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Update documentation (latest) f647014f54
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@@ -279,10 +279,10 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a14b56aaa304f0a16640ab233cdf51699"> 252</a></span> RTABMAP_PARAM(Mem, RotateImagesUpsideUp, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">"Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet."</span>);</div>
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<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> </div>
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<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="comment">// KeypointMemory (Keypoint-based)</span></div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a2df3c573a24040a99c2204b15d40b3af"> 255</a></span> RTABMAP_PARAM(Kp, NNStrategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4"</span>);</div>
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<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a2df3c573a24040a99c2204b15d40b3af"> 255</a></span> RTABMAP_PARAM(Kp, NNStrategy, <span class="keywordtype">int</span>, 1, <span class="stringliteral">"FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, FLANN KdTree Single=5, NanoFLANN KdTree=6"</span>);</div>
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<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad7274a400277b33267ef1ee69aa528ee"> 256</a></span> RTABMAP_PARAM(Kp, IncrementalDictionary, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">""</span>);</div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a66f0bded3fc68132c461caec2347d740"> 257</a></span> RTABMAP_PARAM(Kp, IncrementalFlann, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size)."</span>, kKpFlannRebalancingFactor().c_str()));</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a48c34474ee0a9b6f8862688f2015fce8"> 258</a></span> RTABMAP_PARAM(Kp, FlannRebalancingFactor, <span class="keywordtype">float</span>, 2.0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable."</span>, kKpIncrementalFlann().c_str()));</div>
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<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a66f0bded3fc68132c461caec2347d740"> 257</a></span> RTABMAP_PARAM(Kp, IncrementalFlann, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is only rebuilt when too many of its features have been removed, see \"%s\")."</span>, kKpFlannRebalancingFactor().c_str()));</div>
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<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a48c34474ee0a9b6f8862688f2015fce8"> 258</a></span> RTABMAP_PARAM(Kp, FlannRebalancingFactor, <span class="keywordtype">float</span>, 2.0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Rebuild the incremental FLANN index (see \"%s\") once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (\"%s\" or \"%s\"). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one."</span>, kKpIncrementalFlann().c_str(), kRtabmapTimeThr().c_str(), kRtabmapMemoryThr().c_str()));</div>
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<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a65c89efe990caf9872456567afd54c71"> 259</a></span> RTABMAP_PARAM(Kp, ByteToFloat, <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">"For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching."</span>, kKpNNStrategy().c_str()));</div>
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<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1d5841e95b1f505365866234f89b3d5f"> 260</a></span> RTABMAP_PARAM(Kp, MaxDepth, <span class="keywordtype">float</span>, 0, <span class="stringliteral">"Filter extracted keypoints by depth (0=inf)."</span>);</div>
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<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aae97af028948e434ca9a6e48d1f1aa33"> 261</a></span> RTABMAP_PARAM(Kp, MinDepth, <span class="keywordtype">float</span>, 0, <span class="stringliteral">"Filter extracted keypoints by depth."</span>);</div>
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@@ -807,7 +807,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a073559bc6e3b3b08ac7e7595e9e3dd2a"> 780</a></span> RTABMAP_PARAM(Vis, GridRows, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell."</span>, kVisMaxFeatures().c_str()));</div>
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<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ac277e2a7fc50b150144308e1ba9b241a"> 781</a></span> RTABMAP_PARAM(Vis, GridCols, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell."</span>, kVisMaxFeatures().c_str()));</div>
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<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a4390086fa765b55ed8db95ed4c84402f"> 782</a></span> RTABMAP_PARAM(Vis, CorType, <span class="keywordtype">int</span>, 0, <span class="stringliteral">"Correspondences computation approach: 0=Features Matching, 1=Optical Flow"</span>);</div>
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<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a975192ffcb93b8b2923379657090fcf7"> 783</a></span> RTABMAP_PARAM(Vis, CorNNType, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach."</span>, kVisCorType().c_str()));</div>
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<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a975192ffcb93b8b2923379657090fcf7"> 783</a></span> RTABMAP_PARAM(Vis, CorNNType, <span class="keywordtype">int</span>, 1, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%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."</span>, kVisCorType().c_str()));</div>
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<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a9878752f654207e07d5ab91c957eea8e"> 784</a></span> RTABMAP_PARAM(Vis, CorNNDR, <span class="keywordtype">float</span>, 0.8, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach."</span>, kVisCorType().c_str()));</div>
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<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#af34904f60b0b96ad96f9cbf1a4b14cd3"> 785</a></span> RTABMAP_PARAM(Vis, CorGuessWinSize, <span class="keywordtype">int</span>, 40, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">"[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled."</span>, kVisCorType().c_str()));</div>
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<div class="line"><a id="l00786" name="l00786"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aa12553705c26df80ec035a08c172138f"> 786</a></span> RTABMAP_PARAM(Vis, CorGuessMatchToProjection, <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">"[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners."</span>, kVisCorType().c_str()));</div>
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