

    Definition at line 700 of file Parameters.h.

    +

    Definition at line 701 of file Parameters.h.

    @@ -40732,7 +40828,7 @@ 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 701 of file Parameters.h.

    +

    Definition at line 702 of file Parameters.h.

    @@ -40761,7 +40857,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .

    -

    Definition at line 701 of file Parameters.h.

    +

    Definition at line 702 of file Parameters.h.

    @@ -40790,7 +40886,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 701 of file Parameters.h.

    +

    Definition at line 702 of file Parameters.h.

    @@ -40819,7 +40915,7 @@ 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 702 of file Parameters.h.

    +

    Definition at line 703 of file Parameters.h.

    @@ -40848,7 +40944,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .

    -

    Definition at line 702 of file Parameters.h.

    +

    Definition at line 703 of file Parameters.h.

    @@ -40877,7 +40973,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 702 of file Parameters.h.

    +

    Definition at line 703 of file Parameters.h.

    @@ -40906,7 +41002,7 @@ 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 703 of file Parameters.h.

    +

    Definition at line 704 of file Parameters.h.

    @@ -40935,7 +41031,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .

    -

    Definition at line 703 of file Parameters.h.

    +

    Definition at line 704 of file Parameters.h.

    @@ -40964,7 +41060,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 703 of file Parameters.h.

    +

    Definition at line 704 of file Parameters.h.

    @@ -40993,7 +41089,7 @@ 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 704 of file Parameters.h.

    +

    Definition at line 705 of file Parameters.h.

    @@ -41022,7 +41118,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .

    -

    Definition at line 704 of file Parameters.h.

    +

    Definition at line 705 of file Parameters.h.

    @@ -41051,7 +41147,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 704 of file Parameters.h.

    +

    Definition at line 705 of file Parameters.h.

    @@ -41080,7 +41176,7 @@ 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 706 of file Parameters.h.

    +

    Definition at line 707 of file Parameters.h.

    @@ -41109,7 +41205,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .

    -

    Definition at line 706 of file Parameters.h.

    +

    Definition at line 707 of file Parameters.h.

    @@ -41138,7 +41234,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 706 of file Parameters.h.

    +

    Definition at line 707 of file Parameters.h.

    @@ -41167,7 +41263,7 @@ 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 707 of file Parameters.h.

    +

    Definition at line 708 of file Parameters.h.

    @@ -41196,7 +41292,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .

    -

    Definition at line 707 of file Parameters.h.

    +

    Definition at line 708 of file Parameters.h.

    @@ -41225,7 +41321,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 707 of file Parameters.h.

    +

    Definition at line 708 of file Parameters.h.

    @@ -41254,7 +41350,7 @@ 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 708 of file Parameters.h.

    +

    Definition at line 709 of file Parameters.h.

    @@ -41283,7 +41379,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .

    -

    Definition at line 708 of file Parameters.h.

    +

    Definition at line 709 of file Parameters.h.

    @@ -41312,7 +41408,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 708 of file Parameters.h.

    +

    Definition at line 709 of file Parameters.h.

    @@ -41341,7 +41437,7 @@ 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 709 of file Parameters.h.

    +

    Definition at line 710 of file Parameters.h.

    @@ -41370,7 +41466,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .

    -

    Definition at line 709 of file Parameters.h.

    +

    Definition at line 710 of file Parameters.h.

    @@ -41399,7 +41495,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 709 of file Parameters.h.

    +

    Definition at line 710 of file Parameters.h.

    @@ -41428,7 +41524,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).

    -

    Definition at line 710 of file Parameters.h.

    +

    Definition at line 711 of file Parameters.h.

    @@ -41457,7 +41553,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .

    -

    Definition at line 710 of file Parameters.h.

    +

    Definition at line 711 of file Parameters.h.

    @@ -41486,7 +41582,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 710 of file Parameters.h.

    +

    Definition at line 711 of file Parameters.h.

    @@ -41515,7 +41611,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).

    -

    Definition at line 711 of file Parameters.h.

    +

    Definition at line 712 of file Parameters.h.

    @@ -41544,7 +41640,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .

    -

    Definition at line 711 of file Parameters.h.

    +

    Definition at line 712 of file Parameters.h.

    @@ -41573,7 +41669,7 @@ The Parameter reference page, which lis

    Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .

    -

    Definition at line 711 of file Parameters.h.

    +

    Definition at line 712 of file Parameters.h.

    @@ -41602,7 +41698,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).

    -

    Definition at line 712 of file Parameters.h.

    +

    Definition at line 713 of file Parameters.h.

    @@ -41631,7 +41727,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .

    -

    Definition at line 712 of file Parameters.h.

    +

    Definition at line 713 of file Parameters.h.

    @@ -41660,7 +41756,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 712 of file Parameters.h.

    +

    Definition at line 713 of file Parameters.h.

    @@ -41689,7 +41785,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).

    -

    Definition at line 713 of file Parameters.h.

    +

    Definition at line 714 of file Parameters.h.

    @@ -41718,7 +41814,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .

    -

    Definition at line 713 of file Parameters.h.

    +

    Definition at line 714 of file Parameters.h.

    @@ -41747,7 +41843,7 @@ The Parameter reference page, which lis

    Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .

    -

    Definition at line 713 of file Parameters.h.

    +

    Definition at line 714 of file Parameters.h.

    @@ -41776,7 +41872,7 @@ The Parameter reference page, which lis

    Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).

    -

    Definition at line 716 of file Parameters.h.

    +

    Definition at line 717 of file Parameters.h.

    @@ -41805,7 +41901,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpen3D/MaxDepth : 3.0 .

    -

    Definition at line 716 of file Parameters.h.

    +

    Definition at line 717 of file Parameters.h.

    @@ -41834,7 +41930,7 @@ The Parameter reference page, which lis

    Type of parameter OdomOpen3D/MaxDepth , as a string: float .

    -

    Definition at line 716 of file Parameters.h.

    +

    Definition at line 717 of file Parameters.h.

    @@ -41863,7 +41959,7 @@ 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 717 of file Parameters.h.

    +

    Definition at line 718 of file Parameters.h.

    @@ -41892,7 +41988,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomOpen3D/Method : 0 .

    -

    Definition at line 717 of file Parameters.h.

    +

    Definition at line 718 of file Parameters.h.

    @@ -41921,7 +42017,7 @@ The Parameter reference page, which lis

    Type of parameter OdomOpen3D/Method , as a string: int .

    -

    Definition at line 717 of file Parameters.h.

    +

    Definition at line 718 of file Parameters.h.

    @@ -41950,7 +42046,7 @@ 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 720 of file Parameters.h.

    +

    Definition at line 721 of file Parameters.h.

    @@ -41979,7 +42075,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomCuVSLAM/MulticamMode : 0 .

    -

    Definition at line 720 of file Parameters.h.

    +

    Definition at line 721 of file Parameters.h.

    @@ -42008,7 +42104,7 @@ The Parameter reference page, which lis

    Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .

    -

    Definition at line 720 of file Parameters.h.

    +

    Definition at line 721 of file Parameters.h.

    @@ -42037,7 +42133,7 @@ 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 723 of file Parameters.h.

    +

    Definition at line 724 of file Parameters.h.

    @@ -42066,7 +42162,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ConfigPath : "" .

    -

    Definition at line 723 of file Parameters.h.

    +

    Definition at line 724 of file Parameters.h.

    @@ -42095,7 +42191,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 723 of file Parameters.h.

    +

    Definition at line 724 of file Parameters.h.

    @@ -42124,7 +42220,7 @@ 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 724 of file Parameters.h.

    +

    Definition at line 725 of file Parameters.h.

    @@ -42153,7 +42249,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/Sensor : 0 .

    -

    Definition at line 724 of file Parameters.h.

    +

    Definition at line 725 of file Parameters.h.

    @@ -42182,7 +42278,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 724 of file Parameters.h.

    +

    Definition at line 725 of file Parameters.h.

    @@ -42211,7 +42307,7 @@ 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 725 of file Parameters.h.

    +

    Definition at line 726 of file Parameters.h.

    @@ -42240,7 +42336,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/NScan : 16 .

    -

    Definition at line 725 of file Parameters.h.

    +

    Definition at line 726 of file Parameters.h.

    @@ -42269,7 +42365,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/NScan , as a string: int .

    -

    Definition at line 725 of file Parameters.h.

    +

    Definition at line 726 of file Parameters.h.

    @@ -42298,7 +42394,7 @@ 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 726 of file Parameters.h.

    +

    Definition at line 727 of file Parameters.h.

    @@ -42327,7 +42423,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/HorizonScan : 1800 .

    -

    Definition at line 726 of file Parameters.h.

    +

    Definition at line 727 of file Parameters.h.

    @@ -42356,7 +42452,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/HorizonScan , as a string: int .

    -

    Definition at line 726 of file Parameters.h.

    +

    Definition at line 727 of file Parameters.h.

    @@ -42385,7 +42481,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).

    -

    Definition at line 727 of file Parameters.h.

    +

    Definition at line 728 of file Parameters.h.

    @@ -42414,7 +42510,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .

    -

    Definition at line 727 of file Parameters.h.

    +

    Definition at line 728 of file Parameters.h.

    @@ -42443,7 +42539,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .

    -

    Definition at line 727 of file Parameters.h.

    +

    Definition at line 728 of file Parameters.h.

    @@ -42472,7 +42568,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).

    -

    Definition at line 728 of file Parameters.h.

    +

    Definition at line 729 of file Parameters.h.

    @@ -42501,7 +42597,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .

    -

    Definition at line 728 of file Parameters.h.

    +

    Definition at line 729 of file Parameters.h.

    @@ -42530,7 +42626,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .

    -

    Definition at line 728 of file Parameters.h.

    +

    Definition at line 729 of file Parameters.h.

    @@ -42559,7 +42655,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).

    -

    Definition at line 729 of file Parameters.h.

    +

    Definition at line 730 of file Parameters.h.

    @@ -42588,7 +42684,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .

    -

    Definition at line 729 of file Parameters.h.

    +

    Definition at line 730 of file Parameters.h.

    @@ -42617,7 +42713,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .

    -

    Definition at line 729 of file Parameters.h.

    +

    Definition at line 730 of file Parameters.h.

    @@ -42646,7 +42742,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).

    -

    Definition at line 730 of file Parameters.h.

    +

    Definition at line 731 of file Parameters.h.

    @@ -42675,7 +42771,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .

    -

    Definition at line 730 of file Parameters.h.

    +

    Definition at line 731 of file Parameters.h.

    @@ -42704,7 +42800,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .

    -

    Definition at line 730 of file Parameters.h.

    +

    Definition at line 731 of file Parameters.h.

    @@ -42733,7 +42829,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).

    -

    Definition at line 731 of file Parameters.h.

    +

    Definition at line 732 of file Parameters.h.

    @@ -42762,7 +42858,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .

    -

    Definition at line 731 of file Parameters.h.

    +

    Definition at line 732 of file Parameters.h.

    @@ -42791,7 +42887,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 731 of file Parameters.h.

    +

    Definition at line 732 of file Parameters.h.

    @@ -42820,7 +42916,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).

    -

    Definition at line 732 of file Parameters.h.

    +

    Definition at line 733 of file Parameters.h.

    @@ -42849,7 +42945,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .

    -

    Definition at line 732 of file Parameters.h.

    +

    Definition at line 733 of file Parameters.h.

    @@ -42878,7 +42974,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .

    -

    Definition at line 732 of file Parameters.h.

    +

    Definition at line 733 of file Parameters.h.

    @@ -42907,7 +43003,7 @@ The Parameter reference page, which lis

    Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).

    -

    Definition at line 733 of file Parameters.h.

    +

    Definition at line 734 of file Parameters.h.

    @@ -42936,7 +43032,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .

    -

    Definition at line 733 of file Parameters.h.

    +

    Definition at line 734 of file Parameters.h.

    @@ -42965,7 +43061,7 @@ The Parameter reference page, which lis

    Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .

    -

    Definition at line 733 of file Parameters.h.

    +

    Definition at line 734 of file Parameters.h.

    @@ -42994,7 +43090,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 734 of file Parameters.h.

    +

    Definition at line 735 of file Parameters.h.

    @@ -43023,7 +43119,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/LinVar : 0.01 .

    -

    Definition at line 734 of file Parameters.h.

    +

    Definition at line 735 of file Parameters.h.

    @@ -43052,7 +43148,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 734 of file Parameters.h.

    +

    Definition at line 735 of file Parameters.h.

    @@ -43081,7 +43177,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 735 of file Parameters.h.

    +

    Definition at line 736 of file Parameters.h.

    @@ -43110,7 +43206,7 @@ The Parameter reference page, which lis

    Default value of parameter OdomLIOSAM/AngVar : 0.01 .

    -

    Definition at line 735 of file Parameters.h.

    +

    Definition at line 736 of file Parameters.h.

    @@ -43139,7 +43235,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 735 of file Parameters.h.

    +

    Definition at line 736 of file Parameters.h.

    @@ -43168,7 +43264,7 @@ 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 738 of file Parameters.h.

    +

    Definition at line 739 of file Parameters.h.

    @@ -43197,7 +43293,7 @@ The Parameter reference page, which lis

    Default value of parameter Reg/RepeatOnce : true .

    -

    Definition at line 738 of file Parameters.h.

    +

    Definition at line 739 of file Parameters.h.

    @@ -43226,7 +43322,7 @@ The Parameter reference page, which lis

    Type of parameter Reg/RepeatOnce , as a string: bool .

    -

    Definition at line 738 of file Parameters.h.

    +

    Definition at line 739 of file Parameters.h.

    @@ -43255,7 +43351,7 @@ The Parameter reference page, which lis

    Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).

    -

    Definition at line 739 of file Parameters.h.

    +

    Definition at line 740 of file Parameters.h.

    @@ -43284,7 +43380,7 @@ The Parameter reference page, which lis

    Default value of parameter Reg/Strategy : 0 .

    -

    Definition at line 739 of file Parameters.h.

    +

    Definition at line 740 of file Parameters.h.

    @@ -43313,7 +43409,7 @@ The Parameter reference page, which lis

    Type of parameter Reg/Strategy , as a string: int .

    -

    Definition at line 739 of file Parameters.h.

    +

    Definition at line 740 of file Parameters.h.

    @@ -43342,7 +43438,7 @@ 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 740 of file Parameters.h.

    +

    Definition at line 741 of file Parameters.h.

    @@ -43371,7 +43467,7 @@ The Parameter reference page, which lis

    Default value of parameter Reg/Force3DoF : false .

    -

    Definition at line 740 of file Parameters.h.

    +

    Definition at line 741 of file Parameters.h.

    @@ -43400,7 +43496,7 @@ The Parameter reference page, which lis

    Type of parameter Reg/Force3DoF , as a string: bool .

    -

    Definition at line 740 of file Parameters.h.

    +

    Definition at line 741 of file Parameters.h.

    @@ -43429,7 +43525,7 @@ 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 743 of file Parameters.h.

    +

    Definition at line 744 of file Parameters.h.

    @@ -43458,7 +43554,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/EstimationType : 1 .

    -

    Definition at line 743 of file Parameters.h.

    +

    Definition at line 744 of file Parameters.h.

    @@ -43487,7 +43583,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/EstimationType , as a string: int .

    -

    Definition at line 743 of file Parameters.h.

    +

    Definition at line 744 of file Parameters.h.

    @@ -43516,7 +43612,7 @@ 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 744 of file Parameters.h.

    +

    Definition at line 745 of file Parameters.h.

    @@ -43545,7 +43641,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/InlierDistance : 0.1 .

    -

    Definition at line 744 of file Parameters.h.

    +

    Definition at line 745 of file Parameters.h.

    @@ -43574,7 +43670,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/InlierDistance , as a string: float .

    -

    Definition at line 744 of file Parameters.h.

    +

    Definition at line 745 of file Parameters.h.

    @@ -43603,7 +43699,7 @@ 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 745 of file Parameters.h.

    +

    Definition at line 746 of file Parameters.h.

    @@ -43632,7 +43728,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/RefineIterations : 5 .

    -

    Definition at line 745 of file Parameters.h.

    +

    Definition at line 746 of file Parameters.h.

    @@ -43661,7 +43757,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/RefineIterations , as a string: int .

    -

    Definition at line 745 of file Parameters.h.

    +

    Definition at line 746 of file Parameters.h.

    @@ -43690,7 +43786,7 @@ 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 746 of file Parameters.h.

    +

    Definition at line 747 of file Parameters.h.

    @@ -43719,7 +43815,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPReprojError : 2 .

    -

    Definition at line 746 of file Parameters.h.

    +

    Definition at line 747 of file Parameters.h.

    @@ -43748,7 +43844,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPReprojError , as a string: float .

    -

    Definition at line 746 of file Parameters.h.

    +

    Definition at line 747 of file Parameters.h.

    @@ -43777,7 +43873,7 @@ 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 747 of file Parameters.h.

    +

    Definition at line 748 of file Parameters.h.

    @@ -43806,7 +43902,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPFlags : 0 .

    -

    Definition at line 747 of file Parameters.h.

    +

    Definition at line 748 of file Parameters.h.

    @@ -43835,7 +43931,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPFlags , as a string: int .

    -

    Definition at line 747 of file Parameters.h.

    +

    Definition at line 748 of file Parameters.h.

    @@ -43864,7 +43960,7 @@ 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 751 of file Parameters.h.

    +

    Definition at line 752 of file Parameters.h.

    @@ -43893,7 +43989,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPRefineIterations : 1 .

    -

    Definition at line 751 of file Parameters.h.

    +

    Definition at line 752 of file Parameters.h.

    @@ -43922,7 +44018,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPRefineIterations , as a string: int .

    -

    Definition at line 751 of file Parameters.h.

    +

    Definition at line 752 of file Parameters.h.

    @@ -43951,7 +44047,7 @@ 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 753 of file Parameters.h.

    +

    Definition at line 754 of file Parameters.h.

    @@ -43980,7 +44076,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPVarianceMedianRatio : 4 .

    -

    Definition at line 753 of file Parameters.h.

    +

    Definition at line 754 of file Parameters.h.

    @@ -44009,7 +44105,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .

    -

    Definition at line 753 of file Parameters.h.

    +

    Definition at line 754 of file Parameters.h.

    @@ -44038,7 +44134,7 @@ 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 754 of file Parameters.h.

    +

    Definition at line 755 of file Parameters.h.

    @@ -44067,7 +44163,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPMaxVariance : 0.0 .

    -

    Definition at line 754 of file Parameters.h.

    +

    Definition at line 755 of file Parameters.h.

    @@ -44096,7 +44192,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPMaxVariance , as a string: float .

    -

    Definition at line 754 of file Parameters.h.

    +

    Definition at line 755 of file Parameters.h.

    @@ -44125,7 +44221,7 @@ 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 755 of file Parameters.h.

    +

    Definition at line 756 of file Parameters.h.

    @@ -44154,7 +44250,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPSamplingPolicy : 1 .

    -

    Definition at line 755 of file Parameters.h.

    +

    Definition at line 756 of file Parameters.h.

    @@ -44183,7 +44279,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .

    -

    Definition at line 755 of file Parameters.h.

    +

    Definition at line 756 of file Parameters.h.

    @@ -44212,7 +44308,7 @@ 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 756 of file Parameters.h.

    +

    Definition at line 757 of file Parameters.h.

    @@ -44241,7 +44337,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/PnPSplitLinearCovComponents : false .

    -

    Definition at line 756 of file Parameters.h.

    +

    Definition at line 757 of file Parameters.h.

    @@ -44270,7 +44366,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .

    -

    Definition at line 756 of file Parameters.h.

    +

    Definition at line 757 of file Parameters.h.

    @@ -44299,7 +44395,7 @@ 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 758 of file Parameters.h.

    +

    Definition at line 759 of file Parameters.h.

    @@ -44328,7 +44424,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/EpipolarGeometryVar : 0.1 .

    -

    Definition at line 758 of file Parameters.h.

    +

    Definition at line 759 of file Parameters.h.

    @@ -44357,7 +44453,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/EpipolarGeometryVar , as a string: float .

    -

    Definition at line 758 of file Parameters.h.

    +

    Definition at line 759 of file Parameters.h.

    @@ -44386,7 +44482,7 @@ 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 759 of file Parameters.h.

    +

    Definition at line 760 of file Parameters.h.

    @@ -44415,7 +44511,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MinInliers : 20 .

    -

    Definition at line 759 of file Parameters.h.

    +

    Definition at line 760 of file Parameters.h.

    @@ -44444,7 +44540,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/MinInliers , as a string: int .

    -

    Definition at line 759 of file Parameters.h.

    +

    Definition at line 760 of file Parameters.h.

    @@ -44473,7 +44569,7 @@ 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 760 of file Parameters.h.

    +

    Definition at line 761 of file Parameters.h.

    @@ -44502,7 +44598,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MeanInliersDistance : 0.0 .

    -

    Definition at line 760 of file Parameters.h.

    +

    Definition at line 761 of file Parameters.h.

    @@ -44531,7 +44627,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/MeanInliersDistance , as a string: float .

    -

    Definition at line 760 of file Parameters.h.

    +

    Definition at line 761 of file Parameters.h.

    @@ -44560,7 +44656,7 @@ 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 761 of file Parameters.h.

    +

    Definition at line 762 of file Parameters.h.

    @@ -44589,7 +44685,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MinInliersDistribution : 0.0 .

    -

    Definition at line 761 of file Parameters.h.

    +

    Definition at line 762 of file Parameters.h.

    @@ -44618,7 +44714,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/MinInliersDistribution , as a string: float .

    -

    Definition at line 761 of file Parameters.h.

    +

    Definition at line 762 of file Parameters.h.

    @@ -44647,7 +44743,7 @@ The Parameter reference page, which lis

    Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).

    -

    Definition at line 763 of file Parameters.h.

    +

    Definition at line 764 of file Parameters.h.

    @@ -44676,7 +44772,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/Iterations : 300 .

    -

    Definition at line 763 of file Parameters.h.

    +

    Definition at line 764 of file Parameters.h.

    @@ -44705,7 +44801,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/Iterations , as a string: int .

    -

    Definition at line 763 of file Parameters.h.

    +

    Definition at line 764 of file Parameters.h.

    @@ -44734,7 +44830,7 @@ 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 768 of file Parameters.h.

    +

    Definition at line 769 of file Parameters.h.

    @@ -44763,7 +44859,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/FeatureType : 6 .

    -

    Definition at line 768 of file Parameters.h.

    +

    Definition at line 769 of file Parameters.h.

    @@ -44792,7 +44888,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/FeatureType , as a string: int .

    -

    Definition at line 768 of file Parameters.h.

    +

    Definition at line 769 of file Parameters.h.

    @@ -44821,7 +44917,7 @@ The Parameter reference page, which lis

    Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).

    -

    Definition at line 770 of file Parameters.h.

    +

    Definition at line 771 of file Parameters.h.

    @@ -44850,7 +44946,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MaxFeatures : 1000 .

    -

    Definition at line 770 of file Parameters.h.

    +

    Definition at line 771 of file Parameters.h.

    @@ -44879,7 +44975,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 770 of file Parameters.h.

    +

    Definition at line 771 of file Parameters.h.

    @@ -44908,7 +45004,7 @@ 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 771 of file Parameters.h.

    +

    Definition at line 772 of file Parameters.h.

    @@ -44937,7 +45033,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/SSC : false .

    -

    Definition at line 771 of file Parameters.h.

    +

    Definition at line 772 of file Parameters.h.

    @@ -44966,7 +45062,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/SSC , as a string: bool .

    -

    Definition at line 771 of file Parameters.h.

    +

    Definition at line 772 of file Parameters.h.

    @@ -44995,7 +45091,7 @@ 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 772 of file Parameters.h.

    +

    Definition at line 773 of file Parameters.h.

    @@ -45024,7 +45120,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MaxDepth : 0 .

    -

    Definition at line 772 of file Parameters.h.

    +

    Definition at line 773 of file Parameters.h.

    @@ -45053,7 +45149,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/MaxDepth , as a string: float .

    -

    Definition at line 772 of file Parameters.h.

    +

    Definition at line 773 of file Parameters.h.

    @@ -45082,7 +45178,7 @@ 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 773 of file Parameters.h.

    +

    Definition at line 774 of file Parameters.h.

    @@ -45111,7 +45207,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/MinDepth : 0 .

    -

    Definition at line 773 of file Parameters.h.

    +

    Definition at line 774 of file Parameters.h.

    @@ -45140,7 +45236,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/MinDepth , as a string: float .

    -

    Definition at line 773 of file Parameters.h.

    +

    Definition at line 774 of file Parameters.h.

    @@ -45169,7 +45265,7 @@ 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 774 of file Parameters.h.

    +

    Definition at line 775 of file Parameters.h.

    @@ -45198,7 +45294,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/DepthAsMask : true .

    -

    Definition at line 774 of file Parameters.h.

    +

    Definition at line 775 of file Parameters.h.

    @@ -45227,7 +45323,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/DepthAsMask , as a string: bool .

    -

    Definition at line 774 of file Parameters.h.

    +

    Definition at line 775 of file Parameters.h.

    @@ -45256,7 +45352,7 @@ 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 775 of file Parameters.h.

    +

    Definition at line 776 of file Parameters.h.

    @@ -45285,7 +45381,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/DepthMaskFloorThr : 0.0 .

    -

    Definition at line 775 of file Parameters.h.

    +

    Definition at line 776 of file Parameters.h.

    @@ -45314,7 +45410,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/DepthMaskFloorThr , as a string: float .

    -

    Definition at line 775 of file Parameters.h.

    +

    Definition at line 776 of file Parameters.h.

    @@ -45343,7 +45439,7 @@ 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 776 of file Parameters.h.

    +

    Definition at line 777 of file Parameters.h.

    @@ -45372,7 +45468,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .

    -

    Definition at line 776 of file Parameters.h.

    +

    Definition at line 777 of file Parameters.h.

    @@ -45401,7 +45497,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/RoiRatios , as a string: string.

    -

    Definition at line 776 of file Parameters.h.

    +

    Definition at line 777 of file Parameters.h.

    @@ -45430,7 +45526,7 @@ The Parameter reference page, which lis

    Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

    -

    Definition at line 777 of file Parameters.h.

    +

    Definition at line 778 of file Parameters.h.

    @@ -45459,7 +45555,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/SubPixWinSize : 3 .

    -

    Definition at line 777 of file Parameters.h.

    +

    Definition at line 778 of file Parameters.h.

    @@ -45488,7 +45584,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/SubPixWinSize , as a string: int .

    -

    Definition at line 777 of file Parameters.h.

    +

    Definition at line 778 of file Parameters.h.

    @@ -45517,7 +45613,7 @@ 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 778 of file Parameters.h.

    +

    Definition at line 779 of file Parameters.h.

    @@ -45546,7 +45642,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/SubPixIterations : 0 .

    -

    Definition at line 778 of file Parameters.h.

    +

    Definition at line 779 of file Parameters.h.

    @@ -45575,7 +45671,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/SubPixIterations , as a string: int .

    -

    Definition at line 778 of file Parameters.h.

    +

    Definition at line 779 of file Parameters.h.

    @@ -45604,7 +45700,7 @@ The Parameter reference page, which lis

    Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).

    -

    Definition at line 779 of file Parameters.h.

    +

    Definition at line 780 of file Parameters.h.

    @@ -45633,7 +45729,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/SubPixEps : 0.02 .

    -

    Definition at line 779 of file Parameters.h.

    +

    Definition at line 780 of file Parameters.h.

    @@ -45662,7 +45758,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/SubPixEps , as a string: float .

    -

    Definition at line 779 of file Parameters.h.

    +

    Definition at line 780 of file Parameters.h.

    @@ -45691,7 +45787,7 @@ 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 780 of file Parameters.h.

    +

    Definition at line 781 of file Parameters.h.

    @@ -45720,7 +45816,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/GridRows : 1 .

    -

    Definition at line 780 of file Parameters.h.

    +

    Definition at line 781 of file Parameters.h.

    @@ -45749,7 +45845,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/GridRows , as a string: int .

    -

    Definition at line 780 of file Parameters.h.

    +

    Definition at line 781 of file Parameters.h.

    @@ -45778,7 +45874,7 @@ 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 781 of file Parameters.h.

    +

    Definition at line 782 of file Parameters.h.

    @@ -45807,7 +45903,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/GridCols : 1 .

    -

    Definition at line 781 of file Parameters.h.

    +

    Definition at line 782 of file Parameters.h.

    @@ -45836,7 +45932,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/GridCols , as a string: int .

    -

    Definition at line 781 of file Parameters.h.

    +

    Definition at line 782 of file Parameters.h.

    @@ -45865,7 +45961,7 @@ 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 782 of file Parameters.h.

    +

    Definition at line 783 of file Parameters.h.

    @@ -45894,7 +45990,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorType : 0 .

    -

    Definition at line 782 of file Parameters.h.

    +

    Definition at line 783 of file Parameters.h.

    @@ -45923,7 +46019,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorType , as a string: int .

    -

    Definition at line 782 of file Parameters.h.

    +

    Definition at line 783 of file Parameters.h.

    @@ -45952,7 +46048,7 @@ 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 783 of file Parameters.h.

    +

    Definition at line 784 of file Parameters.h.

    @@ -45981,7 +46077,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorNNType : 1 .

    -

    Definition at line 783 of file Parameters.h.

    +

    Definition at line 784 of file Parameters.h.

    @@ -46010,7 +46106,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorNNType , as a string: int .

    -

    Definition at line 783 of file Parameters.h.

    +

    Definition at line 784 of file Parameters.h.

    @@ -46039,7 +46135,7 @@ 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 784 of file Parameters.h.

    +

    Definition at line 785 of file Parameters.h.

    @@ -46068,7 +46164,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorNNDR : 0.8 .

    -

    Definition at line 784 of file Parameters.h.

    +

    Definition at line 785 of file Parameters.h.

    @@ -46097,7 +46193,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorNNDR , as a string: float .

    -

    Definition at line 784 of file Parameters.h.

    +

    Definition at line 785 of file Parameters.h.

    @@ -46126,7 +46222,7 @@ 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 785 of file Parameters.h.

    +

    Definition at line 786 of file Parameters.h.

    @@ -46155,7 +46251,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorGuessWinSize : 40 .

    -

    Definition at line 785 of file Parameters.h.

    +

    Definition at line 786 of file Parameters.h.

    @@ -46184,7 +46280,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorGuessWinSize , as a string: int .

    -

    Definition at line 785 of file Parameters.h.

    +

    Definition at line 786 of file Parameters.h.

    @@ -46213,7 +46309,7 @@ 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 786 of file Parameters.h.

    +

    Definition at line 787 of file Parameters.h.

    @@ -46242,7 +46338,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorGuessMatchToProjection : false .

    -

    Definition at line 786 of file Parameters.h.

    +

    Definition at line 787 of file Parameters.h.

    @@ -46271,7 +46367,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .

    -

    Definition at line 786 of file Parameters.h.

    +

    Definition at line 787 of file Parameters.h.

    @@ -46300,7 +46396,7 @@ 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 787 of file Parameters.h.

    +

    Definition at line 788 of file Parameters.h.

    @@ -46329,7 +46425,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowWinSize : 16 .

    -

    Definition at line 787 of file Parameters.h.

    +

    Definition at line 788 of file Parameters.h.

    @@ -46358,7 +46454,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowWinSize , as a string: int .

    -

    Definition at line 787 of file Parameters.h.

    +

    Definition at line 788 of file Parameters.h.

    @@ -46387,7 +46483,7 @@ 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 788 of file Parameters.h.

    +

    Definition at line 789 of file Parameters.h.

    @@ -46416,7 +46512,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowIterations : 30 .

    -

    Definition at line 788 of file Parameters.h.

    +

    Definition at line 789 of file Parameters.h.

    @@ -46445,7 +46541,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowIterations , as a string: int .

    -

    Definition at line 788 of file Parameters.h.

    +

    Definition at line 789 of file Parameters.h.

    @@ -46474,7 +46570,7 @@ 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 789 of file Parameters.h.

    +

    Definition at line 790 of file Parameters.h.

    @@ -46503,7 +46599,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowEps : 0.01 .

    -

    Definition at line 789 of file Parameters.h.

    +

    Definition at line 790 of file Parameters.h.

    @@ -46532,7 +46628,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowEps , as a string: float .

    -

    Definition at line 789 of file Parameters.h.

    +

    Definition at line 790 of file Parameters.h.

    @@ -46561,7 +46657,7 @@ 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 790 of file Parameters.h.

    +

    Definition at line 791 of file Parameters.h.

    @@ -46590,7 +46686,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowMaxLevel : 3 .

    -

    Definition at line 790 of file Parameters.h.

    +

    Definition at line 791 of file Parameters.h.

    @@ -46619,7 +46715,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowMaxLevel , as a string: int .

    -

    Definition at line 790 of file Parameters.h.

    +

    Definition at line 791 of file Parameters.h.

    @@ -46648,7 +46744,7 @@ 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 791 of file Parameters.h.

    +

    Definition at line 792 of file Parameters.h.

    @@ -46677,7 +46773,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowUseMinEigenVals : true .

    -

    Definition at line 791 of file Parameters.h.

    +

    Definition at line 792 of file Parameters.h.

    @@ -46706,7 +46802,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .

    -

    Definition at line 791 of file Parameters.h.

    +

    Definition at line 792 of file Parameters.h.

    @@ -46735,7 +46831,7 @@ 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 792 of file Parameters.h.

    +

    Definition at line 793 of file Parameters.h.

    @@ -46764,7 +46860,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .

    -

    Definition at line 792 of file Parameters.h.

    +

    Definition at line 793 of file Parameters.h.

    @@ -46793,7 +46889,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .

    -

    Definition at line 792 of file Parameters.h.

    +

    Definition at line 793 of file Parameters.h.

    @@ -46822,7 +46918,7 @@ 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 793 of file Parameters.h.

    +

    Definition at line 794 of file Parameters.h.

    @@ -46851,7 +46947,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowErrorThreshold : 20 .

    -

    Definition at line 793 of file Parameters.h.

    +

    Definition at line 794 of file Parameters.h.

    @@ -46880,7 +46976,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowErrorThreshold , as a string: float .

    -

    Definition at line 793 of file Parameters.h.

    +

    Definition at line 794 of file Parameters.h.

    @@ -46909,7 +47005,7 @@ 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 794 of file Parameters.h.

    +

    Definition at line 795 of file Parameters.h.

    @@ -46938,7 +47034,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/CorFlowGpu : false .

    -

    Definition at line 794 of file Parameters.h.

    +

    Definition at line 795 of file Parameters.h.

    @@ -46967,7 +47063,7 @@ The Parameter reference page, which lis

    Type of parameter Vis/CorFlowGpu , as a string: bool .

    -

    Definition at line 794 of file Parameters.h.

    +

    Definition at line 795 of file Parameters.h.

    @@ -46996,7 +47092,7 @@ 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 798 of file Parameters.h.

    +

    Definition at line 799 of file Parameters.h.

    @@ -47025,7 +47121,7 @@ The Parameter reference page, which lis

    Default value of parameter Vis/BundleAdjustment : 0 .

    -

    Definition at line 798 of file Parameters.h.

    +

    Definition at line 799 of file Parameters.h.

    @@ -47054,7 +47150,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 798 of file Parameters.h.

    +

    Definition at line 799 of file Parameters.h.

    @@ -47083,7 +47179,7 @@ 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 802 of file Parameters.h.

    +

    Definition at line 803 of file Parameters.h.

    @@ -47112,7 +47208,7 @@ The Parameter reference page, which lis

    Default value of parameter PyMatcher/Path : "" .

    -

    Definition at line 802 of file Parameters.h.

    +

    Definition at line 803 of file Parameters.h.

    @@ -47141,7 +47237,7 @@ The Parameter reference page, which lis

    Type of parameter PyMatcher/Path , as a string: string.

    -

    Definition at line 802 of file Parameters.h.

    +

    Definition at line 803 of file Parameters.h.

    @@ -47170,7 +47266,7 @@ The Parameter reference page, which lis

    Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).

    -

    Definition at line 803 of file Parameters.h.

    +

    Definition at line 804 of file Parameters.h.

    @@ -47199,7 +47295,7 @@ The Parameter reference page, which lis

    Default value of parameter PyMatcher/Iterations : 20 .

    -

    Definition at line 803 of file Parameters.h.

    +

    Definition at line 804 of file Parameters.h.

    @@ -47228,7 +47324,7 @@ The Parameter reference page, which lis

    Type of parameter PyMatcher/Iterations , as a string: int .

    -

    Definition at line 803 of file Parameters.h.

    +

    Definition at line 804 of file Parameters.h.

    @@ -47257,7 +47353,7 @@ The Parameter reference page, which lis

    Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).

    -

    Definition at line 804 of file Parameters.h.

    +

    Definition at line 805 of file Parameters.h.

    @@ -47286,7 +47382,7 @@ The Parameter reference page, which lis

    Default value of parameter PyMatcher/Threshold : 0.2 .

    -

    Definition at line 804 of file Parameters.h.

    +

    Definition at line 805 of file Parameters.h.

    @@ -47315,7 +47411,7 @@ The Parameter reference page, which lis

    Type of parameter PyMatcher/Threshold , as a string: float .

    -

    Definition at line 804 of file Parameters.h.

    +

    Definition at line 805 of file Parameters.h.

    @@ -47344,7 +47440,7 @@ The Parameter reference page, which lis

    Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).

    -

    Definition at line 805 of file Parameters.h.

    +

    Definition at line 806 of file Parameters.h.

    @@ -47373,7 +47469,7 @@ The Parameter reference page, which lis

    Default value of parameter PyMatcher/Cuda : true .

    -

    Definition at line 805 of file Parameters.h.

    +

    Definition at line 806 of file Parameters.h.

    @@ -47402,7 +47498,7 @@ The Parameter reference page, which lis

    Type of parameter PyMatcher/Cuda , as a string: bool .

    -

    Definition at line 805 of file Parameters.h.

    +

    Definition at line 806 of file Parameters.h.

    @@ -47431,7 +47527,7 @@ 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 806 of file Parameters.h.

    +

    Definition at line 807 of file Parameters.h.

    @@ -47460,7 +47556,7 @@ The Parameter reference page, which lis

    Default value of parameter PyMatcher/Model : "indoor" .

    -

    Definition at line 806 of file Parameters.h.

    +

    Definition at line 807 of file Parameters.h.

    @@ -47489,7 +47585,7 @@ The Parameter reference page, which lis

    Type of parameter PyMatcher/Model , as a string: string.

    -

    Definition at line 806 of file Parameters.h.

    +

    Definition at line 807 of file Parameters.h.

    @@ -47518,7 +47614,7 @@ The Parameter reference page, which lis

    Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).

    -

    Definition at line 808 of file Parameters.h.

    +

    Definition at line 809 of file Parameters.h.

    @@ -47547,7 +47643,7 @@ The Parameter reference page, which lis

    Default value of parameter GMS/WithRotation : false .

    -

    Definition at line 808 of file Parameters.h.

    +

    Definition at line 809 of file Parameters.h.

    @@ -47576,7 +47672,7 @@ The Parameter reference page, which lis

    Type of parameter GMS/WithRotation , as a string: bool .

    -

    Definition at line 808 of file Parameters.h.

    +

    Definition at line 809 of file Parameters.h.

    @@ -47605,7 +47701,7 @@ The Parameter reference page, which lis

    Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).

    -

    Definition at line 809 of file Parameters.h.

    +

    Definition at line 810 of file Parameters.h.

    @@ -47634,7 +47730,7 @@ The Parameter reference page, which lis

    Default value of parameter GMS/WithScale : false .

    -

    Definition at line 809 of file Parameters.h.

    +

    Definition at line 810 of file Parameters.h.

    @@ -47663,7 +47759,7 @@ The Parameter reference page, which lis

    Type of parameter GMS/WithScale , as a string: bool .

    -

    Definition at line 809 of file Parameters.h.

    +

    Definition at line 810 of file Parameters.h.

    @@ -47692,7 +47788,7 @@ The Parameter reference page, which lis

    Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).

    -

    Definition at line 810 of file Parameters.h.

    +

    Definition at line 811 of file Parameters.h.

    @@ -47721,7 +47817,7 @@ The Parameter reference page, which lis

    Default value of parameter GMS/ThresholdFactor : 6.0 .

    -

    Definition at line 810 of file Parameters.h.

    +

    Definition at line 811 of file Parameters.h.

    @@ -47750,7 +47846,7 @@ The Parameter reference page, which lis

    Type of parameter GMS/ThresholdFactor , as a string: double .

    -

    Definition at line 810 of file Parameters.h.

    +

    Definition at line 811 of file Parameters.h.

    @@ -47779,7 +47875,7 @@ 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 813 of file Parameters.h.

    +

    Definition at line 814 of file Parameters.h.

    @@ -47808,7 +47904,7 @@ The Parameter reference page, which lis

    Default value of parameter PyDescriptor/Path : "" .

    -

    Definition at line 813 of file Parameters.h.

    +

    Definition at line 814 of file Parameters.h.

    @@ -47837,7 +47933,7 @@ The Parameter reference page, which lis

    Type of parameter PyDescriptor/Path , as a string: string.

    -

    Definition at line 813 of file Parameters.h.

    +

    Definition at line 814 of file Parameters.h.

    @@ -47866,7 +47962,7 @@ The Parameter reference page, which lis

    Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).

    -

    Definition at line 814 of file Parameters.h.

    +

    Definition at line 815 of file Parameters.h.

    @@ -47895,7 +47991,7 @@ The Parameter reference page, which lis

    Default value of parameter PyDescriptor/Dim : 4096 .

    -

    Definition at line 814 of file Parameters.h.

    +

    Definition at line 815 of file Parameters.h.

    @@ -47924,7 +48020,7 @@ The Parameter reference page, which lis

    Type of parameter PyDescriptor/Dim , as a string: int .

    -

    Definition at line 814 of file Parameters.h.

    +

    Definition at line 815 of file Parameters.h.

    @@ -47953,7 +48049,7 @@ 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 820 of file Parameters.h.

    +

    Definition at line 821 of file Parameters.h.

    @@ -47982,7 +48078,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/Strategy : 0 .

    -

    Definition at line 820 of file Parameters.h.

    +

    Definition at line 821 of file Parameters.h.

    @@ -48011,7 +48107,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/Strategy , as a string: int .

    -

    Definition at line 820 of file Parameters.h.

    +

    Definition at line 821 of file Parameters.h.

    @@ -48040,7 +48136,7 @@ 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 822 of file Parameters.h.

    +

    Definition at line 823 of file Parameters.h.

    @@ -48069,7 +48165,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/MaxTranslation : 0.2 .

    -

    Definition at line 822 of file Parameters.h.

    +

    Definition at line 823 of file Parameters.h.

    @@ -48098,7 +48194,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/MaxTranslation , as a string: float .

    -

    Definition at line 822 of file Parameters.h.

    +

    Definition at line 823 of file Parameters.h.

    @@ -48127,7 +48223,7 @@ 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 823 of file Parameters.h.

    +

    Definition at line 824 of file Parameters.h.

    @@ -48156,7 +48252,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/MaxRotation : 0.78 .

    -

    Definition at line 823 of file Parameters.h.

    +

    Definition at line 824 of file Parameters.h.

    @@ -48185,7 +48281,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/MaxRotation , as a string: float .

    -

    Definition at line 823 of file Parameters.h.

    +

    Definition at line 824 of file Parameters.h.

    @@ -48214,7 +48310,7 @@ 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 824 of file Parameters.h.

    +

    Definition at line 825 of file Parameters.h.

    @@ -48243,7 +48339,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/VoxelSize : 0.05 .

    -

    Definition at line 824 of file Parameters.h.

    +

    Definition at line 825 of file Parameters.h.

    @@ -48272,7 +48368,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/VoxelSize , as a string: float .

    -

    Definition at line 824 of file Parameters.h.

    +

    Definition at line 825 of file Parameters.h.

    @@ -48301,7 +48397,7 @@ 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 825 of file Parameters.h.

    +

    Definition at line 826 of file Parameters.h.

    @@ -48330,7 +48426,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/DownsamplingStep : 1 .

    -

    Definition at line 825 of file Parameters.h.

    +

    Definition at line 826 of file Parameters.h.

    @@ -48359,7 +48455,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/DownsamplingStep , as a string: int .

    -

    Definition at line 825 of file Parameters.h.

    +

    Definition at line 826 of file Parameters.h.

    @@ -48388,7 +48484,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).

    -

    Definition at line 826 of file Parameters.h.

    +

    Definition at line 827 of file Parameters.h.

    @@ -48417,7 +48513,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/RangeMin : 0 .

    -

    Definition at line 826 of file Parameters.h.

    +

    Definition at line 827 of file Parameters.h.

    @@ -48446,7 +48542,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/RangeMin , as a string: float .

    -

    Definition at line 826 of file Parameters.h.

    +

    Definition at line 827 of file Parameters.h.

    @@ -48475,7 +48571,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).

    -

    Definition at line 827 of file Parameters.h.

    +

    Definition at line 828 of file Parameters.h.

    @@ -48504,7 +48600,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/RangeMax : 0 .

    -

    Definition at line 827 of file Parameters.h.

    +

    Definition at line 828 of file Parameters.h.

    @@ -48533,7 +48629,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/RangeMax , as a string: float .

    -

    Definition at line 827 of file Parameters.h.

    +

    Definition at line 828 of file Parameters.h.

    @@ -48562,7 +48658,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).

    -

    Definition at line 831 of file Parameters.h.

    +

    Definition at line 832 of file Parameters.h.

    @@ -48591,7 +48687,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .

    -

    Definition at line 831 of file Parameters.h.

    +

    Definition at line 832 of file Parameters.h.

    @@ -48620,7 +48716,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .

    -

    Definition at line 831 of file Parameters.h.

    +

    Definition at line 832 of file Parameters.h.

    @@ -48649,7 +48745,7 @@ 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 833 of file Parameters.h.

    +

    Definition at line 834 of file Parameters.h.

    @@ -48678,7 +48774,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/ReciprocalCorrespondences : true .

    -

    Definition at line 833 of file Parameters.h.

    +

    Definition at line 834 of file Parameters.h.

    @@ -48707,7 +48803,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .

    -

    Definition at line 833 of file Parameters.h.

    +

    Definition at line 834 of file Parameters.h.

    @@ -48736,7 +48832,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).

    -

    Definition at line 834 of file Parameters.h.

    +

    Definition at line 835 of file Parameters.h.

    @@ -48765,7 +48861,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/Iterations : 30 .

    -

    Definition at line 834 of file Parameters.h.

    +

    Definition at line 835 of file Parameters.h.

    @@ -48794,7 +48890,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/Iterations , as a string: int .

    -

    Definition at line 834 of file Parameters.h.

    +

    Definition at line 835 of file Parameters.h.

    @@ -48823,7 +48919,7 @@ 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 835 of file Parameters.h.

    +

    Definition at line 836 of file Parameters.h.

    @@ -48852,7 +48948,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/Epsilon : 0 .

    -

    Definition at line 835 of file Parameters.h.

    +

    Definition at line 836 of file Parameters.h.

    @@ -48881,7 +48977,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/Epsilon , as a string: float .

    -

    Definition at line 835 of file Parameters.h.

    +

    Definition at line 836 of file Parameters.h.

    @@ -48910,7 +49006,7 @@ 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 836 of file Parameters.h.

    +

    Definition at line 837 of file Parameters.h.

    @@ -48939,7 +49035,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/CorrespondenceRatio : 0.1 .

    -

    Definition at line 836 of file Parameters.h.

    +

    Definition at line 837 of file Parameters.h.

    @@ -48968,7 +49064,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/CorrespondenceRatio , as a string: float .

    -

    Definition at line 836 of file Parameters.h.

    +

    Definition at line 837 of file Parameters.h.

    @@ -48997,7 +49093,7 @@ 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 837 of file Parameters.h.

    +

    Definition at line 838 of file Parameters.h.

    @@ -49026,7 +49122,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/Force4DoF : false .

    -

    Definition at line 837 of file Parameters.h.

    +

    Definition at line 838 of file Parameters.h.

    @@ -49055,7 +49151,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/Force4DoF , as a string: bool .

    -

    Definition at line 837 of file Parameters.h.

    +

    Definition at line 838 of file Parameters.h.

    @@ -49084,7 +49180,7 @@ 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 838 of file Parameters.h.

    +

    Definition at line 839 of file Parameters.h.

    @@ -49113,7 +49209,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/FiltersEnabled : 3 .

    -

    Definition at line 838 of file Parameters.h.

    +

    Definition at line 839 of file Parameters.h.

    @@ -49142,7 +49238,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/FiltersEnabled , as a string: int .

    -

    Definition at line 838 of file Parameters.h.

    +

    Definition at line 839 of file Parameters.h.

    @@ -49171,7 +49267,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).

    -

    Definition at line 842 of file Parameters.h.

    +

    Definition at line 843 of file Parameters.h.

    @@ -49200,7 +49296,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlane : false .

    -

    Definition at line 842 of file Parameters.h.

    +

    Definition at line 843 of file Parameters.h.

    @@ -49229,7 +49325,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlane , as a string: bool .

    -

    Definition at line 842 of file Parameters.h.

    +

    Definition at line 843 of file Parameters.h.

    @@ -49258,7 +49354,7 @@ 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 844 of file Parameters.h.

    +

    Definition at line 845 of file Parameters.h.

    @@ -49287,7 +49383,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneK : 5 .

    -

    Definition at line 844 of file Parameters.h.

    +

    Definition at line 845 of file Parameters.h.

    @@ -49316,7 +49412,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneK , as a string: int .

    -

    Definition at line 844 of file Parameters.h.

    +

    Definition at line 845 of file Parameters.h.

    @@ -49345,7 +49441,7 @@ 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 845 of file Parameters.h.

    +

    Definition at line 846 of file Parameters.h.

    @@ -49374,7 +49470,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneRadius : 0.0 .

    -

    Definition at line 845 of file Parameters.h.

    +

    Definition at line 846 of file Parameters.h.

    @@ -49403,7 +49499,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneRadius , as a string: float .

    -

    Definition at line 845 of file Parameters.h.

    +

    Definition at line 846 of file Parameters.h.

    @@ -49432,7 +49528,7 @@ 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 846 of file Parameters.h.

    +

    Definition at line 847 of file Parameters.h.

    @@ -49461,7 +49557,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .

    -

    Definition at line 846 of file Parameters.h.

    +

    Definition at line 847 of file Parameters.h.

    @@ -49490,7 +49586,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .

    -

    Definition at line 846 of file Parameters.h.

    +

    Definition at line 847 of file Parameters.h.

    @@ -49519,7 +49615,7 @@ 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 847 of file Parameters.h.

    +

    Definition at line 848 of file Parameters.h.

    @@ -49548,7 +49644,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .

    -

    Definition at line 847 of file Parameters.h.

    +

    Definition at line 848 of file Parameters.h.

    @@ -49577,7 +49673,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .

    -

    Definition at line 847 of file Parameters.h.

    +

    Definition at line 848 of file Parameters.h.

    @@ -49606,7 +49702,7 @@ 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 848 of file Parameters.h.

    +

    Definition at line 849 of file Parameters.h.

    @@ -49635,7 +49731,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneComplexityCentered : false .

    -

    Definition at line 848 of file Parameters.h.

    +

    Definition at line 849 of file Parameters.h.

    @@ -49664,7 +49760,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .

    -

    Definition at line 848 of file Parameters.h.

    +

    Definition at line 849 of file Parameters.h.

    @@ -49693,7 +49789,7 @@ 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 849 of file Parameters.h.

    +

    Definition at line 850 of file Parameters.h.

    @@ -49722,7 +49818,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .

    -

    Definition at line 849 of file Parameters.h.

    +

    Definition at line 850 of file Parameters.h.

    @@ -49751,7 +49847,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .

    -

    Definition at line 849 of file Parameters.h.

    +

    Definition at line 850 of file Parameters.h.

    @@ -49780,7 +49876,7 @@ 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 850 of file Parameters.h.

    +

    Definition at line 851 of file Parameters.h.

    @@ -49809,7 +49905,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/OutlierRatio : 0.85 .

    -

    Definition at line 850 of file Parameters.h.

    +

    Definition at line 851 of file Parameters.h.

    @@ -49838,7 +49934,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/OutlierRatio , as a string: float .

    -

    Definition at line 850 of file Parameters.h.

    +

    Definition at line 851 of file Parameters.h.

    @@ -49867,7 +49963,7 @@ 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 851 of file Parameters.h.

    +

    Definition at line 852 of file Parameters.h.

    @@ -49896,7 +49992,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/DebugExportFormat : "" .

    -

    Definition at line 851 of file Parameters.h.

    +

    Definition at line 852 of file Parameters.h.

    @@ -49925,7 +50021,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/DebugExportFormat , as a string: string.

    -

    Definition at line 851 of file Parameters.h.

    +

    Definition at line 852 of file Parameters.h.

    @@ -49954,7 +50050,7 @@ 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 854 of file Parameters.h.

    +

    Definition at line 855 of file Parameters.h.

    @@ -49983,7 +50079,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PMConfig : "" .

    -

    Definition at line 854 of file Parameters.h.

    +

    Definition at line 855 of file Parameters.h.

    @@ -50012,7 +50108,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PMConfig , as a string: string.

    -

    Definition at line 854 of file Parameters.h.

    +

    Definition at line 855 of file Parameters.h.

    @@ -50041,7 +50137,7 @@ 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 855 of file Parameters.h.

    +

    Definition at line 856 of file Parameters.h.

    @@ -50070,7 +50166,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PMMatcherKnn : 1 .

    -

    Definition at line 855 of file Parameters.h.

    +

    Definition at line 856 of file Parameters.h.

    @@ -50099,7 +50195,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PMMatcherKnn , as a string: int .

    -

    Definition at line 855 of file Parameters.h.

    +

    Definition at line 856 of file Parameters.h.

    @@ -50128,7 +50224,7 @@ 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 856 of file Parameters.h.

    +

    Definition at line 857 of file Parameters.h.

    @@ -50157,7 +50253,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PMMatcherEpsilon : 0.0 .

    -

    Definition at line 856 of file Parameters.h.

    +

    Definition at line 857 of file Parameters.h.

    @@ -50186,7 +50282,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PMMatcherEpsilon , as a string: float .

    -

    Definition at line 856 of file Parameters.h.

    +

    Definition at line 857 of file Parameters.h.

    @@ -50215,7 +50311,7 @@ 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 857 of file Parameters.h.

    +

    Definition at line 858 of file Parameters.h.

    @@ -50244,7 +50340,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/PMMatcherIntensity : false .

    -

    Definition at line 857 of file Parameters.h.

    +

    Definition at line 858 of file Parameters.h.

    @@ -50273,7 +50369,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/PMMatcherIntensity , as a string: bool .

    -

    Definition at line 857 of file Parameters.h.

    +

    Definition at line 858 of file Parameters.h.

    @@ -50302,7 +50398,7 @@ 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 859 of file Parameters.h.

    +

    Definition at line 860 of file Parameters.h.

    @@ -50331,7 +50427,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/CCSamplingLimit : 50000 .

    -

    Definition at line 859 of file Parameters.h.

    +

    Definition at line 860 of file Parameters.h.

    @@ -50360,7 +50456,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .

    -

    Definition at line 859 of file Parameters.h.

    +

    Definition at line 860 of file Parameters.h.

    @@ -50389,7 +50485,7 @@ 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 860 of file Parameters.h.

    +

    Definition at line 861 of file Parameters.h.

    @@ -50418,7 +50514,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/CCFilterOutFarthestPoints : false .

    -

    Definition at line 860 of file Parameters.h.

    +

    Definition at line 861 of file Parameters.h.

    @@ -50447,7 +50543,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .

    -

    Definition at line 860 of file Parameters.h.

    +

    Definition at line 861 of file Parameters.h.

    @@ -50476,7 +50572,7 @@ The Parameter reference page, which lis

    Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).

    -

    Definition at line 861 of file Parameters.h.

    +

    Definition at line 862 of file Parameters.h.

    @@ -50505,7 +50601,7 @@ The Parameter reference page, which lis

    Default value of parameter Icp/CCMaxFinalRMS : 0.2 .

    -

    Definition at line 861 of file Parameters.h.

    +

    Definition at line 862 of file Parameters.h.

    @@ -50534,7 +50630,7 @@ The Parameter reference page, which lis

    Type of parameter Icp/CCMaxFinalRMS , as a string: float .

    -

    Definition at line 861 of file Parameters.h.

    +

    Definition at line 862 of file Parameters.h.

    @@ -50563,7 +50659,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).

    -

    Definition at line 864 of file Parameters.h.

    +

    Definition at line 865 of file Parameters.h.

    @@ -50592,7 +50688,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/WinWidth : 15 .

    -

    Definition at line 864 of file Parameters.h.

    +

    Definition at line 865 of file Parameters.h.

    @@ -50621,7 +50717,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/WinWidth , as a string: int .

    -

    Definition at line 864 of file Parameters.h.

    +

    Definition at line 865 of file Parameters.h.

    @@ -50650,7 +50746,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).

    -

    Definition at line 865 of file Parameters.h.

    +

    Definition at line 866 of file Parameters.h.

    @@ -50679,7 +50775,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/WinHeight : 3 .

    -

    Definition at line 865 of file Parameters.h.

    +

    Definition at line 866 of file Parameters.h.

    @@ -50708,7 +50804,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/WinHeight , as a string: int .

    -

    Definition at line 865 of file Parameters.h.

    +

    Definition at line 866 of file Parameters.h.

    @@ -50737,7 +50833,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).

    -

    Definition at line 866 of file Parameters.h.

    +

    Definition at line 867 of file Parameters.h.

    @@ -50766,7 +50862,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/Iterations : 30 .

    -

    Definition at line 866 of file Parameters.h.

    +

    Definition at line 867 of file Parameters.h.

    @@ -50795,7 +50891,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/Iterations , as a string: int .

    -

    Definition at line 866 of file Parameters.h.

    +

    Definition at line 867 of file Parameters.h.

    @@ -50824,7 +50920,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).

    -

    Definition at line 867 of file Parameters.h.

    +

    Definition at line 868 of file Parameters.h.

    @@ -50853,7 +50949,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/MaxLevel : 5 .

    -

    Definition at line 867 of file Parameters.h.

    +

    Definition at line 868 of file Parameters.h.

    @@ -50882,7 +50978,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/MaxLevel , as a string: int .

    -

    Definition at line 867 of file Parameters.h.

    +

    Definition at line 868 of file Parameters.h.

    @@ -50911,7 +51007,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).

    -

    Definition at line 868 of file Parameters.h.

    +

    Definition at line 869 of file Parameters.h.

    @@ -50940,7 +51036,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/MinDisparity : 0.5 .

    -

    Definition at line 868 of file Parameters.h.

    +

    Definition at line 869 of file Parameters.h.

    @@ -50969,7 +51065,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/MinDisparity , as a string: float .

    -

    Definition at line 868 of file Parameters.h.

    +

    Definition at line 869 of file Parameters.h.

    @@ -50998,7 +51094,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).

    -

    Definition at line 869 of file Parameters.h.

    +

    Definition at line 870 of file Parameters.h.

    @@ -51027,7 +51123,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/MaxDisparity : 128.0 .

    -

    Definition at line 869 of file Parameters.h.

    +

    Definition at line 870 of file Parameters.h.

    @@ -51056,7 +51152,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/MaxDisparity , as a string: float .

    -

    Definition at line 869 of file Parameters.h.

    +

    Definition at line 870 of file Parameters.h.

    @@ -51085,7 +51181,7 @@ 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 870 of file Parameters.h.

    +

    Definition at line 871 of file Parameters.h.

    @@ -51114,7 +51210,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/OpticalFlow : true .

    -

    Definition at line 870 of file Parameters.h.

    +

    Definition at line 871 of file Parameters.h.

    @@ -51143,7 +51239,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/OpticalFlow , as a string: bool .

    -

    Definition at line 870 of file Parameters.h.

    +

    Definition at line 871 of file Parameters.h.

    @@ -51172,7 +51268,7 @@ 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 871 of file Parameters.h.

    +

    Definition at line 872 of file Parameters.h.

    @@ -51201,7 +51297,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/SSD : true .

    -

    Definition at line 871 of file Parameters.h.

    +

    Definition at line 872 of file Parameters.h.

    @@ -51230,7 +51326,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/SSD , as a string: bool .

    -

    Definition at line 871 of file Parameters.h.

    +

    Definition at line 872 of file Parameters.h.

    @@ -51259,7 +51355,7 @@ 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 872 of file Parameters.h.

    +

    Definition at line 873 of file Parameters.h.

    @@ -51288,7 +51384,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/Eps : 0.01 .

    -

    Definition at line 872 of file Parameters.h.

    +

    Definition at line 873 of file Parameters.h.

    @@ -51317,7 +51413,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/Eps , as a string: double .

    -

    Definition at line 872 of file Parameters.h.

    +

    Definition at line 873 of file Parameters.h.

    @@ -51346,7 +51442,7 @@ 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 873 of file Parameters.h.

    +

    Definition at line 874 of file Parameters.h.

    @@ -51375,7 +51471,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/UseMinEigenVals : true .

    -

    Definition at line 873 of file Parameters.h.

    +

    Definition at line 874 of file Parameters.h.

    @@ -51404,7 +51500,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/UseMinEigenVals , as a string: bool .

    -

    Definition at line 873 of file Parameters.h.

    +

    Definition at line 874 of file Parameters.h.

    @@ -51433,7 +51529,7 @@ 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 874 of file Parameters.h.

    +

    Definition at line 875 of file Parameters.h.

    @@ -51462,7 +51558,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/MinEigThreshold : 1e-4 .

    -

    Definition at line 874 of file Parameters.h.

    +

    Definition at line 875 of file Parameters.h.

    @@ -51491,7 +51587,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/MinEigThreshold , as a string: double .

    -

    Definition at line 874 of file Parameters.h.

    +

    Definition at line 875 of file Parameters.h.

    @@ -51520,7 +51616,7 @@ 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 875 of file Parameters.h.

    +

    Definition at line 876 of file Parameters.h.

    @@ -51549,7 +51645,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/ErrorThreshold : 50 .

    -

    Definition at line 875 of file Parameters.h.

    +

    Definition at line 876 of file Parameters.h.

    @@ -51578,7 +51674,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/ErrorThreshold , as a string: double .

    -

    Definition at line 875 of file Parameters.h.

    +

    Definition at line 876 of file Parameters.h.

    @@ -51607,7 +51703,7 @@ 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 876 of file Parameters.h.

    +

    Definition at line 877 of file Parameters.h.

    @@ -51636,7 +51732,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/Gpu : false .

    -

    Definition at line 876 of file Parameters.h.

    +

    Definition at line 877 of file Parameters.h.

    @@ -51665,7 +51761,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/Gpu , as a string: bool .

    -

    Definition at line 876 of file Parameters.h.

    +

    Definition at line 877 of file Parameters.h.

    @@ -51694,7 +51790,7 @@ The Parameter reference page, which lis

    Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).

    -

    Definition at line 878 of file Parameters.h.

    +

    Definition at line 879 of file Parameters.h.

    @@ -51723,7 +51819,7 @@ The Parameter reference page, which lis

    Default value of parameter Stereo/DenseStrategy : 0 .

    -

    Definition at line 878 of file Parameters.h.

    +

    Definition at line 879 of file Parameters.h.

    @@ -51752,7 +51848,7 @@ The Parameter reference page, which lis

    Type of parameter Stereo/DenseStrategy , as a string: int .

    -

    Definition at line 878 of file Parameters.h.

    +

    Definition at line 879 of file Parameters.h.

    @@ -51781,7 +51877,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).

    -

    Definition at line 880 of file Parameters.h.

    +

    Definition at line 881 of file Parameters.h.

    @@ -51810,7 +51906,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/BlockSize : 15 .

    -

    Definition at line 880 of file Parameters.h.

    +

    Definition at line 881 of file Parameters.h.

    @@ -51839,7 +51935,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/BlockSize , as a string: int .

    -

    Definition at line 880 of file Parameters.h.

    +

    Definition at line 881 of file Parameters.h.

    @@ -51868,7 +51964,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).

    -

    Definition at line 881 of file Parameters.h.

    +

    Definition at line 882 of file Parameters.h.

    @@ -51897,7 +51993,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/MinDisparity : 0 .

    -

    Definition at line 881 of file Parameters.h.

    +

    Definition at line 882 of file Parameters.h.

    @@ -51926,7 +52022,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/MinDisparity , as a string: int .

    -

    Definition at line 881 of file Parameters.h.

    +

    Definition at line 882 of file Parameters.h.

    @@ -51955,7 +52051,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).

    -

    Definition at line 882 of file Parameters.h.

    +

    Definition at line 883 of file Parameters.h.

    @@ -51984,7 +52080,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/NumDisparities : 128 .

    -

    Definition at line 882 of file Parameters.h.

    +

    Definition at line 883 of file Parameters.h.

    @@ -52013,7 +52109,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/NumDisparities , as a string: int .

    -

    Definition at line 882 of file Parameters.h.

    +

    Definition at line 883 of file Parameters.h.

    @@ -52042,7 +52138,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).

    -

    Definition at line 883 of file Parameters.h.

    +

    Definition at line 884 of file Parameters.h.

    @@ -52071,7 +52167,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/PreFilterSize : 9 .

    -

    Definition at line 883 of file Parameters.h.

    +

    Definition at line 884 of file Parameters.h.

    @@ -52100,7 +52196,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/PreFilterSize , as a string: int .

    -

    Definition at line 883 of file Parameters.h.

    +

    Definition at line 884 of file Parameters.h.

    @@ -52129,7 +52225,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).

    -

    Definition at line 884 of file Parameters.h.

    +

    Definition at line 885 of file Parameters.h.

    @@ -52158,7 +52254,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/PreFilterCap : 31 .

    -

    Definition at line 884 of file Parameters.h.

    +

    Definition at line 885 of file Parameters.h.

    @@ -52187,7 +52283,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/PreFilterCap , as a string: int .

    -

    Definition at line 884 of file Parameters.h.

    +

    Definition at line 885 of file Parameters.h.

    @@ -52216,7 +52312,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).

    -

    Definition at line 885 of file Parameters.h.

    +

    Definition at line 886 of file Parameters.h.

    @@ -52245,7 +52341,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/UniquenessRatio : 15 .

    -

    Definition at line 885 of file Parameters.h.

    +

    Definition at line 886 of file Parameters.h.

    @@ -52274,7 +52370,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/UniquenessRatio , as a string: int .

    -

    Definition at line 885 of file Parameters.h.

    +

    Definition at line 886 of file Parameters.h.

    @@ -52303,7 +52399,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).

    -

    Definition at line 886 of file Parameters.h.

    +

    Definition at line 887 of file Parameters.h.

    @@ -52332,7 +52428,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/TextureThreshold : 10 .

    -

    Definition at line 886 of file Parameters.h.

    +

    Definition at line 887 of file Parameters.h.

    @@ -52361,7 +52457,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/TextureThreshold , as a string: int .

    -

    Definition at line 886 of file Parameters.h.

    +

    Definition at line 887 of file Parameters.h.

    @@ -52390,7 +52486,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).

    -

    Definition at line 887 of file Parameters.h.

    +

    Definition at line 888 of file Parameters.h.

    @@ -52419,7 +52515,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/SpeckleWindowSize : 100 .

    -

    Definition at line 887 of file Parameters.h.

    +

    Definition at line 888 of file Parameters.h.

    @@ -52448,7 +52544,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/SpeckleWindowSize , as a string: int .

    -

    Definition at line 887 of file Parameters.h.

    +

    Definition at line 888 of file Parameters.h.

    @@ -52477,7 +52573,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).

    -

    Definition at line 888 of file Parameters.h.

    +

    Definition at line 889 of file Parameters.h.

    @@ -52506,7 +52602,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/SpeckleRange : 4 .

    -

    Definition at line 888 of file Parameters.h.

    +

    Definition at line 889 of file Parameters.h.

    @@ -52535,7 +52631,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/SpeckleRange , as a string: int .

    -

    Definition at line 888 of file Parameters.h.

    +

    Definition at line 889 of file Parameters.h.

    @@ -52564,7 +52660,7 @@ The Parameter reference page, which lis

    Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).

    -

    Definition at line 889 of file Parameters.h.

    +

    Definition at line 890 of file Parameters.h.

    @@ -52593,7 +52689,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoBM/Disp12MaxDiff : -1 .

    -

    Definition at line 889 of file Parameters.h.

    +

    Definition at line 890 of file Parameters.h.

    @@ -52622,7 +52718,7 @@ The Parameter reference page, which lis

    Type of parameter StereoBM/Disp12MaxDiff , as a string: int .

    -

    Definition at line 889 of file Parameters.h.

    +

    Definition at line 890 of file Parameters.h.

    @@ -52651,7 +52747,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).

    -

    Definition at line 891 of file Parameters.h.

    +

    Definition at line 892 of file Parameters.h.

    @@ -52680,7 +52776,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/BlockSize : 15 .

    -

    Definition at line 891 of file Parameters.h.

    +

    Definition at line 892 of file Parameters.h.

    @@ -52709,7 +52805,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/BlockSize , as a string: int .

    -

    Definition at line 891 of file Parameters.h.

    +

    Definition at line 892 of file Parameters.h.

    @@ -52738,7 +52834,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).

    -

    Definition at line 892 of file Parameters.h.

    +

    Definition at line 893 of file Parameters.h.

    @@ -52767,7 +52863,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/MinDisparity : 0 .

    -

    Definition at line 892 of file Parameters.h.

    +

    Definition at line 893 of file Parameters.h.

    @@ -52796,7 +52892,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/MinDisparity , as a string: int .

    -

    Definition at line 892 of file Parameters.h.

    +

    Definition at line 893 of file Parameters.h.

    @@ -52825,7 +52921,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).

    -

    Definition at line 893 of file Parameters.h.

    +

    Definition at line 894 of file Parameters.h.

    @@ -52854,7 +52950,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/NumDisparities : 128 .

    -

    Definition at line 893 of file Parameters.h.

    +

    Definition at line 894 of file Parameters.h.

    @@ -52883,7 +52979,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/NumDisparities , as a string: int .

    -

    Definition at line 893 of file Parameters.h.

    +

    Definition at line 894 of file Parameters.h.

    @@ -52912,7 +53008,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).

    -

    Definition at line 894 of file Parameters.h.

    +

    Definition at line 895 of file Parameters.h.

    @@ -52941,7 +53037,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/PreFilterCap : 31 .

    -

    Definition at line 894 of file Parameters.h.

    +

    Definition at line 895 of file Parameters.h.

    @@ -52970,7 +53066,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/PreFilterCap , as a string: int .

    -

    Definition at line 894 of file Parameters.h.

    +

    Definition at line 895 of file Parameters.h.

    @@ -52999,7 +53095,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).

    -

    Definition at line 895 of file Parameters.h.

    +

    Definition at line 896 of file Parameters.h.

    @@ -53028,7 +53124,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/UniquenessRatio : 20 .

    -

    Definition at line 895 of file Parameters.h.

    +

    Definition at line 896 of file Parameters.h.

    @@ -53057,7 +53153,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/UniquenessRatio , as a string: int .

    -

    Definition at line 895 of file Parameters.h.

    +

    Definition at line 896 of file Parameters.h.

    @@ -53086,7 +53182,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).

    -

    Definition at line 896 of file Parameters.h.

    +

    Definition at line 897 of file Parameters.h.

    @@ -53115,7 +53211,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .

    -

    Definition at line 896 of file Parameters.h.

    +

    Definition at line 897 of file Parameters.h.

    @@ -53144,7 +53240,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .

    -

    Definition at line 896 of file Parameters.h.

    +

    Definition at line 897 of file Parameters.h.

    @@ -53173,7 +53269,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).

    -

    Definition at line 897 of file Parameters.h.

    +

    Definition at line 898 of file Parameters.h.

    @@ -53202,7 +53298,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/SpeckleRange : 4 .

    -

    Definition at line 897 of file Parameters.h.

    +

    Definition at line 898 of file Parameters.h.

    @@ -53231,7 +53327,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/SpeckleRange , as a string: int .

    -

    Definition at line 897 of file Parameters.h.

    +

    Definition at line 898 of file Parameters.h.

    @@ -53260,7 +53356,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).

    -

    Definition at line 898 of file Parameters.h.

    +

    Definition at line 899 of file Parameters.h.

    @@ -53289,7 +53385,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .

    -

    Definition at line 898 of file Parameters.h.

    +

    Definition at line 899 of file Parameters.h.

    @@ -53318,7 +53414,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .

    -

    Definition at line 898 of file Parameters.h.

    +

    Definition at line 899 of file Parameters.h.

    @@ -53347,7 +53443,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).

    -

    Definition at line 899 of file Parameters.h.

    +

    Definition at line 900 of file Parameters.h.

    @@ -53376,7 +53472,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/P1 : 2 .

    -

    Definition at line 899 of file Parameters.h.

    +

    Definition at line 900 of file Parameters.h.

    @@ -53405,7 +53501,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/P1 , as a string: int .

    -

    Definition at line 899 of file Parameters.h.

    +

    Definition at line 900 of file Parameters.h.

    @@ -53434,7 +53530,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).

    -

    Definition at line 900 of file Parameters.h.

    +

    Definition at line 901 of file Parameters.h.

    @@ -53463,7 +53559,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/P2 : 5 .

    -

    Definition at line 900 of file Parameters.h.

    +

    Definition at line 901 of file Parameters.h.

    @@ -53492,7 +53588,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/P2 , as a string: int .

    -

    Definition at line 900 of file Parameters.h.

    +

    Definition at line 901 of file Parameters.h.

    @@ -53521,7 +53617,7 @@ The Parameter reference page, which lis

    Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).

    -

    Definition at line 902 of file Parameters.h.

    +

    Definition at line 903 of file Parameters.h.

    @@ -53550,7 +53646,7 @@ The Parameter reference page, which lis

    Default value of parameter StereoSGBM/Mode : 0 .

    -

    Definition at line 902 of file Parameters.h.

    +

    Definition at line 903 of file Parameters.h.

    @@ -53579,7 +53675,7 @@ The Parameter reference page, which lis

    Type of parameter StereoSGBM/Mode , as a string: int .

    -

    Definition at line 902 of file Parameters.h.

    +

    Definition at line 903 of file Parameters.h.

    @@ -53608,7 +53704,7 @@ 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 908 of file Parameters.h.

    +

    Definition at line 909 of file Parameters.h.

    @@ -53637,7 +53733,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/Sensor : 1 .

    -

    Definition at line 908 of file Parameters.h.

    +

    Definition at line 909 of file Parameters.h.

    @@ -53666,7 +53762,7 @@ The Parameter reference page, which lis

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

    -

    Definition at line 908 of file Parameters.h.

    +

    Definition at line 909 of file Parameters.h.

    @@ -53695,7 +53791,7 @@ 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 909 of file Parameters.h.

    +

    Definition at line 910 of file Parameters.h.

    @@ -53724,7 +53820,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/DepthDecimation : 4 .

    -

    Definition at line 909 of file Parameters.h.

    +

    Definition at line 910 of file Parameters.h.

    @@ -53753,7 +53849,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/DepthDecimation , as a string: unsigned int .

    -

    Definition at line 909 of file Parameters.h.

    +

    Definition at line 910 of file Parameters.h.

    @@ -53782,7 +53878,7 @@ The Parameter reference page, which lis

    Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).

    -

    Definition at line 910 of file Parameters.h.

    +

    Definition at line 911 of file Parameters.h.

    @@ -53811,7 +53907,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/RangeMin : 0.0 .

    -

    Definition at line 910 of file Parameters.h.

    +

    Definition at line 911 of file Parameters.h.

    @@ -53840,7 +53936,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/RangeMin , as a string: float .

    -

    Definition at line 910 of file Parameters.h.

    +

    Definition at line 911 of file Parameters.h.

    @@ -53869,7 +53965,7 @@ 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 911 of file Parameters.h.

    +

    Definition at line 912 of file Parameters.h.

    @@ -53898,7 +53994,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/RangeMax : 5.0 .

    -

    Definition at line 911 of file Parameters.h.

    +

    Definition at line 912 of file Parameters.h.

    @@ -53927,7 +54023,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/RangeMax , as a string: float .

    -

    Definition at line 911 of file Parameters.h.

    +

    Definition at line 912 of file Parameters.h.

    @@ -53956,7 +54052,7 @@ 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 912 of file Parameters.h.

    +

    Definition at line 913 of file Parameters.h.

    @@ -53985,7 +54081,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .

    -

    Definition at line 912 of file Parameters.h.

    +

    Definition at line 913 of file Parameters.h.

    @@ -54014,7 +54110,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/DepthRoiRatios , as a string: string.

    -

    Definition at line 912 of file Parameters.h.

    +

    Definition at line 913 of file Parameters.h.

    @@ -54043,7 +54139,7 @@ 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 913 of file Parameters.h.

    +

    Definition at line 914 of file Parameters.h.

    @@ -54072,7 +54168,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/FootprintLength : 0.0 .

    -

    Definition at line 913 of file Parameters.h.

    +

    Definition at line 914 of file Parameters.h.

    @@ -54101,7 +54197,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/FootprintLength , as a string: float .

    -

    Definition at line 913 of file Parameters.h.

    +

    Definition at line 914 of file Parameters.h.

    @@ -54130,7 +54226,7 @@ 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 914 of file Parameters.h.

    +

    Definition at line 915 of file Parameters.h.

    @@ -54159,7 +54255,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/FootprintWidth : 0.0 .

    -

    Definition at line 914 of file Parameters.h.

    +

    Definition at line 915 of file Parameters.h.

    @@ -54188,7 +54284,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/FootprintWidth , as a string: float .

    -

    Definition at line 914 of file Parameters.h.

    +

    Definition at line 915 of file Parameters.h.

    @@ -54217,7 +54313,7 @@ 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 915 of file Parameters.h.

    +

    Definition at line 916 of file Parameters.h.

    @@ -54246,7 +54342,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/FootprintHeight : 0.0 .

    -

    Definition at line 915 of file Parameters.h.

    +

    Definition at line 916 of file Parameters.h.

    @@ -54275,7 +54371,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/FootprintHeight , as a string: float .

    -

    Definition at line 915 of file Parameters.h.

    +

    Definition at line 916 of file Parameters.h.

    @@ -54304,7 +54400,7 @@ 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 916 of file Parameters.h.

    +

    Definition at line 917 of file Parameters.h.

    @@ -54333,7 +54429,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/ScanDecimation : 1 .

    -

    Definition at line 916 of file Parameters.h.

    +

    Definition at line 917 of file Parameters.h.

    @@ -54362,7 +54458,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/ScanDecimation , as a string: int .

    -

    Definition at line 916 of file Parameters.h.

    +

    Definition at line 917 of file Parameters.h.

    @@ -54391,7 +54487,7 @@ The Parameter reference page, which lis

    Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).

    -

    Definition at line 917 of file Parameters.h.

    +

    Definition at line 918 of file Parameters.h.

    @@ -54420,7 +54516,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/CellSize : 0.05 .

    -

    Definition at line 917 of file Parameters.h.

    +

    Definition at line 918 of file Parameters.h.

    @@ -54449,7 +54545,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/CellSize , as a string: float .

    -

    Definition at line 917 of file Parameters.h.

    +

    Definition at line 918 of file Parameters.h.

    @@ -54478,7 +54574,7 @@ 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 918 of file Parameters.h.

    +

    Definition at line 919 of file Parameters.h.

    @@ -54507,7 +54603,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/PreVoxelFiltering : true .

    -

    Definition at line 918 of file Parameters.h.

    +

    Definition at line 919 of file Parameters.h.

    @@ -54536,7 +54632,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/PreVoxelFiltering , as a string: bool .

    -

    Definition at line 918 of file Parameters.h.

    +

    Definition at line 919 of file Parameters.h.

    @@ -54565,7 +54661,7 @@ 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 919 of file Parameters.h.

    +

    Definition at line 920 of file Parameters.h.

    @@ -54594,7 +54690,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MapFrameProjection : false .

    -

    Definition at line 919 of file Parameters.h.

    +

    Definition at line 920 of file Parameters.h.

    @@ -54623,7 +54719,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MapFrameProjection , as a string: bool .

    -

    Definition at line 919 of file Parameters.h.

    +

    Definition at line 920 of file Parameters.h.

    @@ -54652,7 +54748,7 @@ 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 920 of file Parameters.h.

    +

    Definition at line 921 of file Parameters.h.

    @@ -54681,7 +54777,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/NormalsSegmentation : true .

    -

    Definition at line 920 of file Parameters.h.

    +

    Definition at line 921 of file Parameters.h.

    @@ -54710,7 +54806,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/NormalsSegmentation , as a string: bool .

    -

    Definition at line 920 of file Parameters.h.

    +

    Definition at line 921 of file Parameters.h.

    @@ -54739,7 +54835,7 @@ The Parameter reference page, which lis

    Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).

    -

    Definition at line 921 of file Parameters.h.

    +

    Definition at line 922 of file Parameters.h.

    @@ -54768,7 +54864,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MaxObstacleHeight : 0.0 .

    -

    Definition at line 921 of file Parameters.h.

    +

    Definition at line 922 of file Parameters.h.

    @@ -54797,7 +54893,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MaxObstacleHeight , as a string: float .

    -

    Definition at line 921 of file Parameters.h.

    +

    Definition at line 922 of file Parameters.h.

    @@ -54826,7 +54922,7 @@ The Parameter reference page, which lis

    Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).

    -

    Definition at line 922 of file Parameters.h.

    +

    Definition at line 923 of file Parameters.h.

    @@ -54855,7 +54951,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MinGroundHeight : 0.0 .

    -

    Definition at line 922 of file Parameters.h.

    +

    Definition at line 923 of file Parameters.h.

    @@ -54884,7 +54980,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MinGroundHeight , as a string: float .

    -

    Definition at line 922 of file Parameters.h.

    +

    Definition at line 923 of file Parameters.h.

    @@ -54913,7 +55009,7 @@ 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 923 of file Parameters.h.

    +

    Definition at line 924 of file Parameters.h.

    @@ -54942,7 +55038,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MaxGroundHeight : 0.0 .

    -

    Definition at line 923 of file Parameters.h.

    +

    Definition at line 924 of file Parameters.h.

    @@ -54971,7 +55067,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MaxGroundHeight , as a string: float .

    -

    Definition at line 923 of file Parameters.h.

    +

    Definition at line 924 of file Parameters.h.

    @@ -55000,7 +55096,7 @@ 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 924 of file Parameters.h.

    +

    Definition at line 925 of file Parameters.h.

    @@ -55029,7 +55125,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MaxGroundAngle : 45 .

    -

    Definition at line 924 of file Parameters.h.

    +

    Definition at line 925 of file Parameters.h.

    @@ -55058,7 +55154,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MaxGroundAngle , as a string: float .

    -

    Definition at line 924 of file Parameters.h.

    +

    Definition at line 925 of file Parameters.h.

    @@ -55087,7 +55183,7 @@ 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 925 of file Parameters.h.

    +

    Definition at line 926 of file Parameters.h.

    @@ -55116,7 +55212,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/NormalK : 20 .

    -

    Definition at line 925 of file Parameters.h.

    +

    Definition at line 926 of file Parameters.h.

    @@ -55145,7 +55241,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/NormalK , as a string: int .

    -

    Definition at line 925 of file Parameters.h.

    +

    Definition at line 926 of file Parameters.h.

    @@ -55174,7 +55270,7 @@ 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 926 of file Parameters.h.

    +

    Definition at line 927 of file Parameters.h.

    @@ -55203,7 +55299,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/ClusterRadius : 0.1 .

    -

    Definition at line 926 of file Parameters.h.

    +

    Definition at line 927 of file Parameters.h.

    @@ -55232,7 +55328,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/ClusterRadius , as a string: float .

    -

    Definition at line 926 of file Parameters.h.

    +

    Definition at line 927 of file Parameters.h.

    @@ -55261,7 +55357,7 @@ 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 927 of file Parameters.h.

    +

    Definition at line 928 of file Parameters.h.

    @@ -55290,7 +55386,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/MinClusterSize : 10 .

    -

    Definition at line 927 of file Parameters.h.

    +

    Definition at line 928 of file Parameters.h.

    @@ -55319,7 +55415,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/MinClusterSize , as a string: int .

    -

    Definition at line 927 of file Parameters.h.

    +

    Definition at line 928 of file Parameters.h.

    @@ -55348,7 +55444,7 @@ 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 928 of file Parameters.h.

    +

    Definition at line 929 of file Parameters.h.

    @@ -55377,7 +55473,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/FlatObstacleDetected : true .

    -

    Definition at line 928 of file Parameters.h.

    +

    Definition at line 929 of file Parameters.h.

    @@ -55406,7 +55502,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/FlatObstacleDetected , as a string: bool .

    -

    Definition at line 928 of file Parameters.h.

    +

    Definition at line 929 of file Parameters.h.

    @@ -55435,7 +55531,7 @@ 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 932 of file Parameters.h.

    +

    Definition at line 933 of file Parameters.h.

    @@ -55464,7 +55560,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/3D : false .

    -

    Definition at line 932 of file Parameters.h.

    +

    Definition at line 933 of file Parameters.h.

    @@ -55493,7 +55589,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/3D , as a string: bool .

    -

    Definition at line 932 of file Parameters.h.

    +

    Definition at line 933 of file Parameters.h.

    @@ -55522,7 +55618,7 @@ 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 934 of file Parameters.h.

    +

    Definition at line 935 of file Parameters.h.

    @@ -55551,7 +55647,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/GroundIsObstacle : false .

    -

    Definition at line 934 of file Parameters.h.

    +

    Definition at line 935 of file Parameters.h.

    @@ -55580,7 +55676,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/GroundIsObstacle , as a string: bool .

    -

    Definition at line 934 of file Parameters.h.

    +

    Definition at line 935 of file Parameters.h.

    @@ -55609,7 +55705,7 @@ 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 935 of file Parameters.h.

    +

    Definition at line 936 of file Parameters.h.

    @@ -55638,7 +55734,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/NoiseFilteringRadius : 0.0 .

    -

    Definition at line 935 of file Parameters.h.

    +

    Definition at line 936 of file Parameters.h.

    @@ -55667,7 +55763,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/NoiseFilteringRadius , as a string: float .

    -

    Definition at line 935 of file Parameters.h.

    +

    Definition at line 936 of file Parameters.h.

    @@ -55696,7 +55792,7 @@ The Parameter reference page, which lis

    Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).

    -

    Definition at line 936 of file Parameters.h.

    +

    Definition at line 937 of file Parameters.h.

    @@ -55725,7 +55821,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .

    -

    Definition at line 936 of file Parameters.h.

    +

    Definition at line 937 of file Parameters.h.

    @@ -55754,7 +55850,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .

    -

    Definition at line 936 of file Parameters.h.

    +

    Definition at line 937 of file Parameters.h.

    @@ -55783,7 +55879,7 @@ 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 937 of file Parameters.h.

    +

    Definition at line 938 of file Parameters.h.

    @@ -55812,7 +55908,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .

    -

    Definition at line 937 of file Parameters.h.

    +

    Definition at line 938 of file Parameters.h.

    @@ -55841,7 +55937,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .

    -

    Definition at line 937 of file Parameters.h.

    +

    Definition at line 938 of file Parameters.h.

    @@ -55870,7 +55966,7 @@ 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 938 of file Parameters.h.

    +

    Definition at line 939 of file Parameters.h.

    @@ -55899,7 +55995,7 @@ The Parameter reference page, which lis

    Default value of parameter Grid/RayTracing : false .

    -

    Definition at line 938 of file Parameters.h.

    +

    Definition at line 939 of file Parameters.h.

    @@ -55928,7 +56024,7 @@ The Parameter reference page, which lis

    Type of parameter Grid/RayTracing , as a string: bool .

    -

    Definition at line 938 of file Parameters.h.

    +

    Definition at line 939 of file Parameters.h.

    @@ -55957,7 +56053,7 @@ 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 939 of file Parameters.h.

    +

    Definition at line 940 of file Parameters.h.

    @@ -55986,7 +56082,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/UpdateError : 0.01 .

    -

    Definition at line 939 of file Parameters.h.

    +

    Definition at line 940 of file Parameters.h.

    @@ -56015,7 +56111,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/UpdateError , as a string: float .

    -

    Definition at line 939 of file Parameters.h.

    +

    Definition at line 940 of file Parameters.h.

    @@ -56044,7 +56140,7 @@ 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 940 of file Parameters.h.

    +

    Definition at line 941 of file Parameters.h.

    @@ -56073,7 +56169,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/FootprintRadius : 0.0 .

    -

    Definition at line 940 of file Parameters.h.

    +

    Definition at line 941 of file Parameters.h.

    @@ -56102,7 +56198,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/FootprintRadius , as a string: float .

    -

    Definition at line 940 of file Parameters.h.

    +

    Definition at line 941 of file Parameters.h.

    @@ -56131,7 +56227,7 @@ The Parameter reference page, which lis

    Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).

    -

    Definition at line 941 of file Parameters.h.

    +

    Definition at line 942 of file Parameters.h.

    @@ -56160,7 +56256,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/MinSize : 0.0 .

    -

    Definition at line 941 of file Parameters.h.

    +

    Definition at line 942 of file Parameters.h.

    @@ -56189,7 +56285,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/MinSize , as a string: float .

    -

    Definition at line 941 of file Parameters.h.

    +

    Definition at line 942 of file Parameters.h.

    @@ -56218,7 +56314,7 @@ The Parameter reference page, which lis

    Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).

    -

    Definition at line 942 of file Parameters.h.

    +

    Definition at line 943 of file Parameters.h.

    @@ -56247,7 +56343,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/Eroded : false .

    -

    Definition at line 942 of file Parameters.h.

    +

    Definition at line 943 of file Parameters.h.

    @@ -56276,7 +56372,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/Eroded , as a string: bool .

    -

    Definition at line 942 of file Parameters.h.

    +

    Definition at line 943 of file Parameters.h.

    @@ -56305,7 +56401,7 @@ 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 943 of file Parameters.h.

    +

    Definition at line 944 of file Parameters.h.

    @@ -56334,7 +56430,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/MaxNodes : 0 .

    -

    Definition at line 943 of file Parameters.h.

    +

    Definition at line 944 of file Parameters.h.

    @@ -56363,7 +56459,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/MaxNodes , as a string: int .

    -

    Definition at line 943 of file Parameters.h.

    +

    Definition at line 944 of file Parameters.h.

    @@ -56392,7 +56488,7 @@ 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 944 of file Parameters.h.

    +

    Definition at line 945 of file Parameters.h.

    @@ -56421,7 +56517,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/AltitudeDelta : 0 .

    -

    Definition at line 944 of file Parameters.h.

    +

    Definition at line 945 of file Parameters.h.

    @@ -56450,7 +56546,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/AltitudeDelta , as a string: float .

    -

    Definition at line 944 of file Parameters.h.

    +

    Definition at line 945 of file Parameters.h.

    @@ -56479,7 +56575,7 @@ 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 945 of file Parameters.h.

    +

    Definition at line 946 of file Parameters.h.

    @@ -56508,7 +56604,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/OccupancyThr : 0.5 .

    -

    Definition at line 945 of file Parameters.h.

    +

    Definition at line 946 of file Parameters.h.

    @@ -56537,7 +56633,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/OccupancyThr , as a string: float .

    -

    Definition at line 945 of file Parameters.h.

    +

    Definition at line 946 of file Parameters.h.

    @@ -56566,7 +56662,7 @@ 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 946 of file Parameters.h.

    +

    Definition at line 947 of file Parameters.h.

    @@ -56595,7 +56691,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/ProbHit : 0.7 .

    -

    Definition at line 946 of file Parameters.h.

    +

    Definition at line 947 of file Parameters.h.

    @@ -56624,7 +56720,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/ProbHit , as a string: float .

    -

    Definition at line 946 of file Parameters.h.

    +

    Definition at line 947 of file Parameters.h.

    @@ -56653,7 +56749,7 @@ 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 947 of file Parameters.h.

    +

    Definition at line 948 of file Parameters.h.

    @@ -56682,7 +56778,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/ProbMiss : 0.4 .

    -

    Definition at line 947 of file Parameters.h.

    +

    Definition at line 948 of file Parameters.h.

    @@ -56711,7 +56807,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/ProbMiss , as a string: float .

    -

    Definition at line 947 of file Parameters.h.

    +

    Definition at line 948 of file Parameters.h.

    @@ -56740,7 +56836,7 @@ 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 948 of file Parameters.h.

    +

    Definition at line 949 of file Parameters.h.

    @@ -56769,7 +56865,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .

    -

    Definition at line 948 of file Parameters.h.

    +

    Definition at line 949 of file Parameters.h.

    @@ -56798,7 +56894,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/ProbClampingMin , as a string: float .

    -

    Definition at line 948 of file Parameters.h.

    +

    Definition at line 949 of file Parameters.h.

    @@ -56827,7 +56923,7 @@ 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 949 of file Parameters.h.

    +

    Definition at line 950 of file Parameters.h.

    @@ -56856,7 +56952,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/ProbClampingMax : 0.971 .

    -

    Definition at line 949 of file Parameters.h.

    +

    Definition at line 950 of file Parameters.h.

    @@ -56885,7 +56981,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/ProbClampingMax , as a string: float .

    -

    Definition at line 949 of file Parameters.h.

    +

    Definition at line 950 of file Parameters.h.

    @@ -56914,7 +57010,7 @@ 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 950 of file Parameters.h.

    +

    Definition at line 951 of file Parameters.h.

    @@ -56943,7 +57039,7 @@ The Parameter reference page, which lis

    Default value of parameter GridGlobal/FloodFillDepth : 0 .

    -

    Definition at line 950 of file Parameters.h.

    +

    Definition at line 951 of file Parameters.h.

    @@ -56972,7 +57068,7 @@ The Parameter reference page, which lis

    Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .

    -

    Definition at line 950 of file Parameters.h.

    +

    Definition at line 951 of file Parameters.h.

    @@ -57001,7 +57097,7 @@ 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 952 of file Parameters.h.

    +

    Definition at line 953 of file Parameters.h.

    @@ -57030,7 +57126,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/Strategy : 0 .

    -

    Definition at line 952 of file Parameters.h.

    +

    Definition at line 953 of file Parameters.h.

    @@ -57059,7 +57155,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/Strategy , as a string: int .

    -

    Definition at line 952 of file Parameters.h.

    +

    Definition at line 953 of file Parameters.h.

    @@ -57088,7 +57184,7 @@ 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 953 of file Parameters.h.

    +

    Definition at line 954 of file Parameters.h.

    @@ -57117,7 +57213,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/Dictionary : 0 .

    -

    Definition at line 953 of file Parameters.h.

    +

    Definition at line 954 of file Parameters.h.

    @@ -57146,7 +57242,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/Dictionary , as a string: int .

    -

    Definition at line 953 of file Parameters.h.

    +

    Definition at line 954 of file Parameters.h.

    @@ -57175,7 +57271,7 @@ 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 954 of file Parameters.h.

    +

    Definition at line 955 of file Parameters.h.

    @@ -57204,7 +57300,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/Length : 0 .

    -

    Definition at line 954 of file Parameters.h.

    +

    Definition at line 955 of file Parameters.h.

    @@ -57233,7 +57329,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/Length , as a string: float .

    -

    Definition at line 954 of file Parameters.h.

    +

    Definition at line 955 of file Parameters.h.

    @@ -57262,7 +57358,7 @@ 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 955 of file Parameters.h.

    +

    Definition at line 956 of file Parameters.h.

    @@ -57291,7 +57387,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/Lengths : "" .

    -

    Definition at line 955 of file Parameters.h.

    +

    Definition at line 956 of file Parameters.h.

    @@ -57320,7 +57416,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/Lengths , as a string: string.

    -

    Definition at line 955 of file Parameters.h.

    +

    Definition at line 956 of file Parameters.h.

    @@ -57349,7 +57445,7 @@ 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 956 of file Parameters.h.

    +

    Definition at line 957 of file Parameters.h.

    @@ -57378,7 +57474,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/MaxDepthError : 0.01 .

    -

    Definition at line 956 of file Parameters.h.

    +

    Definition at line 957 of file Parameters.h.

    @@ -57407,7 +57503,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/MaxDepthError , as a string: float .

    -

    Definition at line 956 of file Parameters.h.

    +

    Definition at line 957 of file Parameters.h.

    @@ -57436,7 +57532,7 @@ 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 957 of file Parameters.h.

    +

    Definition at line 958 of file Parameters.h.

    @@ -57465,7 +57561,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/VarianceLinear : 0.001 .

    -

    Definition at line 957 of file Parameters.h.

    +

    Definition at line 958 of file Parameters.h.

    @@ -57494,7 +57590,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/VarianceLinear , as a string: float .

    -

    Definition at line 957 of file Parameters.h.

    +

    Definition at line 958 of file Parameters.h.

    @@ -57523,7 +57619,7 @@ 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 958 of file Parameters.h.

    +

    Definition at line 959 of file Parameters.h.

    @@ -57552,7 +57648,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/VarianceAngular : 0.01 .

    -

    Definition at line 958 of file Parameters.h.

    +

    Definition at line 959 of file Parameters.h.

    @@ -57581,7 +57677,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/VarianceAngular , as a string: float .

    -

    Definition at line 958 of file Parameters.h.

    +

    Definition at line 959 of file Parameters.h.

    @@ -57610,7 +57706,7 @@ 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 959 of file Parameters.h.

    +

    Definition at line 960 of file Parameters.h.

    @@ -57639,7 +57735,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/VarianceOrientationIgnored : false .

    -

    Definition at line 959 of file Parameters.h.

    +

    Definition at line 960 of file Parameters.h.

    @@ -57668,7 +57764,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .

    -

    Definition at line 959 of file Parameters.h.

    +

    Definition at line 960 of file Parameters.h.

    @@ -57697,7 +57793,7 @@ 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 960 of file Parameters.h.

    +

    Definition at line 961 of file Parameters.h.

    @@ -57726,7 +57822,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/MaxRange : 0.0 .

    -

    Definition at line 960 of file Parameters.h.

    +

    Definition at line 961 of file Parameters.h.

    @@ -57755,7 +57851,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/MaxRange , as a string: float .

    -

    Definition at line 960 of file Parameters.h.

    +

    Definition at line 961 of file Parameters.h.

    @@ -57784,7 +57880,7 @@ 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 961 of file Parameters.h.

    +

    Definition at line 962 of file Parameters.h.

    @@ -57813,7 +57909,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/MinRange : 0.0 .

    -

    Definition at line 961 of file Parameters.h.

    +

    Definition at line 962 of file Parameters.h.

    @@ -57842,7 +57938,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/MinRange , as a string: float .

    -

    Definition at line 961 of file Parameters.h.

    +

    Definition at line 962 of file Parameters.h.

    @@ -57871,7 +57967,7 @@ The Parameter reference page, which lis

    Key of parameter Marker/Priors : "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)." Default value: "" (string).

    -

    Definition at line 962 of file Parameters.h.

    +

    Definition at line 963 of file Parameters.h.

    @@ -57900,7 +57996,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/Priors : "" .

    -

    Definition at line 962 of file Parameters.h.

    +

    Definition at line 963 of file Parameters.h.

    @@ -57929,7 +58025,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/Priors , as a string: string.

    -

    Definition at line 962 of file Parameters.h.

    +

    Definition at line 963 of file Parameters.h.

    @@ -57958,7 +58054,7 @@ 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 963 of file Parameters.h.

    +

    Definition at line 964 of file Parameters.h.

    @@ -57987,7 +58083,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/PriorsVarianceLinear : 0.001 .

    -

    Definition at line 963 of file Parameters.h.

    +

    Definition at line 964 of file Parameters.h.

    @@ -58016,7 +58112,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/PriorsVarianceLinear , as a string: float .

    -

    Definition at line 963 of file Parameters.h.

    +

    Definition at line 964 of file Parameters.h.

    @@ -58045,7 +58141,7 @@ 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 964 of file Parameters.h.

    +

    Definition at line 965 of file Parameters.h.

    @@ -58074,7 +58170,7 @@ The Parameter reference page, which lis

    Default value of parameter Marker/PriorsVarianceAngular : 0.001 .

    -

    Definition at line 964 of file Parameters.h.

    +

    Definition at line 965 of file Parameters.h.

    @@ -58103,7 +58199,7 @@ The Parameter reference page, which lis

    Type of parameter Marker/PriorsVarianceAngular , as a string: float .

    -

    Definition at line 964 of file Parameters.h.

    +

    Definition at line 965 of file Parameters.h.

    @@ -58132,7 +58228,7 @@ The Parameter reference page, which lis

    Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).

    -

    Definition at line 966 of file Parameters.h.

    +

    Definition at line 967 of file Parameters.h.

    @@ -58161,7 +58257,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/NThreads : 1 .

    -

    Definition at line 966 of file Parameters.h.

    +

    Definition at line 967 of file Parameters.h.

    @@ -58190,7 +58286,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/NThreads , as a string: int .

    -

    Definition at line 966 of file Parameters.h.

    +

    Definition at line 967 of file Parameters.h.

    @@ -58219,7 +58315,7 @@ 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 967 of file Parameters.h.

    +

    Definition at line 968 of file Parameters.h.

    @@ -58248,7 +58344,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .

    -

    Definition at line 967 of file Parameters.h.

    +

    Definition at line 968 of file Parameters.h.

    @@ -58277,7 +58373,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .

    -

    Definition at line 967 of file Parameters.h.

    +

    Definition at line 968 of file Parameters.h.

    @@ -58306,7 +58402,7 @@ 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 968 of file Parameters.h.

    +

    Definition at line 969 of file Parameters.h.

    @@ -58335,7 +58431,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .

    -

    Definition at line 968 of file Parameters.h.

    +

    Definition at line 969 of file Parameters.h.

    @@ -58364,7 +58460,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/QuadSigma , as a string: float .

    -

    Definition at line 968 of file Parameters.h.

    +

    Definition at line 969 of file Parameters.h.

    @@ -58393,7 +58489,7 @@ 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 969 of file Parameters.h.

    +

    Definition at line 970 of file Parameters.h.

    @@ -58422,7 +58518,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/RefineEdges : true .

    -

    Definition at line 969 of file Parameters.h.

    +

    Definition at line 970 of file Parameters.h.

    @@ -58451,7 +58547,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .

    -

    Definition at line 969 of file Parameters.h.

    +

    Definition at line 970 of file Parameters.h.

    @@ -58480,7 +58576,7 @@ 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 970 of file Parameters.h.

    +

    Definition at line 971 of file Parameters.h.

    @@ -58509,7 +58605,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .

    -

    Definition at line 970 of file Parameters.h.

    +

    Definition at line 971 of file Parameters.h.

    @@ -58538,7 +58634,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .

    -

    Definition at line 970 of file Parameters.h.

    +

    Definition at line 971 of file Parameters.h.

    @@ -58567,7 +58663,7 @@ 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 971 of file Parameters.h.

    +

    Definition at line 972 of file Parameters.h.

    @@ -58596,7 +58692,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerAprilTag/Debug : false .

    -

    Definition at line 971 of file Parameters.h.

    +

    Definition at line 972 of file Parameters.h.

    @@ -58625,7 +58721,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerAprilTag/Debug , as a string: bool .

    -

    Definition at line 971 of file Parameters.h.

    +

    Definition at line 972 of file Parameters.h.

    @@ -58654,7 +58750,7 @@ 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 973 of file Parameters.h.

    +

    Definition at line 974 of file Parameters.h.

    @@ -58683,7 +58779,7 @@ The Parameter reference page, which lis

    Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .

    -

    Definition at line 973 of file Parameters.h.

    +

    Definition at line 974 of file Parameters.h.

    @@ -58712,7 +58808,7 @@ The Parameter reference page, which lis

    Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .

    -

    Definition at line 973 of file Parameters.h.

    +

    Definition at line 974 of file Parameters.h.

    @@ -58741,7 +58837,7 @@ 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 975 of file Parameters.h.

    +

    Definition at line 976 of file Parameters.h.

    @@ -58770,7 +58866,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/MadgwickGain : 0.1 .

    -

    Definition at line 975 of file Parameters.h.

    +

    Definition at line 976 of file Parameters.h.

    @@ -58799,7 +58895,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/MadgwickGain , as a string: double .

    -

    Definition at line 975 of file Parameters.h.

    +

    Definition at line 976 of file Parameters.h.

    @@ -58828,7 +58924,7 @@ 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 976 of file Parameters.h.

    +

    Definition at line 977 of file Parameters.h.

    @@ -58857,7 +58953,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/MadgwickZeta : 0.0 .

    -

    Definition at line 976 of file Parameters.h.

    +

    Definition at line 977 of file Parameters.h.

    @@ -58886,7 +58982,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/MadgwickZeta , as a string: double .

    -

    Definition at line 976 of file Parameters.h.

    +

    Definition at line 977 of file Parameters.h.

    @@ -58915,7 +59011,7 @@ 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 978 of file Parameters.h.

    +

    Definition at line 979 of file Parameters.h.

    @@ -58944,7 +59040,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .

    -

    Definition at line 978 of file Parameters.h.

    +

    Definition at line 979 of file Parameters.h.

    @@ -58973,7 +59069,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .

    -

    Definition at line 978 of file Parameters.h.

    +

    Definition at line 979 of file Parameters.h.

    @@ -59002,7 +59098,7 @@ 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 979 of file Parameters.h.

    +

    Definition at line 980 of file Parameters.h.

    @@ -59031,7 +59127,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .

    -

    Definition at line 979 of file Parameters.h.

    +

    Definition at line 980 of file Parameters.h.

    @@ -59060,7 +59156,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .

    -

    Definition at line 979 of file Parameters.h.

    +

    Definition at line 980 of file Parameters.h.

    @@ -59089,7 +59185,7 @@ 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 980 of file Parameters.h.

    +

    Definition at line 981 of file Parameters.h.

    @@ -59118,7 +59214,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .

    -

    Definition at line 980 of file Parameters.h.

    +

    Definition at line 981 of file Parameters.h.

    @@ -59147,7 +59243,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .

    -

    Definition at line 980 of file Parameters.h.

    +

    Definition at line 981 of file Parameters.h.

    @@ -59176,7 +59272,7 @@ 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 981 of file Parameters.h.

    +

    Definition at line 982 of file Parameters.h.

    @@ -59205,7 +59301,7 @@ The Parameter reference page, which lis

    Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .

    -

    Definition at line 981 of file Parameters.h.

    +

    Definition at line 982 of file Parameters.h.

    @@ -59234,7 +59330,7 @@ The Parameter reference page, which lis

    Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .

    -

    Definition at line 981 of file Parameters.h.

    +

    Definition at line 982 of file Parameters.h.

    @@ -59262,7 +59358,7 @@ The Parameter reference page, which lis

    Get default parameters

    -

    Definition at line 990 of file Parameters.h.

    +

    Definition at line 991 of file Parameters.h.

    diff --git a/api/latest/classrtabmap_1_1ParticleFilter-members.html b/api/latest/classrtabmap_1_1ParticleFilter-members.html index 9cc4f72e..1ecec4ff 100644 --- a/api/latest/classrtabmap_1_1ParticleFilter-members.html +++ b/api/latest/classrtabmap_1_1ParticleFilter-members.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1ParticleFilter.html b/api/latest/classrtabmap_1_1ParticleFilter.html index c875ddca..43d477c0 100644 --- a/api/latest/classrtabmap_1_1ParticleFilter.html +++ b/api/latest/classrtabmap_1_1ParticleFilter.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1ProgressState-members.html b/api/latest/classrtabmap_1_1ProgressState-members.html index 191550c8..deb1f18e 100644 --- a/api/latest/classrtabmap_1_1ProgressState-members.html +++ b/api/latest/classrtabmap_1_1ProgressState-members.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1ProgressState.html b/api/latest/classrtabmap_1_1ProgressState.html index bc617538..12c91c6e 100644 --- a/api/latest/classrtabmap_1_1ProgressState.html +++ b/api/latest/classrtabmap_1_1ProgressState.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1PythonInterface-members.html b/api/latest/classrtabmap_1_1PythonInterface-members.html index aebe62ff..5bd34387 100644 --- a/api/latest/classrtabmap_1_1PythonInterface-members.html +++ b/api/latest/classrtabmap_1_1PythonInterface-members.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1PythonInterface.html b/api/latest/classrtabmap_1_1PythonInterface.html index 88e309e5..e0e126c7 100644 --- a/api/latest/classrtabmap_1_1PythonInterface.html +++ b/api/latest/classrtabmap_1_1PythonInterface.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1Registration-members.html b/api/latest/classrtabmap_1_1Registration-members.html index 6ad4acdf..83a45d47 100644 --- a/api/latest/classrtabmap_1_1Registration-members.html +++ b/api/latest/classrtabmap_1_1Registration-members.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1Registration.html b/api/latest/classrtabmap_1_1Registration.html index b3c3f298..dca94f2f 100644 --- a/api/latest/classrtabmap_1_1Registration.html +++ b/api/latest/classrtabmap_1_1Registration.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1RegistrationIcp-members.html b/api/latest/classrtabmap_1_1RegistrationIcp-members.html index 5287797e..45eeeb1b 100644 --- a/api/latest/classrtabmap_1_1RegistrationIcp-members.html +++ b/api/latest/classrtabmap_1_1RegistrationIcp-members.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/classrtabmap_1_1RegistrationIcp.html b/api/latest/classrtabmap_1_1RegistrationIcp.html index 46ab5fe8..60fa867a 100644 --- a/api/latest/classrtabmap_1_1RegistrationIcp.html +++ b/api/latest/classrtabmap_1_1RegistrationIcp.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
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    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html index fa4cf81c..ae08dbcc 100644 --- a/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html +++ b/api/latest/dir_884419f21456e80aa47bc1d0c2ab0140.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html b/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html index 721e0311..6a34418f 100644 --- a/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html +++ b/api/latest/dir_8c6d2b7fb0f1009468191a56b06a1387.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html b/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html index 25603ed7..45a18f84 100644 --- a/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html +++ b/api/latest/dir_b3c8af46e4c1aa88d96b6d1863f8ab51.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html b/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html index 298da678..cad1a8c8 100644 --- a/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html +++ b/api/latest/dir_ca74fa0ef74cdae9a74fcd374d99516a.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html b/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html index 3866351d..3015c7fd 100644 --- a/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html +++ b/api/latest/dir_d5b9494e18cb3ada3ef427a965bb34ab.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html b/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html index d2d393d4..e0ad5731 100644 --- a/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html +++ b/api/latest/dir_e4607d1f674c8fc63d3b87c7bc0020e1.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html b/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html index b56ab9ad..d374da9d 100644 --- a/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html +++ b/api/latest/dir_e996b11fd4b3a747423759b16a8ba4a6.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html b/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html index 302c16a5..afaf0693 100644 --- a/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html +++ b/api/latest/dir_ee30f6c257683889c7b4a28a79d90ef3.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html b/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html index e8aab07f..a1da297c 100644 --- a/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html +++ b/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html b/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html index 39191d76..8ace4fbe 100644 --- a/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html +++ b/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    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 242a9449..933f7ff1 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 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/files.html b/api/latest/files.html index 36d8fb54..1f0d7088 100644 --- a/api/latest/files.html +++ b/api/latest/files.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/frame__projector_8h_source.html b/api/latest/frame__projector_8h_source.html index 5510e172..02ff03d2 100644 --- a/api/latest/frame__projector_8h_source.html +++ b/api/latest/frame__projector_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions.html b/api/latest/functions.html index 96acb097..d9407ea5 100644 --- a/api/latest/functions.html +++ b/api/latest/functions.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_a.html b/api/latest/functions_a.html index 7eb67509..6d0492ef 100644 --- a/api/latest/functions_a.html +++ b/api/latest/functions_a.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_b.html b/api/latest/functions_b.html index c67db3f0..cddb4c30 100644 --- a/api/latest/functions_b.html +++ b/api/latest/functions_b.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_c.html b/api/latest/functions_c.html index e7db3db8..2cbf3f3e 100644 --- a/api/latest/functions_c.html +++ b/api/latest/functions_c.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -140,7 +140,7 @@ $(document).ready(function(){initNavTree('functions_c.html',''); initResizable()
  • computeIcpTransformMulti() : rtabmap::Memory
  • computeLikelihood() : rtabmap::Memory
  • computePath() : rtabmap::Rtabmap
    • -
  • computePosterior() : rtabmap::BayesFilter
    • +
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
  • computeTransform() : rtabmap::Memory
  • computeTransformation() : rtabmap::Registration
    • diff --git a/api/latest/functions_d.html b/api/latest/functions_d.html index 85308b5f..31491f9d 100644 --- a/api/latest/functions_d.html +++ b/api/latest/functions_d.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -109,6 +109,7 @@ $(document).ready(function(){initNavTree('functions_d.html',''); initResizable()
  • DBDriverSqlite3() : rtabmap::DBDriverSqlite3
  • defaultBayesFullPredictionUpdate() : rtabmap::Parameters
  • defaultBayesPredictionLC() : rtabmap::Parameters
    • +
  • defaultBayesSparsePrediction() : rtabmap::Parameters
  • defaultBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • defaultBRIEFBytes() : rtabmap::Parameters
  • defaultBRISKOctaves() : rtabmap::Parameters
    • diff --git a/api/latest/functions_e.html b/api/latest/functions_e.html index f718535f..b339ac27 100644 --- a/api/latest/functions_e.html +++ b/api/latest/functions_e.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_enum.html b/api/latest/functions_enum.html index 51c0b9a6..fc265d5b 100644 --- a/api/latest/functions_enum.html +++ b/api/latest/functions_enum.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_eval.html b/api/latest/functions_eval.html index ae784511..4503e3a4 100644 --- a/api/latest/functions_eval.html +++ b/api/latest/functions_eval.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_f.html b/api/latest/functions_f.html index a816dd2f..fd744c0c 100644 --- a/api/latest/functions_f.html +++ b/api/latest/functions_f.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func.html b/api/latest/functions_func.html index 8f464789..83c4851c 100644 --- a/api/latest/functions_func.html +++ b/api/latest/functions_func.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_b.html b/api/latest/functions_func_b.html index e4d95b5a..fe450a97 100644 --- a/api/latest/functions_func_b.html +++ b/api/latest/functions_func_b.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_c.html b/api/latest/functions_func_c.html index 638b1574..94d28320 100644 --- a/api/latest/functions_func_c.html +++ b/api/latest/functions_func_c.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -136,7 +136,7 @@ $(document).ready(function(){initNavTree('functions_func_c.html',''); initResiza
  • computeIcpTransformMulti() : rtabmap::Memory
  • computeLikelihood() : rtabmap::Memory
  • computePath() : rtabmap::Rtabmap
    • -
  • computePosterior() : rtabmap::BayesFilter
    • +
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
  • computeTransform() : rtabmap::Memory
  • computeTransformation() : rtabmap::Registration
    • diff --git a/api/latest/functions_func_d.html b/api/latest/functions_func_d.html index 8f18d5de..6a095dc2 100644 --- a/api/latest/functions_func_d.html +++ b/api/latest/functions_func_d.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -109,6 +109,7 @@ $(document).ready(function(){initNavTree('functions_func_d.html',''); initResiza
  • DBDriverSqlite3() : rtabmap::DBDriverSqlite3
  • defaultBayesFullPredictionUpdate() : rtabmap::Parameters
  • defaultBayesPredictionLC() : rtabmap::Parameters
    • +
  • defaultBayesSparsePrediction() : rtabmap::Parameters
  • defaultBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • defaultBRIEFBytes() : rtabmap::Parameters
  • defaultBRISKOctaves() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_e.html b/api/latest/functions_func_e.html index cd99a587..961be97d 100644 --- a/api/latest/functions_func_e.html +++ b/api/latest/functions_func_e.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_f.html b/api/latest/functions_func_f.html index d65e427f..864d852c 100644 --- a/api/latest/functions_func_f.html +++ b/api/latest/functions_func_f.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_g.html b/api/latest/functions_func_g.html index d0674997..3b74c0f8 100644 --- a/api/latest/functions_func_g.html +++ b/api/latest/functions_func_g.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -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
    • @@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getNodeCalibration() : rtabmap::Memory
  • getNodeData() : rtabmap::Memory
  • getNodeInfo() : rtabmap::Memory
    • -
  • getNodesInRadius() : rtabmap::Rtabmap
    • +
  • getNodesInRadius() : rtabmap::Rtabmap
  • getNodesObservingLandmark() : rtabmap::Memory
  • getNodeWordsAndGlobalDescriptors() : rtabmap::Memory
  • getNorm() : rtabmap::Transform
    • @@ -230,7 +230,8 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getPathTransformToGoal() : rtabmap::Rtabmap
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::OdometryResetEvent, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
  • getPoseCovariance() : rtabmap::Signature
    • -
  • getPosterior() : rtabmap::BayesFilter
    • +
  • getPosteriorIds() : rtabmap::BayesFilter
    • +
  • getPosteriorValues() : rtabmap::BayesFilter
  • getPredictionLC() : rtabmap::BayesFilter
  • getPredictionLCStr() : rtabmap::BayesFilter
  • getReferences() : rtabmap::VisualWord
    • diff --git a/api/latest/functions_func_h.html b/api/latest/functions_func_h.html index 17533925..dc643a5e 100644 --- a/api/latest/functions_func_h.html +++ b/api/latest/functions_func_h.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_i.html b/api/latest/functions_func_i.html index ef78420a..33d60492 100644 --- a/api/latest/functions_func_i.html +++ b/api/latest/functions_func_i.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -167,6 +167,7 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
  • isOdomGravityUsed() : rtabmap::Memory
  • isPaused() : rtabmap::SensorCaptureThread
  • isPointVisibleFromCameras() : rtabmap::SensorData
    • +
  • isPredictionSparse() : rtabmap::BayesFilter
  • isReadOnly() : rtabmap::Memory
  • isRectificationMapInitialized() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • isRGBDMode() : rtabmap::Rtabmap
    • diff --git a/api/latest/functions_func_j.html b/api/latest/functions_func_j.html index ddc35393..08febfb3 100644 --- a/api/latest/functions_func_j.html +++ b/api/latest/functions_func_j.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_k.html b/api/latest/functions_func_k.html index 003f4fe1..27d0d894 100644 --- a/api/latest/functions_func_k.html +++ b/api/latest/functions_func_k.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -105,6 +105,7 @@ $(document).ready(function(){initNavTree('functions_func_k.html',''); initResiza
  • K_raw() : rtabmap::CameraModel
  • kBayesFullPredictionUpdate() : rtabmap::Parameters
  • kBayesPredictionLC() : rtabmap::Parameters
    • +
  • kBayesSparsePrediction() : rtabmap::Parameters
  • kBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • kBRIEFBytes() : rtabmap::Parameters
  • kBRISKOctaves() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_l.html b/api/latest/functions_func_l.html index 12bc319f..286015fd 100644 --- a/api/latest/functions_func_l.html +++ b/api/latest/functions_func_l.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_m.html b/api/latest/functions_func_m.html index f8ff871b..b3320c8a 100644 --- a/api/latest/functions_func_m.html +++ b/api/latest/functions_func_m.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_n.html b/api/latest/functions_func_n.html index 3d924892..6f79839e 100644 --- a/api/latest/functions_func_n.html +++ b/api/latest/functions_func_n.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_o.html b/api/latest/functions_func_o.html index d33fdc46..cf69cfc7 100644 --- a/api/latest/functions_func_o.html +++ b/api/latest/functions_func_o.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_p.html b/api/latest/functions_func_p.html index 71d55329..190cf54b 100644 --- a/api/latest/functions_func_p.html +++ b/api/latest/functions_func_p.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_r.html b/api/latest/functions_func_r.html index fb085b5e..8f1e9e30 100644 --- a/api/latest/functions_func_r.html +++ b/api/latest/functions_func_r.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_s.html b/api/latest/functions_func_s.html index c8c3f545..fb5a0893 100644 --- a/api/latest/functions_func_s.html +++ b/api/latest/functions_func_s.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_t.html b/api/latest/functions_func_t.html index dd1dd0b6..36b92a74 100644 --- a/api/latest/functions_func_t.html +++ b/api/latest/functions_func_t.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
    • @@ -138,6 +138,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
  • type() : rtabmap::EnvSensor, rtabmap::IMUFilter, rtabmap::Link, rtabmap::Optimizer, rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO, UVariant
  • typeBayesFullPredictionUpdate() : rtabmap::Parameters
  • typeBayesPredictionLC() : rtabmap::Parameters
    • +
  • typeBayesSparsePrediction() : rtabmap::Parameters
  • typeBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • typeBRIEFBytes() : rtabmap::Parameters
  • typeBRISKOctaves() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_u.html b/api/latest/functions_func_u.html index 0cacf8f5..34dd6abb 100644 --- a/api/latest/functions_func_u.html +++ b/api/latest/functions_func_u.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_v.html b/api/latest/functions_func_v.html index b50b1571..afe57669 100644 --- a/api/latest/functions_func_v.html +++ b/api/latest/functions_func_v.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_w.html b/api/latest/functions_func_w.html index f42afb52..57f8f751 100644 --- a/api/latest/functions_func_w.html +++ b/api/latest/functions_func_w.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_x.html b/api/latest/functions_func_x.html index aa346191..374733ca 100644 --- a/api/latest/functions_func_x.html +++ b/api/latest/functions_func_x.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_y.html b/api/latest/functions_func_y.html index baad9400..ba2c72d1 100644 --- a/api/latest/functions_func_y.html +++ b/api/latest/functions_func_y.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_z.html b/api/latest/functions_func_z.html index 9c235e39..4479d4a9 100644 --- a/api/latest/functions_func_z.html +++ b/api/latest/functions_func_z.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_func_~.html b/api/latest/functions_func_~.html index 68812223..4c287073 100644 --- a/api/latest/functions_func_~.html +++ b/api/latest/functions_func_~.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_g.html b/api/latest/functions_g.html index cf3572bc..fc4d5d25 100644 --- a/api/latest/functions_g.html +++ b/api/latest/functions_g.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -230,7 +230,8 @@ $(document).ready(function(){initNavTree('functions_g.html',''); initResizable()
  • getPathTransformToGoal() : rtabmap::Rtabmap
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::OdometryResetEvent, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
  • getPoseCovariance() : rtabmap::Signature
    • -
  • getPosterior() : rtabmap::BayesFilter
    • +
  • getPosteriorIds() : rtabmap::BayesFilter
    • +
  • getPosteriorValues() : rtabmap::BayesFilter
  • getPredictionLC() : rtabmap::BayesFilter
  • getPredictionLCStr() : rtabmap::BayesFilter
  • getReferences() : rtabmap::VisualWord
    • diff --git a/api/latest/functions_h.html b/api/latest/functions_h.html index eff74b74..e6b0cd91 100644 --- a/api/latest/functions_h.html +++ b/api/latest/functions_h.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_i.html b/api/latest/functions_i.html index b215b6c4..131fdb66 100644 --- a/api/latest/functions_i.html +++ b/api/latest/functions_i.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -185,6 +185,7 @@ $(document).ready(function(){initNavTree('functions_i.html',''); initResizable()
  • isOdomGravityUsed() : rtabmap::Memory
  • isPaused() : rtabmap::SensorCaptureThread
  • isPointVisibleFromCameras() : rtabmap::SensorData
    • +
  • isPredictionSparse() : rtabmap::BayesFilter
  • isReadOnly() : rtabmap::Memory
  • isRectificationMapInitialized() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • isRGBDMode() : rtabmap::Rtabmap
    • diff --git a/api/latest/functions_j.html b/api/latest/functions_j.html index ce770c2d..86082e26 100644 --- a/api/latest/functions_j.html +++ b/api/latest/functions_j.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_k.html b/api/latest/functions_k.html index d09bfcf4..205be7ed 100644 --- a/api/latest/functions_k.html +++ b/api/latest/functions_k.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -111,6 +111,7 @@ $(document).ready(function(){initNavTree('functions_k.html',''); initResizable()
  • kAmbientTemperature : rtabmap::EnvSensor
  • kBayesFullPredictionUpdate() : rtabmap::Parameters
  • kBayesPredictionLC() : rtabmap::Parameters
    • +
  • kBayesSparsePrediction() : rtabmap::Parameters
  • kBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • kBool : UVariant
  • kBRIEFBytes() : rtabmap::Parameters
    • diff --git a/api/latest/functions_l.html b/api/latest/functions_l.html index e304842a..6584e5f4 100644 --- a/api/latest/functions_l.html +++ b/api/latest/functions_l.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_m.html b/api/latest/functions_m.html index 0f393f31..efee0b4c 100644 --- a/api/latest/functions_m.html +++ b/api/latest/functions_m.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_n.html b/api/latest/functions_n.html index 6b3aa620..bbbbf422 100644 --- a/api/latest/functions_n.html +++ b/api/latest/functions_n.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_o.html b/api/latest/functions_o.html index fe2eed27..cbf0cbae 100644 --- a/api/latest/functions_o.html +++ b/api/latest/functions_o.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_p.html b/api/latest/functions_p.html index 23b5563f..95eacee2 100644 --- a/api/latest/functions_p.html +++ b/api/latest/functions_p.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_r.html b/api/latest/functions_r.html index 9b788bd8..3cc7d7a5 100644 --- a/api/latest/functions_r.html +++ b/api/latest/functions_r.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_rela.html b/api/latest/functions_rela.html index f0fd7354..8ae4e4de 100644 --- a/api/latest/functions_rela.html +++ b/api/latest/functions_rela.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_s.html b/api/latest/functions_s.html index 8a2662be..be0de13d 100644 --- a/api/latest/functions_s.html +++ b/api/latest/functions_s.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_t.html b/api/latest/functions_t.html index 164e0a82..b4b61b56 100644 --- a/api/latest/functions_t.html +++ b/api/latest/functions_t.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link, rtabmap::OdometryInfo
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • transformFiltered : rtabmap::OdometryInfo
  • transformGroundTruth : rtabmap::OdometryInfo
  • translation() : rtabmap::Transform
    • @@ -153,9 +153,9 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • Tx() : rtabmap::CameraModel
  • Type : rtabmap::EnvSensor
  • type() : rtabmap::EnvSensor
    • -
  • Type : rtabmap::Feature2D, rtabmap::IMUFilter
    • +
  • Type : rtabmap::Feature2D
  • type() : rtabmap::IMUFilter
    • -
  • Type : rtabmap::Link
    • +
  • Type : rtabmap::IMUFilter, rtabmap::Link
  • type() : rtabmap::Link
  • Type : rtabmap::Odometry
  • type : rtabmap::OdometryInfo
    • @@ -166,6 +166,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • Type : UVariant
  • typeBayesFullPredictionUpdate() : rtabmap::Parameters
  • typeBayesPredictionLC() : rtabmap::Parameters
    • +
  • typeBayesSparsePrediction() : rtabmap::Parameters
  • typeBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • typeBRIEFBytes() : rtabmap::Parameters
  • typeBRISKOctaves() : rtabmap::Parameters
    • diff --git a/api/latest/functions_u.html b/api/latest/functions_u.html index ac6e7d64..6b96345a 100644 --- a/api/latest/functions_u.html +++ b/api/latest/functions_u.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_v.html b/api/latest/functions_v.html index 64afd129..a1150afd 100644 --- a/api/latest/functions_v.html +++ b/api/latest/functions_v.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_vars.html b/api/latest/functions_vars.html index 4e873eb6..fd6af125 100644 --- a/api/latest/functions_vars.html +++ b/api/latest/functions_vars.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_w.html b/api/latest/functions_w.html index d6cc4171..368268d3 100644 --- a/api/latest/functions_w.html +++ b/api/latest/functions_w.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_x.html b/api/latest/functions_x.html index 5d781b04..121d8aea 100644 --- a/api/latest/functions_x.html +++ b/api/latest/functions_x.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_y.html b/api/latest/functions_y.html index 2d049206..39dfd047 100644 --- a/api/latest/functions_y.html +++ b/api/latest/functions_y.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_z.html b/api/latest/functions_z.html index bb2dce71..3755df43 100644 --- a/api/latest/functions_z.html +++ b/api/latest/functions_z.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/functions_~.html b/api/latest/functions_~.html index ec6d63bf..848d3552 100644 --- a/api/latest/functions_~.html +++ b/api/latest/functions_~.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/global__map_2OccupancyGrid_8h_source.html b/api/latest/global__map_2OccupancyGrid_8h_source.html index 129cad09..5080bbec 100644 --- a/api/latest/global__map_2OccupancyGrid_8h_source.html +++ b/api/latest/global__map_2OccupancyGrid_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -182,7 +182,7 @@ $(document).ready(function(){initNavTree('global__map_2OccupancyGrid_8h_source.h
    rtabmap::OccupancyGrid::getMemoryUsed
    unsigned long getMemoryUsed() const
    Approximate memory used by assembled-node bookkeeping (bytes).
    rtabmap::OccupancyGrid::assemble
    virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
    Subclass hook: merge newPoses into the global map; call addAssembledNode().
    rtabmap::OccupancyGrid::clear
    virtual void clear()
    Clears assembled nodes and grid bounds; does not clear LocalGridCache.
    - +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/api/latest/global__map_2OctoMap_8h_source.html b/api/latest/global__map_2OctoMap_8h_source.html index a3ea435a..8ee01941 100644 --- a/api/latest/global__map_2OctoMap_8h_source.html +++ b/api/latest/global__map_2OctoMap_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -333,7 +333,7 @@ $(document).ready(function(){initNavTree('global__map_2OctoMap_8h_source.html','
    rtabmap::RtabmapColorOcTree::RtabmapColorOcTreeMemberInit
    static StaticMemberInitializer RtabmapColorOcTreeMemberInit
    static member to ensure static initialization (only once)
    Definition OctoMap.h:171
    rtabmap::RtabmapColorOcTree::create
    RtabmapColorOcTree * create() const
    Definition OctoMap.h:96
    rtabmap::RtabmapColorOcTree::pruneNode
    virtual bool pruneNode(RtabmapColorOcTreeNode *node)
    - +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/api/latest/globals.html b/api/latest/globals.html index 527e5d85..9b2265b6 100644 --- a/api/latest/globals.html +++ b/api/latest/globals.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/globals_defs.html b/api/latest/globals_defs.html index c8e0ca52..5e76139d 100644 --- a/api/latest/globals_defs.html +++ b/api/latest/globals_defs.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/globals_enum.html b/api/latest/globals_enum.html index 9e4329f5..729f8746 100644 --- a/api/latest/globals_enum.html +++ b/api/latest/globals_enum.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/globals_func.html b/api/latest/globals_func.html index 2b6e051a..b33666bc 100644 --- a/api/latest/globals_func.html +++ b/api/latest/globals_func.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/globals_type.html b/api/latest/globals_type.html index 20e82f89..131ff6b0 100644 --- a/api/latest/globals_type.html +++ b/api/latest/globals_type.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/graph_legend.html b/api/latest/graph_legend.html index 3dbb53fe..031deceb 100644 --- a/api/latest/graph_legend.html +++ b/api/latest/graph_legend.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__ComputeNormalsComplexity.html b/api/latest/group__ComputeNormalsComplexity.html index a8cc8202..c576ce86 100644 --- a/api/latest/group__ComputeNormalsComplexity.html +++ b/api/latest/group__ComputeNormalsComplexity.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__ComputeVarianceAndCorrespondences.html b/api/latest/group__ComputeVarianceAndCorrespondences.html index b4768f09..19aebf18 100644 --- a/api/latest/group__ComputeVarianceAndCorrespondences.html +++ b/api/latest/group__ComputeVarianceAndCorrespondences.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__CropBox.html b/api/latest/group__CropBox.html index 77139205..9368d3cf 100644 --- a/api/latest/group__CropBox.html +++ b/api/latest/group__CropBox.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__ExtractClusters.html b/api/latest/group__ExtractClusters.html index 51567473..1ab5d07c 100644 --- a/api/latest/group__ExtractClusters.html +++ b/api/latest/group__ExtractClusters.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__ExtractIndices.html b/api/latest/group__ExtractIndices.html index e8d7c538..1b57d118 100644 --- a/api/latest/group__ExtractIndices.html +++ b/api/latest/group__ExtractIndices.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__FrustumFiltering.html b/api/latest/group__FrustumFiltering.html index b6fddb05..3c429413 100644 --- a/api/latest/group__FrustumFiltering.html +++ b/api/latest/group__FrustumFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__LaserScan2dFromPointCloud.html b/api/latest/group__LaserScan2dFromPointCloud.html index 6dce278b..e0540e97 100644 --- a/api/latest/group__LaserScan2dFromPointCloud.html +++ b/api/latest/group__LaserScan2dFromPointCloud.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__LaserScanFromPointCloud.html b/api/latest/group__LaserScanFromPointCloud.html index 0bb86cd3..e6743203 100644 --- a/api/latest/group__LaserScanFromPointCloud.html +++ b/api/latest/group__LaserScanFromPointCloud.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__LaserScanToPointCloud.html b/api/latest/group__LaserScanToPointCloud.html index 81ab7bc7..791ef4bd 100644 --- a/api/latest/group__LaserScanToPointCloud.html +++ b/api/latest/group__LaserScanToPointCloud.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__PassThrough.html b/api/latest/group__PassThrough.html index 5ce21adb..e4be7ac6 100644 --- a/api/latest/group__PassThrough.html +++ b/api/latest/group__PassThrough.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__PointCloudDownSampling.html b/api/latest/group__PointCloudDownSampling.html index 900a190e..fc986c1a 100644 --- a/api/latest/group__PointCloudDownSampling.html +++ b/api/latest/group__PointCloudDownSampling.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__PointCloudRangeFiltering.html b/api/latest/group__PointCloudRangeFiltering.html index fbe8050b..db5aaf90 100644 --- a/api/latest/group__PointCloudRangeFiltering.html +++ b/api/latest/group__PointCloudRangeFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__PointCloudSplitRangeFiltering.html b/api/latest/group__PointCloudSplitRangeFiltering.html index 10518fec..2dd77213 100644 --- a/api/latest/group__PointCloudSplitRangeFiltering.html +++ b/api/latest/group__PointCloudSplitRangeFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__PointNormalFiltering.html b/api/latest/group__PointNormalFiltering.html index 704a1697..8ef4cdf9 100644 --- a/api/latest/group__PointNormalFiltering.html +++ b/api/latest/group__PointNormalFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__ProportionalRadiusFiltering.html b/api/latest/group__ProportionalRadiusFiltering.html index 4569f9dd..a0de2ce8 100644 --- a/api/latest/group__ProportionalRadiusFiltering.html +++ b/api/latest/group__ProportionalRadiusFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/group__RadiusFiltering.html b/api/latest/group__RadiusFiltering.html index f420bdd4..f2d9ec69 100644 --- a/api/latest/group__RadiusFiltering.html +++ b/api/latest/group__RadiusFiltering.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
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    diff --git a/api/latest/group__RandomSampling.html b/api/latest/group__RandomSampling.html index aece0747..8dff0449 100644 --- a/api/latest/group__RandomSampling.html +++ b/api/latest/group__RandomSampling.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__RemoveNaNFromPointCloud.html b/api/latest/group__RemoveNaNFromPointCloud.html index 620bddcb..43b059bb 100644 --- a/api/latest/group__RemoveNaNFromPointCloud.html +++ b/api/latest/group__RemoveNaNFromPointCloud.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__RemoveNaNNormalsFromPointCloud.html b/api/latest/group__RemoveNaNNormalsFromPointCloud.html index cef6563d..db904acd 100644 --- a/api/latest/group__RemoveNaNNormalsFromPointCloud.html +++ b/api/latest/group__RemoveNaNNormalsFromPointCloud.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__RoiComputation.html b/api/latest/group__RoiComputation.html index 592ca0cb..e68e9e82 100644 --- a/api/latest/group__RoiComputation.html +++ b/api/latest/group__RoiComputation.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__SubtractFiltering.html b/api/latest/group__SubtractFiltering.html index 1d3182c7..07c989ca 100644 --- a/api/latest/group__SubtractFiltering.html +++ b/api/latest/group__SubtractFiltering.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__TransformPoint.html b/api/latest/group__TransformPoint.html index 32f9698c..6eae4401 100644 --- a/api/latest/group__TransformPoint.html +++ b/api/latest/group__TransformPoint.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__TransformPointcloud.html b/api/latest/group__TransformPointcloud.html index c8f2481a..19192a66 100644 --- a/api/latest/group__TransformPointcloud.html +++ b/api/latest/group__TransformPointcloud.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/group__UtiLite.html b/api/latest/group__UtiLite.html index eab5a6b2..f079b3dc 100644 --- a/api/latest/group__UtiLite.html +++ b/api/latest/group__UtiLite.html @@ -33,7 +33,7 @@ -
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    @@ -105,7 +105,7 @@ $(document).ready(function(){initNavTree('group__UtiLite.html',''); initResizabl Introduction

    UtiLite is a simple library to create small cross-platform applications using threads, events-based communication and a powerful logger. The first three sections show the core classes of the library, then last sections show some useful functions added through time.

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ rtabmap-res_tool DatabaseSchema.sql
    - +

    This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

    #include "DatabaseSchema_sql.h"
    ...
    std::string hex = DATABASESCHEMA_SQL;
    diff --git a/api/latest/group__VoxelFiltering.html b/api/latest/group__VoxelFiltering.html index dc899632..403ed81a 100644 --- a/api/latest/group__VoxelFiltering.html +++ b/api/latest/group__VoxelFiltering.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/hierarchy.html b/api/latest/hierarchy.html index 79481abb..f4420403 100644 --- a/api/latest/hierarchy.html +++ b/api/latest/hierarchy.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/index.html b/api/latest/index.html index b00ff349..77e3b1f3 100644 --- a/api/latest/index.html +++ b/api/latest/index.html @@ -33,7 +33,7 @@ -
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    @@ -168,7 +168,7 @@ Start here
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::Transform::isNull
    bool isNull() const
    Checks whether the transform is null (all zeros).
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    - +

    Throttling is the caller's job here: rtabmap::Rtabmap::process() maps every frame it is given. rtabmap::RtabmapThread does this same stamp comparison internally, from Rtabmap/DetectionRate, so the threaded pipeline only needs the parameter to be set.

    Odometry drifts and the graph gets re-optimized, so the odometry pose is not a map pose. rtabmap::Statistics::mapCorrection() is what reconciles the two, and since it only changes on a map update it can be applied to every incoming frame – which is how the pose stays available at full rate while the map is built at 1 Hz. This is the transform published as /map → /odom by the ROS wrapper, and what the MapBuilder of each example composes with the live odometry pose to place the clouds. It is also readable outside the statistics, as rtabmap::Rtabmap::getMapCorrection().

    Complete programs live under examples/ in the source tree:

    diff --git a/api/latest/inherits.html b/api/latest/inherits.html index 7c745b22..bc196146 100644 --- a/api/latest/inherits.html +++ b/api/latest/inherits.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers.html b/api/latest/namespacemembers.html index 8ea46b4e..69788769 100644 --- a/api/latest/namespacemembers.html +++ b/api/latest/namespacemembers.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_b.html b/api/latest/namespacemembers_b.html index 1d248df3..4626cee6 100644 --- a/api/latest/namespacemembers_b.html +++ b/api/latest/namespacemembers_b.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_c.html b/api/latest/namespacemembers_c.html index eb6411b0..4dc541ca 100644 --- a/api/latest/namespacemembers_c.html +++ b/api/latest/namespacemembers_c.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_func_i.html b/api/latest/namespacemembers_func_i.html index a8fd2d5b..08408788 100644 --- a/api/latest/namespacemembers_func_i.html +++ b/api/latest/namespacemembers_func_i.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_func_l.html b/api/latest/namespacemembers_func_l.html index 132e38bc..5f5b66ed 100644 --- a/api/latest/namespacemembers_func_l.html +++ b/api/latest/namespacemembers_func_l.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_func_m.html b/api/latest/namespacemembers_func_m.html index 32b5ca6b..25d5139f 100644 --- a/api/latest/namespacemembers_func_m.html +++ b/api/latest/namespacemembers_func_m.html @@ -33,7 +33,7 @@ -
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    diff --git a/api/latest/namespacemembers_func_u.html b/api/latest/namespacemembers_func_u.html index b2fac72d..2a4eab5e 100644 --- a/api/latest/namespacemembers_func_u.html +++ b/api/latest/namespacemembers_func_u.html @@ -33,7 +33,7 @@ -
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    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/parameters.html b/api/latest/parameters.html index 087a2a01..8350e518 100644 --- a/api/latest/parameters.html +++ b/api/latest/parameters.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -101,12 +101,12 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
    Parameter reference
    -

    Every setting in RTAB-Map is a Group/Name string key with a string value, collected in a rtabmap::ParametersMap. The 615 parameters below are declared in Parameters.h; the same keys are used by rtabmap::Rtabmap and rtabmap::Odometry, by the applications, by the --Param Group/Name value command-line arguments of the tools and by the ROS wrappers, so a setting found here applies everywhere.

    +

    Every setting in RTAB-Map is a Group/Name string key with a string value, collected in a rtabmap::ParametersMap. The 616 parameters below are declared in Parameters.h; the same keys are used by rtabmap::Rtabmap and rtabmap::Odometry, by the applications, by the --Param Group/Name value command-line arguments of the tools and by the ROS wrappers, so a setting found here applies everywhere.

    rtabmap::ParametersMap parameters;
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "20"));
    rtabmap.init(parameters, "map.db");
    rtabmap::Parameters::kMemSTMSize
    static std::string kMemSTMSize()
    Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
    Definition Parameters.h:226
    - +
    rtabmap::ParametersPair
    std::pair< std::string, std::string > ParametersPair
    A single parameter key/value pair, the entry type of ParametersMap.
    Definition Parameters.h:46
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44

    Each key links to its accessor on rtabmap::Parameters, which is also how the key is spelled in code (Parameters::kMemSTMSize() for Mem/STMSize). Defaults given with a condition depend on how RTAB-Map was built; call rtabmap::Parameters::getDefaultParameters() to read the values of the build in use.

    @@ -567,9 +567,11 @@ Bayes Bayes/VirtualPlacePriorThr float 0.9 Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations). -Bayes/PredictionLC string 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1. +Bayes/PredictionLC string 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1. -Bayes/FullPredictionUpdate bool false Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). +Bayes/FullPredictionUpdate bool false Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). + +Bayes/SparsePrediction bool true Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of Bayes/PredictionLC sum to less than 1, as the prediction is then not sparse.

    diff --git a/api/latest/rtabmap__core__export_8h_source.html b/api/latest/rtabmap__core__export_8h_source.html index eba4cd81..9201ebc0 100644 --- a/api/latest/rtabmap__core__export_8h_source.html +++ b/api/latest/rtabmap__core__export_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/rvl__codec_8h_source.html b/api/latest/rvl__codec_8h_source.html index 29d1ec52..8ee08e49 100644 --- a/api/latest/rvl__codec_8h_source.html +++ b/api/latest/rvl__codec_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -146,7 +146,7 @@ $(document).ready(function(){initNavTree('rvl__codec_8h_source.html',''); initRe
    36
    37#endif // RVL_CODEC_H_
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    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/topics.html b/api/latest/topics.html index e4069aff..7d5d3222 100644 --- a/api/latest/topics.html +++ b/api/latest/topics.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    diff --git a/api/latest/uResourceGeneratorPage.html b/api/latest/uResourceGeneratorPage.html index 94e6cd87..44174d08 100644 --- a/api/latest/uResourceGeneratorPage.html +++ b/api/latest/uResourceGeneratorPage.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -102,7 +102,7 @@ $(document).ready(function(){initNavTree('uResourceGeneratorPage.html',''); init

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ rtabmap-res_tool DatabaseSchema.sql
    - +

    This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

    #include "DatabaseSchema_sql.h"
    ...
    std::string hex = DATABASESCHEMA_SQL;
    diff --git a/api/latest/util2d_8h_source.html b/api/latest/util2d_8h_source.html index 8c7a4dfa..07147d01 100644 --- a/api/latest/util2d_8h_source.html +++ b/api/latest/util2d_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -331,7 +331,7 @@ $(document).ready(function(){initNavTree('util2d_8h_source.html',''); initResiza
    rtabmap::util2d::fillDepthHoles
    cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
    Fills holes in the depth image using linear interpolation.
    rtabmap::util2d::interpolate
    cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
    Upsamples a depth image using bilinear interpolation with depth consistency check.
    rtabmap::util2d::fillRegisteredDepthHoles
    void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
    Fill holes in a registered depth image using linear interpolation.
    - +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/api/latest/util3d_8h_source.html b/api/latest/util3d_8h_source.html index 51aaea8c..41b34252 100644 --- a/api/latest/util3d_8h_source.html +++ b/api/latest/util3d_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -554,7 +554,7 @@ $(document).ready(function(){initNavTree('util3d_8h_source.html',''); initResiza
    rtabmap::util3d::cloudFromDisparity
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a disparity image to a 3D point cloud.
    rtabmap::util3d::loadScan
    LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)
    Loads a 3D scan from a file (.pcd, .ply, or .bin format).
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    - +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    rtabmap::PointXYZIRT
    This namespace contains 3D point cloud processing utilities.
    Definition util3d.h:58
    diff --git a/api/latest/util3d_8hpp_source.html b/api/latest/util3d_8hpp_source.html index 4bf6d650..8cc5deb8 100644 --- a/api/latest/util3d_8hpp_source.html +++ b/api/latest/util3d_8hpp_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -539,7 +539,7 @@ $(document).ready(function(){initNavTree('util3d_8hpp_source.html',''); initResi
    rtabmap::Transform::rotation
    Transform rotation() const
    Returns only the rotation component.
    rtabmap::util3d::laserScanFromPointCloud
    LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
    Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...
    Definition util3d.hpp:37
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    - +
    diff --git a/api/latest/util3d__correspondences_8h_source.html b/api/latest/util3d__correspondences_8h_source.html index 4e0641db..6c7b65bb 100644 --- a/api/latest/util3d__correspondences_8h_source.html +++ b/api/latest/util3d__correspondences_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -225,7 +225,7 @@ $(document).ready(function(){initNavTree('util3d__correspondences_8h_source.html
    rtabmap::util3d::filterMaxDepth
    void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
    Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.
    rtabmap::util3d::extractXYZCorrespondencesRANSAC
    void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
    Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filteri...
    rtabmap::util3d::countUniquePairs
    int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
    Counts the number of unique 3D point correspondences between two sets of word-indexed features.
    - +
    diff --git a/api/latest/util3d__features_8h_source.html b/api/latest/util3d__features_8h_source.html index 93aa46ca..e4a5624d 100644 --- a/api/latest/util3d__features_8h_source.html +++ b/api/latest/util3d__features_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -211,7 +211,7 @@ $(document).ready(function(){initNavTree('util3d__features_8h_source.html','');
    rtabmap::util3d::generateKeypoints3DStereo
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DStereo(const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
    Computes 3D keypoints from corresponding 2D points in a stereo image pair.
    rtabmap::util3d::aggregate
    std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
    Aggregates word IDs and corresponding keypoints into a multimap.
    rtabmap::util3d::generateKeypoints3DDisparity
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
    Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.
    - +
    diff --git a/api/latest/util3d__filtering_8h_source.html b/api/latest/util3d__filtering_8h_source.html index 234bfe4f..7c06cbc1 100644 --- a/api/latest/util3d__filtering_8h_source.html +++ b/api/latest/util3d__filtering_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -950,7 +950,7 @@ $(document).ready(function(){initNavTree('util3d__filtering_8h_source.html','');
    rtabmap::util3d::uniformSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    DEPRECATED: Use voxelize() instead.
    Definition util3d_filtering.h:359
    rtabmap::util3d::extractPlane
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
    Extracts the indices of the inliers that belong to a plane using RANSAC.
    rtabmap::util3d::rangeFiltering
    LaserScan RTABMAP_CORE_EXPORT rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
    Filters a LaserScan data on a minimum and maximum Euclidean range.
    - +
    diff --git a/api/latest/util3d__mapping_8h_source.html b/api/latest/util3d__mapping_8h_source.html index c08b6790..fa04b1d0 100644 --- a/api/latest/util3d__mapping_8h_source.html +++ b/api/latest/util3d__mapping_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -319,7 +319,7 @@ $(document).ready(function(){initNavTree('util3d__mapping_8h_source.html',''); i
    rtabmap::util3d::convertImage8U2Map
    cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)
    Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).
    rtabmap::util3d::convertMap2Image8U
    cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)
    Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).
    rtabmap::util3d::create2DMap
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
    - +
    diff --git a/api/latest/util3d__mapping_8hpp_source.html b/api/latest/util3d__mapping_8hpp_source.html index 82481cb7..1fcb2f81 100644 --- a/api/latest/util3d__mapping_8hpp_source.html +++ b/api/latest/util3d__mapping_8hpp_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -492,7 +492,7 @@ $(document).ready(function(){initNavTree('util3d__mapping_8hpp_source.html','');
    rtabmap::util3d::occupancy2DFromCloud3D
    void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
    Generates 2D ground and obstacle occupancy data from a 3D point cloud.
    Definition util3d_mapping.hpp:309
    rtabmap::util3d::occupancy2DFromGroundObstacles
    void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...
    Definition util3d_mapping.hpp:234
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    - +
    diff --git a/api/latest/util3d__motion__estimation_8h_source.html b/api/latest/util3d__motion__estimation_8h_source.html index ed1f6f12..7f6337a4 100644 --- a/api/latest/util3d__motion__estimation_8h_source.html +++ b/api/latest/util3d__motion__estimation_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -245,7 +245,7 @@ $(document).ready(function(){initNavTree('util3d__motion__estimation_8h_source.h
    rtabmap::util3d::estimateMotion3DTo2D
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)
    Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.
    rtabmap::util3d::solvePnPRansac
    void RTABMAP_CORE_EXPORT solvePnPRansac(const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)
    Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
    rtabmap::util3d::ransacDeterministicSeedEnabled
    bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled()
    - +
    diff --git a/api/latest/util3d__registration_8h_source.html b/api/latest/util3d__registration_8h_source.html index 822087df..ebda462a 100644 --- a/api/latest/util3d__registration_8h_source.html +++ b/api/latest/util3d__registration_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -253,7 +253,7 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
    rtabmap::util3d::icpPointToPlane
    Transform RTABMAP_CORE_EXPORT icpPointToPlane(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.
    rtabmap::util3d::transformFromXYZCorrespondences
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
    Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.
    rtabmap::util3d::icp
    Transform RTABMAP_CORE_EXPORT icp(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting t...
    - +
    diff --git a/api/latest/util3d__surface_8h_source.html b/api/latest/util3d__surface_8h_source.html index 207bd906..bf6d9056 100644 --- a/api/latest/util3d__surface_8h_source.html +++ b/api/latest/util3d__surface_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -663,7 +663,7 @@ $(document).ready(function(){initNavTree('util3d__surface_8h_source.html',''); i
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    rtabmap::util3d::mergeTextures
    cv::Mat RTABMAP_CORE_EXPORT mergeTextures(pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)
    - +
    diff --git a/api/latest/util3d__surface_8hpp_source.html b/api/latest/util3d__surface_8hpp_source.html index fdb8aa5c..f078d35d 100644 --- a/api/latest/util3d__surface_8hpp_source.html +++ b/api/latest/util3d__surface_8hpp_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -466,7 +466,7 @@ $(document).ready(function(){initNavTree('util3d__surface_8hpp_source.html','');
    UASSERT
    #define UASSERT(condition)
    Definition ULogger.h:66
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    - +
    diff --git a/api/latest/util3d__transforms_8h_source.html b/api/latest/util3d__transforms_8h_source.html index 1ccda260..adfe4b75 100644 --- a/api/latest/util3d__transforms_8h_source.html +++ b/api/latest/util3d__transforms_8h_source.html @@ -33,7 +33,7 @@ -
    RTAB-Map 0.23.10 +
    RTAB-Map 0.23.11
    Real-Time Appearance-Based Mapping
    @@ -230,7 +230,7 @@ $(document).ready(function(){initNavTree('util3d__transforms_8h_source.html','')
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    rtabmap::util3d::transformPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
    Transforms pcl::PointXYZ point cloud type.
    rtabmap::util3d::transformLaserScan
    LaserScan RTABMAP_CORE_EXPORT transformLaserScan(const LaserScan &laserScan, const Transform &transform)
    Applies a 3D transform to all points (and normals if present) in a LaserScan.
    - +
    diff --git a/index.html b/index.html index 59c5a9c0..b1bc744d 100644 --- a/index.html +++ b/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping