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@@ -499,7 +499,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad329ace1333ac8c94cd4043b58173f1b"> 473</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, VarianceIgnored, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">"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."</span>);</div>
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<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a2a83a1c7b7cc3dfe1b03bd9c10a437fd"> 474</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Robust, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">"Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)."</span>);</div>
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<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a6394c7cc99dca72faf68799adc89ffd7"> 475</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, PriorsIgnored, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">"Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this."</span>);</div>
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<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a6394c7cc99dca72faf68799adc89ffd7"> 475</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, PriorsIgnored, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">"Ignore prior constraints (global pose, GPS or marker priors) while optimizing. Currently only g2o and gtsam optimization supports this."</span>);</div>
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<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a45cdc34f61574e7de40f2d4a822b1ca6"> 476</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, LandmarksIgnored, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">"Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this."</span>);</div>
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<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span><span class="preprocessor">#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)</span></div>
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<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, GravitySigma, <span class="keywordtype">float</span>, 0.3, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"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)."</span>, kOptimizerStrategy().c_str()));</div>
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@@ -988,7 +988,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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<div class="line"><a id="l00961" name="l00961"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad02a68ccc38dfe99c474bce7f8c1beb8"> 961</a></span> RTABMAP_PARAM(Marker, VarianceOrientationIgnored, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"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)."</span>, kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));</div>
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<div class="line"><a id="l00962" name="l00962"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a10a1eb6ba4c13f00b2859bcbf2ca75bf"> 962</a></span> RTABMAP_PARAM(Marker, MaxRange, <span class="keywordtype">float</span>, 0.0, <span class="stringliteral">"Maximum range in which markers will be detected. <=0 for unlimited range."</span>);</div>
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<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ada7dff5d592bb160272f6056fb9712b4"> 963</a></span> RTABMAP_PARAM(Marker, MinRange, <span class="keywordtype">float</span>, 0.0, <span class="stringliteral">"Miniminum range in which markers will be detected. <=0 for unlimited range."</span>);</div>
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<div class="line"><a id="l00964" name="l00964"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a967c0591e9b4a922f266e569f4872ab2"> 964</a></span> RTABMAP_PARAM_STR(Marker, Priors, <span class="stringliteral">""</span>, <span class="stringliteral">"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)."</span>);</div>
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<div class="line"><a id="l00964" name="l00964"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a967c0591e9b4a922f266e569f4872ab2"> 964</a></span> RTABMAP_PARAM_STR(Marker, Priors, <span class="stringliteral">""</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false."</span>, kOptimizerPriorsIgnored().c_str()));</div>
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<div class="line"><a id="l00965" name="l00965"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a5f8b4750c25c3b11c26aa6e65534fa7a"> 965</a></span> RTABMAP_PARAM(Marker, PriorsVarianceLinear, <span class="keywordtype">float</span>, 0.001, <span class="stringliteral">"Linear variance to set on marker priors."</span>);</div>
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<div class="line"><a id="l00966" name="l00966"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a0d6c4002cfe7b213dc76655d011fe586"> 966</a></span> RTABMAP_PARAM(Marker, PriorsVarianceAngular, <span class="keywordtype">float</span>, 0.001, <span class="stringliteral">"Angular variance to set on marker priors."</span>);</div>
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<div class="line"><a id="l00967" name="l00967"></a><span class="lineno"> 967</span> </div>
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@@ -2091,7 +2091,7 @@ Static Public Member Functions</h2></td></tr>
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<tr class="memdesc:ae6a01c8d00cccfda50db7594e5eec644"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Optimizer/Robust , as a string: bool . <br /></td></tr>
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<tr class="separator:ae6a01c8d00cccfda50db7594e5eec644"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9a27e63a9a70179573a6898049957d31" id="r_a9a27e63a9a70179573a6898049957d31"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a9a27e63a9a70179573a6898049957d31">kOptimizerPriorsIgnored</a> ()</td></tr>
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<tr class="memdesc:a9a27e63a9a70179573a6898049957d31"><td class="mdescLeft"> </td><td class="mdescRight">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 ). <br /></td></tr>
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<tr class="memdesc:a9a27e63a9a70179573a6898049957d31"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose, GPS or marker priors) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ). <br /></td></tr>
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<tr class="separator:a9a27e63a9a70179573a6898049957d31"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6394c7cc99dca72faf68799adc89ffd7" id="r_a6394c7cc99dca72faf68799adc89ffd7"><td class="memItemLeft" align="right" valign="top">static bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a6394c7cc99dca72faf68799adc89ffd7">defaultOptimizerPriorsIgnored</a> ()</td></tr>
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<tr class="memdesc:a6394c7cc99dca72faf68799adc89ffd7"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Optimizer/PriorsIgnored : true . <br /></td></tr>
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<tr class="memdesc:a02c66100cc1422be456c558be385fa6f"><td class="mdescLeft"> </td><td class="mdescRight">Type of parameter Marker/MinRange , as a string: float . <br /></td></tr>
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<tr class="separator:a02c66100cc1422be456c558be385fa6f"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad5e03b34213d481ba80d6878f98c7a2a" id="r_ad5e03b34213d481ba80d6878f98c7a2a"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#ad5e03b34213d481ba80d6878f98c7a2a">kMarkerPriors</a> ()</td></tr>
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<tr class="memdesc:ad5e03b34213d481ba80d6878f98c7a2a"><td class="mdescLeft"> </td><td class="mdescRight">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). <br /></td></tr>
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<tr class="memdesc:ad5e03b34213d481ba80d6878f98c7a2a"><td class="mdescLeft"> </td><td class="mdescRight">Key of parameter Marker/Priors : uFormat("World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false.", <a class="el" href="classrtabmap_1_1Parameters.html#a9a27e63a9a70179573a6898049957d31" title="Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose,...">kOptimizerPriorsIgnored()</a>.c_str()) Default value: "" (string). <br /></td></tr>
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<tr class="separator:ad5e03b34213d481ba80d6878f98c7a2a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a967c0591e9b4a922f266e569f4872ab2" id="r_a967c0591e9b4a922f266e569f4872ab2"><td class="memItemLeft" align="right" valign="top">static std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a967c0591e9b4a922f266e569f4872ab2">defaultMarkerPriors</a> ()</td></tr>
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<tr class="memdesc:a967c0591e9b4a922f266e569f4872ab2"><td class="mdescLeft"> </td><td class="mdescRight">Default value of parameter Marker/Priors : "" . <br /></td></tr>
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<p>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 ). </p>
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<p>Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose, GPS or marker priors) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ). </p>
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<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00475">475</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<p>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). </p>
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<p>Key of parameter Marker/Priors : uFormat("World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if %s is false.", <a class="el" href="classrtabmap_1_1Parameters.html#a9a27e63a9a70179573a6898049957d31" title="Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose,...">kOptimizerPriorsIgnored()</a>.c_str()) Default value: "" (string). </p>
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<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00964">964</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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@@ -713,7 +713,7 @@ Optimizer</h1>
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<tr class="markdownTableRowOdd">
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerRobust"></a><a class="el" href="classrtabmap_1_1Parameters.html#a2f90cb87e114d6f10a33e0b3d79c730f">Optimizer/Robust</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>false</code> </td><td class="markdownTableBodyNone">Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerPriorsIgnored"></a><a class="el" href="classrtabmap_1_1Parameters.html#a9a27e63a9a70179573a6898049957d31">Optimizer/PriorsIgnored</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerPriorsIgnored"></a><a class="el" href="classrtabmap_1_1Parameters.html#a9a27e63a9a70179573a6898049957d31">Optimizer/PriorsIgnored</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">Ignore prior constraints (global pose, GPS or marker priors) while optimizing. Currently only g2o and gtsam optimization supports this. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerLandmarksIgnored"></a><a class="el" href="classrtabmap_1_1Parameters.html#a8941f737a9ec74b5a64c6a31d26dc5b1">Optimizer/LandmarksIgnored</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>false</code> </td><td class="markdownTableBodyNone">Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerMinRange"></a><a class="el" href="classrtabmap_1_1Parameters.html#a7384c7c242639781743b73874585c864">Marker/MinRange</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.0</code> </td><td class="markdownTableBodyNone">Miniminum range in which markers will be detected. <=0 for unlimited range. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerPriors"></a><a class="el" href="classrtabmap_1_1Parameters.html#ad5e03b34213d481ba80d6878f98c7a2a">Marker/Priors</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>""</code> </td><td class="markdownTableBodyNone">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). </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerPriors"></a><a class="el" href="classrtabmap_1_1Parameters.html#ad5e03b34213d481ba80d6878f98c7a2a">Marker/Priors</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>""</code> </td><td class="markdownTableBodyNone">World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line ("id1 x y z roll pitch yaw\|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0\|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation). The priors are used only if <a class="el" href="parameters.html#param_OptimizerPriorsIgnored">Optimizer/PriorsIgnored</a> is false. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerPriorsVarianceLinear"></a><a class="el" href="classrtabmap_1_1Parameters.html#ad6f8a80869d7886c66a201f39c323a0b">Marker/PriorsVarianceLinear</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.001</code> </td><td class="markdownTableBodyNone">Linear variance to set on marker priors. </td></tr>
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