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@@ -713,7 +713,7 @@ Optimizer</h1>
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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>
<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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@@ -1690,7 +1690,7 @@ Marker</h1>
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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. &lt;=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>
<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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