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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.11</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -101,12 +101,12 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
<div class="headertitle"><div class="title">Parameter reference</div></div>
</div><!--header-->
<div class="contents">
<div class="textblock"><p>Every setting in RTAB-Map is a <code>Group/Name</code> string key with a string value, collected in a <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" title="Parameter keys mapped to their values, as used by every configurable class (see Parameters).">rtabmap::ParametersMap</a>. The 615 parameters below are declared in <code><a class="el" href="Parameters_8h_source.html">Parameters.h</a></code>; the same keys are used by <a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">rtabmap::Rtabmap</a> and <a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">rtabmap::Odometry</a>, by the applications, by the <code>--Param Group/Name value</code> command-line arguments of the tools and by the ROS wrappers, so a setting found here applies everywhere.</p>
<div class="textblock"><p>Every setting in RTAB-Map is a <code>Group/Name</code> string key with a string value, collected in a <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" title="Parameter keys mapped to their values, as used by every configurable class (see Parameters).">rtabmap::ParametersMap</a>. The 616 parameters below are declared in <code><a class="el" href="Parameters_8h_source.html">Parameters.h</a></code>; the same keys are used by <a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">rtabmap::Rtabmap</a> and <a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">rtabmap::Odometry</a>, by the applications, by the <code>--Param Group/Name value</code> command-line arguments of the tools and by the ROS wrappers, so a setting found here applies everywhere.</p>
<div class="fragment"><div class="line"><a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> parameters;</div>
<div class="line">parameters.insert(<a class="code hl_typedef" href="namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01">rtabmap::ParametersPair</a>(<a class="code hl_function" href="classrtabmap_1_1Parameters.html#a46dc1a24b02bb00014262f7f4d818a49">rtabmap::Parameters::kMemSTMSize</a>(), <span class="stringliteral">&quot;20&quot;</span>));</div>
<div class="line"><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>.init(parameters, <span class="stringliteral">&quot;map.db&quot;</span>);</div>
<div class="ttc" id="aclassrtabmap_1_1Parameters_html_a46dc1a24b02bb00014262f7f4d818a49"><div class="ttname"><a href="classrtabmap_1_1Parameters.html#a46dc1a24b02bb00014262f7f4d818a49">rtabmap::Parameters::kMemSTMSize</a></div><div class="ttdeci">static std::string kMemSTMSize()</div><div class="ttdoc">Key of parameter Mem/STMSize : &quot;Short-term memory size.&quot; Default value: 10 ( unsigned int ).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00226">Parameters.h:226</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
<div class="ttc" id="anamespacertabmap_html_a4d38c2e87cb7a46dc4299f7bd4d95a01"><div class="ttname"><a href="namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01">rtabmap::ParametersPair</a></div><div class="ttdeci">std::pair&lt; std::string, std::string &gt; ParametersPair</div><div class="ttdoc">A single parameter key/value pair, the entry type of ParametersMap.</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00046">Parameters.h:46</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
</div><!-- fragment --><p>Each key links to its accessor on <a class="el" href="classrtabmap_1_1Parameters.html">rtabmap::Parameters</a>, which is also how the key is spelled in code (<code>Parameters::kMemSTMSize()</code> for <code>Mem/STMSize</code>). Defaults given with a condition depend on how RTAB-Map was built; call <a class="el" href="classrtabmap_1_1Parameters.html#a3921b82495e0308f8cfcbdb8ef072e21">rtabmap::Parameters::getDefaultParameters()</a> to read the values of the build in use.</p>
@@ -567,9 +567,11 @@ Bayes</h1>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesVirtualPlacePriorThr"></a><a class="el" href="classrtabmap_1_1Parameters.html#af5f568511dbc4d9213d21acf1cedd65e">Bayes/VirtualPlacePriorThr</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.9</code> </td><td class="markdownTableBodyNone">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). </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesPredictionLC"></a><a class="el" href="classrtabmap_1_1Parameters.html#aabfee3d6757a2269d7bbbbd3ebc20fb1">Bayes/PredictionLC</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>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</code> </td><td class="markdownTableBodyNone">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. </td></tr>
<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesPredictionLC"></a><a class="el" href="classrtabmap_1_1Parameters.html#aabfee3d6757a2269d7bbbbd3ebc20fb1">Bayes/PredictionLC</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>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</code> </td><td class="markdownTableBodyNone">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. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesFullPredictionUpdate"></a><a class="el" href="classrtabmap_1_1Parameters.html#a08f0a214eb15975386b5d06be56e38b4">Bayes/FullPredictionUpdate</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>false</code> </td><td class="markdownTableBodyNone">Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). </td></tr>
<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesFullPredictionUpdate"></a><a class="el" href="classrtabmap_1_1Parameters.html#a08f0a214eb15975386b5d06be56e38b4">Bayes/FullPredictionUpdate</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>false</code> </td><td class="markdownTableBodyNone">Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated). </td></tr>
<tr class="markdownTableRowEven">
<td class="markdownTableBodyNone"><a class="anchor" id="param_BayesSparsePrediction"></a><a class="el" href="classrtabmap_1_1Parameters.html#ae8141b0f2cc33d7e47b8a5f4fc558bc1">Bayes/SparsePrediction</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">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 <a class="el" href="parameters.html#param_BayesPredictionLC">Bayes/PredictionLC</a> sum to less than 1, as the prediction is then not sparse. </td></tr>
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