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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html index 43620bd0..0c28c6d0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html @@ -18,9 +18,13 @@ + + + +
@@ -1191,9 +1195,9 @@ Static Public Member Functions

Returns the horizontal field of view (FoV) in radians.

The FoV is computed using the pinhole camera model as:

-\[ +<img class= +\]" src="form_0.png"/>

Returns
Horizontal field of view in radians. Returns 0.0 if image width or focal length is invalid.
@@ -1216,9 +1220,9 @@ Static Public Member Functions

Returns the vertical field of view (FoV) in radians.

The FoV is computed using the pinhole camera model as:

-\[ +<img class= +\]" src="form_1.png"/>

Returns
Vertical field of view in radians. Returns 0.0 if image height or focal length is invalid.
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@@ -178,7 +182,7 @@ std::map< int, Transform< void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())  Build BA correspondences (3D points + per-frame observations) from signatures.
  -
Getters for tunables shared across back-ends.
+
Getters for the settings shared across back-ends.
int iterations () const  Max solver iterations.
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html index 50008a15..c21e1e5f 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html index c585a84f..9cc4f72e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html index eb6366c6..aebe62ff 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html index 3c91e3e4..6ad4acdf 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html index 8777d3b5..e3b880b0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html index 1b5e6fc0..a9267f74 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html index 7ee5f16f..81fe4c1e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel-members.html index f005b342..160a59b0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel-members.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel.html index 69091a19..07cdfafd 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoCameraModel.html @@ -18,9 +18,13 @@ + + + +
@@ -1221,9 +1225,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Computes the depth (Z coordinate) from a given disparity value.

Uses the stereo camera model parameters to convert disparity to depth using the formula:

-\[ +<img class= +\]" src="form_2.png"/>

where ( f_x ) is the focal length of the left camera and ( c_x ) are principal points.

Parameters
@@ -1255,9 +1259,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Computes the disparity value from a given depth.

Converts depth back to disparity using the inverse formula:

-\[ +<img class= +\]" src="form_3.png"/>

Parameters
@@ -1288,9 +1292,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Computes the disparity value from a depth given in unsigned short format (millimeters).

Converts depth expressed as an unsigned short (in millimeters) to disparity. The depth is first converted to meters before computing disparity using the formula:

-\[ +<img class= +\]" src="form_4.png"/>

Parameters
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diff --git a/preview/pr-1492/api/latest/custom.css b/preview/pr-1492/api/latest/custom.css new file mode 100644 index 00000000..efcbfde3 --- /dev/null +++ b/preview/pr-1492/api/latest/custom.css @@ -0,0 +1,55 @@ +/* RTAB-Map's own tweaks, loaded after the Doxygen Awesome theme. + * + * 1. Navigation tree + * ------------------ + * The theme reveals the expand/collapse arrows only while the pointer is over + * a row, so nothing shows that a page has children until you happen to hover + * it -- stock Doxygen shows them at all times. Both opacities are theme + * variables, made for exactly this override. + */ + +html { + --side-nav-arrow-opacity: 0.75; + --side-nav-arrow-hover-opacity: 1; +} + +/* 2. Version dropdown + * ------------------- + * Injected by version-switcher.js into Doxygen's #projectnumber element. + * + * Everything is expressed with Doxygen Awesome's custom properties, with the + * plain-Doxygen value as fallback, so the control follows whichever theme is + * in use. The native widget is kept (no `appearance: none`): the theme sets + * `color-scheme: dark` in dark mode, which is what makes the browser render + * the popup list dark as well -- something a re-styled
@@ -315,8 +318,7 @@ The map structure
Class Role
rtabmap::Statistics Everything the pipeline reports about an iteration
-

-Inputs

+

Inputs

@@ -331,8 +333,7 @@ Inputs
Class Role
rtabmap::SensorCapture, rtabmap::SensorCaptureThread Drivers and the thread that pumps them
-

-Building blocks

+

Building blocks

diff --git a/preview/pr-1492/api/latest/index.js b/preview/pr-1492/api/latest/index.js index ad897ba2..c83c85a8 100644 --- a/preview/pr-1492/api/latest/index.js +++ b/preview/pr-1492/api/latest/index.js @@ -4,9 +4,5 @@ var index = [ "Occupancy grid", "index.html#autotoc_md1", null ], [ "Memory management", "index.html#autotoc_md2", null ], [ "Configuration", "index.html#autotoc_md3", null ], - [ "The main classes", "index.html#autotoc_md4", [ - [ "The map structure", "index.html#autotoc_md5", null ], - [ "Inputs", "index.html#autotoc_md6", null ], - [ "Building blocks", "index.html#autotoc_md7", null ] - ] ] + [ "The main classes", "index.html#autotoc_md4", null ] ]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/inherits.html b/preview/pr-1492/api/latest/inherits.html index 9719003f..99870569 100644 --- a/preview/pr-1492/api/latest/inherits.html +++ b/preview/pr-1492/api/latest/inherits.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_func_f.html b/preview/pr-1492/api/latest/namespacemembers_func_f.html index 9bdd64c8..58aceea0 100644 --- a/preview/pr-1492/api/latest/namespacemembers_func_f.html +++ b/preview/pr-1492/api/latest/namespacemembers_func_f.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_func_l.html b/preview/pr-1492/api/latest/namespacemembers_func_l.html index 77b260a5..89d285b5 100644 --- a/preview/pr-1492/api/latest/namespacemembers_func_l.html +++ b/preview/pr-1492/api/latest/namespacemembers_func_l.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_func_s.html b/preview/pr-1492/api/latest/namespacemembers_func_s.html index edea9007..e2d50aea 100644 --- a/preview/pr-1492/api/latest/namespacemembers_func_s.html +++ b/preview/pr-1492/api/latest/namespacemembers_func_s.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/namespacemembers_func_t.html b/preview/pr-1492/api/latest/namespacemembers_func_t.html index 72177a63..f3ef4962 100644 --- a/preview/pr-1492/api/latest/namespacemembers_func_t.html +++ b/preview/pr-1492/api/latest/namespacemembers_func_t.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_g.html b/preview/pr-1492/api/latest/namespacemembers_g.html index c37544dc..05ee548e 100644 --- a/preview/pr-1492/api/latest/namespacemembers_g.html +++ b/preview/pr-1492/api/latest/namespacemembers_g.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_type.html b/preview/pr-1492/api/latest/namespacemembers_type.html index 69c5e24a..f4c08ff1 100644 --- a/preview/pr-1492/api/latest/namespacemembers_type.html +++ b/preview/pr-1492/api/latest/namespacemembers_type.html @@ -18,9 +18,13 @@ + + + +
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diff --git a/preview/pr-1492/api/latest/namespacemembers_v.html b/preview/pr-1492/api/latest/namespacemembers_v.html index baf10237..2ff4837d 100644 --- a/preview/pr-1492/api/latest/namespacemembers_v.html +++ b/preview/pr-1492/api/latest/namespacemembers_v.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/namespacemembers_vars.html b/preview/pr-1492/api/latest/namespacemembers_vars.html index 460c2bbe..d77647e5 100644 --- a/preview/pr-1492/api/latest/namespacemembers_vars.html +++ b/preview/pr-1492/api/latest/namespacemembers_vars.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/namespacertabmap.html b/preview/pr-1492/api/latest/namespacertabmap.html index d367709b..0eb29338 100644 --- a/preview/pr-1492/api/latest/namespacertabmap.html +++ b/preview/pr-1492/api/latest/namespacertabmap.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1graph.html b/preview/pr-1492/api/latest/namespacertabmap_1_1graph.html index daeced93..fe73c9d1 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1graph.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1graph.html @@ -18,9 +18,13 @@ + + + +
diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html index 877df10c..87e3c261 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html @@ -18,9 +18,13 @@ + + + +
@@ -617,7 +621,7 @@ cv::Mat RTABMAP_CORE_EXPORT 
Class Role
<

Converts a disparity map to a depth map using stereo camera parameters.

This function takes a disparity map and computes a corresponding depth map using the formula:

-\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \] +\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \]

  • Disparity values of 0 or less are ignored (depth is left as 0).
    • diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html index e9bf6518..06941d18 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html @@ -18,9 +18,13 @@ + + + +
    @@ -3581,7 +3585,7 @@ Assumes the cameras are pointing parallel to ground (e.g., forward and backward

    Projects a 2D point from the left image and its disparity into 3D space.

    This function converts a 2D point from the left image and its corresponding disparity value into a 3D point in space using the provided stereo camera model.

    The conversion follows the formula:

    -\[ Z = \frac{baseline \times f}{disparity + (cx1 - cx0)} \] +\[ Z = \frac{baseline \times f}{disparity + (cx1 - cx0)} \]

    Where:

    • baseline is the distance between the left and right camera centers
      • @@ -8651,8 +8655,7 @@ pcl::registration::TransformationEstimationPointToPlaneLLS
      Returns
      A new LaserScan object with transformed points (and optionally normals), and the same metadata such as range limits, angle information, format, and local transform as the input scan.
      -

      -Behavior:

      +

      Behavior:

      • If the transform is null or identity, the scan is returned unchanged.
      • If the scan has normals (e.g., format is kXYZNormal, kXYZINormal, etc.), both positions and normals are transformed.
        • @@ -8660,8 +8663,7 @@ Behavior:
      • Angle-based scans (2D with valid angle increment) retain angular properties in the returned object.
      • The localTransform of the original scan is preserved in the returned scan.
      -

      -Supported Formats:

      +

      Supported Formats:

      This function works with all valid formats defined by LaserScan::Format, including:

      • 2D: kXY, kXYI, kXYNormal, kXYINormal
      • 3D: kXYZ, kXYZI, kXYZNormal, kXYZINormal, kXYZRGB, kXYZRGBNormal, kXYZIT
        • diff --git a/preview/pr-1492/api/latest/namespaces.html b/preview/pr-1492/api/latest/namespaces.html index 9e61f425..43942bff 100644 --- a/preview/pr-1492/api/latest/namespaces.html +++ b/preview/pr-1492/api/latest/namespaces.html @@ -18,9 +18,13 @@ + + + +
        diff --git a/preview/pr-1492/api/latest/namespaces_dup.js b/preview/pr-1492/api/latest/namespaces_dup.js index 64170781..8666c6f8 100644 --- a/preview/pr-1492/api/latest/namespaces_dup.js +++ b/preview/pr-1492/api/latest/namespaces_dup.js @@ -1,4 +1,4 @@ var namespaces_dup = [ - [ "rtabmap", "namespacertabmap.html", "namespacertabmap" ] + [ "rtabmap", "namespacertabmap.html", null ] ]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/navtree.css b/preview/pr-1492/api/latest/navtree.css index 69211d4a..6b1e5e46 100644 --- a/preview/pr-1492/api/latest/navtree.css +++ b/preview/pr-1492/api/latest/navtree.css @@ -22,12 +22,12 @@ #nav-tree .selected { background-image: url('tab_a.png'); background-repeat:repeat-x; - color: var(--nav-text-active-color); - text-shadow: var(--nav-text-active-shadow); + color: white; + text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0); } #nav-tree .selected .arrow { - color: var(--nav-arrow-selected-color); + color: #9CAFD4; text-shadow: none; } @@ -47,7 +47,7 @@ #nav-tree .label { margin:0px; padding:0px; - font: 12px var(--font-family-nav); + font: 12px 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif; } #nav-tree .label a { @@ -56,7 +56,7 @@ #nav-tree .selected a { text-decoration:none; - color:var(--nav-text-active-color); + color:white; } #nav-tree .children_ul { @@ -98,7 +98,7 @@ } .ui-resizable-e { - background-image:var(--nav-splitbar-image); + background-image:url('splitbar.png'); background-size:100%; background-repeat:repeat-y; background-attachment: scroll; @@ -122,7 +122,7 @@ #nav-tree { background-repeat:repeat-x; - background-color: var(--nav-background-color); + background-color: #F9FAFC; -webkit-overflow-scrolling : touch; /* iOS 5+ */ } diff --git a/preview/pr-1492/api/latest/navtreedata.js b/preview/pr-1492/api/latest/navtreedata.js index 6d6d8e48..551db7bf 100644 --- a/preview/pr-1492/api/latest/navtreedata.js +++ b/preview/pr-1492/api/latest/navtreedata.js @@ -27,64 +27,64 @@ var NAVTREE = [ 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b/preview/pr-1492/api/latest/pages.html index e57df6f9..e029d47c 100644 --- a/preview/pr-1492/api/latest/pages.html +++ b/preview/pr-1492/api/latest/pages.html @@ -18,9 +18,13 @@ + + + +
        diff --git a/preview/pr-1492/api/latest/parameters.html b/preview/pr-1492/api/latest/parameters.html index 1a6c7691..c6d6fd01 100644 --- a/preview/pr-1492/api/latest/parameters.html +++ b/preview/pr-1492/api/latest/parameters.html @@ -18,9 +18,13 @@ + + + +
        @@ -97,61 +101,6 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
        Parameter reference
        -

        Table of Contents

        - -

        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.

        rtabmap::ParametersMap parameters;
        parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "20"));
        @@ -161,7 +110,9 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
        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.

        -

        +

        Groups: Rtabmap, Mem, Kp, DbSqlite3, Db, SURF, SIFT, BRIEF, FAST, GFTT, ORB, FREAK, BRISK, KAZE, SuperPoint, SuperPointRpautrat, PyDetector, Bayes, VhEp, RGBD, Optimizer, g2o, GTSAM, Odom, OdomF2M, OdomMono, OdomFovis, OdomViso2, OdomORBSLAM, OdomOKVIS, OdomLOAM, OdomMSCKF, OdomVINSFusion, OdomOpenVINS, OdomOpen3D, OdomCuVSLAM, OdomLIOSAM, Reg, Vis, PyMatcher, GMS, PyDescriptor, Icp, Stereo, StereoBM, StereoSGBM, Grid, GridGlobal, Marker, MarkerAprilTag, MarkerOpenCV, ImuFilter

        +

        +

        Rtabmap

        Top-level loop closure detection and map management.

        @@ -220,7 +171,8 @@ Rtabmap
        Rtabmap/VirtualPlaceLikelihoodRatio int 0 Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)
        -

        +

        +

        Mem

        Memory management: what is kept in STM/WM, what is transferred to LTM.

        @@ -303,7 +255,8 @@ Mem
        Mem/RotateImagesUpsideUp bool false 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.
        -

        +

        +

        Kp

        Bag-of-words dictionary used for global loop closure detection.

        @@ -359,7 +312,8 @@ Kp
        Kp/GridCols int 1 Number of columns of the grid used to extract uniformly "@ref param_KpMaxFeatures "Kp/MaxFeatures" / grid cells" features from each cell.
        -

        +

        +

        DbSqlite3

        @@ -375,7 +329,8 @@ DbSqlite3
        DbSqlite3/TempStore int 2 PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html::pragma_temp_store for more details. 0=DEFAULT: SQLite compile-time default (often on-disk temp files). 1=FILE: temporary files in the system temp directory. 2=MEMORY: temporary data in RAM when possible.
        -

        +

        +

        Db

        Database (long-term memory) storage.

        @@ -384,7 +339,8 @@ Db
        Db/TargetVersion string "" Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database).
        -

        +

        +

        SURF

        @@ -404,7 +360,8 @@ SURF
        SURF/GpuKeypointsRatio float 0.01 Used with SURF GPU.
        -

        +

        +

        SIFT

        @@ -430,7 +387,8 @@ SIFT
        SIFT/Upscale bool false CudaSift: Whether to enable upscaling.
        -

        +

        +

        BRIEF

        @@ -438,7 +396,8 @@ BRIEF
        BRIEF/Bytes int 32 Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.
        -

        +

        +

        FAST

        @@ -462,7 +421,8 @@ FAST
        FAST/CV int 0 Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.
        -

        +

        +

        GFTT

        @@ -480,7 +440,8 @@ GFTT
        GFTT/Gpu bool false GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected.
        -

        +

        +

        ORB

        @@ -502,7 +463,8 @@ ORB
        ORB/Gpu bool false GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.
        -

        +

        +

        FREAK

        @@ -516,7 +478,8 @@ FREAK
        FREAK/NOctaves int 4 Number of octaves covered by the detected keypoints.
        -

        +

        +

        BRISK

        @@ -528,7 +491,8 @@ BRISK
        BRISK/PatternScale float 1 Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.
        -

        +

        +

        KAZE

        @@ -546,7 +510,8 @@ KAZE
        KAZE/Diffusivity int 1 Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.
        -

        +

        +

        SuperPoint

        @@ -562,7 +527,8 @@ SuperPoint
        SuperPoint/Cuda bool true Use Cuda device for Torch, otherwise CPU device is used by default.
        -

        +

        +

        SuperPointRpautrat

        @@ -580,7 +546,8 @@ SuperPointRpautrat
        SuperPointRpautrat/Cuda bool true Use Cuda device for Torch, otherwise CPU device is used by default.
        -

        +

        +

        PyDetector

        @@ -590,7 +557,8 @@ PyDetector
        PyDetector/Cuda bool true Use cuda.
        -

        +

        +

        Bayes

        Bayes filter used for loop closure hypotheses.

        @@ -603,7 +571,8 @@ Bayes
        Bayes/FullPredictionUpdate bool false Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).
        -

        +

        +

        VhEp

        @@ -617,7 +586,8 @@ VhEp
        VhEp/RansacParam2 float 0.99 Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.
        -

        +

        +

        RGBD

        Metric SLAM: graph, proximity detection and localization.

        @@ -714,7 +684,8 @@ RGBD
        RGBD/ProximityMergedScanCovFactor double 100.0 Covariance factor for one-to-many proximity detection (when RGBD/ProximityPathMaxNeighbors>0 and scans are used).
        -

        +

        +

        Optimizer

        Graph optimization back-end.

        @@ -753,7 +724,8 @@ Optimizer
        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.
        -

        +

        +

        g2o

        @@ -764,7 +736,8 @@ g2o
        g2o/Optimizer int 0 0=Levenberg 1=GaussNewton
        -

        +

        +

        GTSAM

        @@ -778,7 +751,8 @@ GTSAM
        GTSAM/IncRelinearizeSkip int 1 Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.
        -

        +

        +

        Odom

        Odometry front-end shared settings.

        @@ -827,7 +801,8 @@ Odom
        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).
        -

        +

        +

        OdomF2M

        @@ -862,7 +837,8 @@ OdomF2M
        OdomF2M/BundleUpdateFeatureMapOnAllFrames bool false Update 3D local feature map on every frame with bundle adjustment. Recommended if Vis/DepthAsMask=false and Mem/UseOdomFeatures=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).
        -

        +

        +

        OdomMono

        @@ -876,7 +852,8 @@ OdomMono
        OdomMono/MaxVariance float 0.01 Maximum variance to add new points to local map.
        -

        +

        +

        OdomFovis

        @@ -930,7 +907,8 @@ OdomFovis
        OdomFovis/StereoMaxDisparity int 128
        -

        +

        +

        OdomViso2

        @@ -968,7 +946,8 @@ OdomViso2
        OdomViso2/BucketHeight double 50 Height of bucket.
        -

        +

        +

        OdomORBSLAM

        @@ -998,7 +977,8 @@ OdomORBSLAM
        OdomORBSLAM/SamplingRate double 0 IMU sampling rate (0 to estimate from input data).
        -

        +

        +

        OdomOKVIS

        @@ -1006,7 +986,8 @@ OdomOKVIS
        OdomOKVIS/ConfigPath string "" Path of OKVIS config file.
        -

        +

        +

        OdomLOAM

        @@ -1024,7 +1005,8 @@ OdomLOAM
        OdomLOAM/LocalMapping bool true Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.
        -

        +

        +

        OdomMSCKF

        @@ -1084,7 +1066,8 @@ OdomMSCKF
        OdomMSCKF/MaxCamStateSize int 20
        -

        +

        +

        OdomVINSFusion

        @@ -1092,7 +1075,8 @@ OdomVINSFusion
        OdomVINSFusion/ConfigPath string "" Path of VINS-Fusion config file.
        -

        +

        +

        OdomOpenVINS

        @@ -1212,7 +1196,8 @@ OdomOpenVINS
        OdomOpenVINS/UpSLAMChi2Multiplier double 1.0 Chi2 multiplier for SLAM features.
        -

        +

        +

        OdomOpen3D

        @@ -1222,7 +1207,8 @@ OdomOpen3D
        OdomOpen3D/Method int 0 Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.
        -

        +

        +

        OdomCuVSLAM

        @@ -1230,7 +1216,8 @@ OdomCuVSLAM
        OdomCuVSLAM/MulticamMode int 0 cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.
        -

        +

        +

        OdomLIOSAM

        @@ -1262,7 +1249,8 @@ OdomLIOSAM
        OdomLIOSAM/AngVar float 0.01 Angular output variance.
        -

        +

        +

        Reg

        Registration strategy shared by loop closures and proximity detection.

        @@ -1275,7 +1263,8 @@ Reg
        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.
        -

        +

        +

        Vis

        Visual registration (feature extraction, matching and PnP).

        @@ -1369,7 +1358,8 @@ Vis
        Vis/BundleAdjustment int 1 with defined(RTABMAP_G2O) \|\| defined(RTABMAP_ORB_SLAM)
        0 otherwise         		Optimization with bundle adjustment. Value matches the Optimizer/Strategy parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.
        -

        +

        +

        PyMatcher

        @@ -1385,7 +1375,8 @@ PyMatcher
        PyMatcher/Model string 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").
        -

        +

        +

        GMS

        @@ -1397,7 +1388,8 @@ GMS
        GMS/ThresholdFactor double 6.0 The higher, the less matches.
        -

        +

        +

        PyDescriptor

        @@ -1407,7 +1399,8 @@ PyDescriptor
        PyDescriptor/Dim int 4096 Descriptor dimension.
        -

        +

        +

        Icp

        Geometric registration by iterative closest point.

        @@ -1477,7 +1470,8 @@ Icp
        Icp/CCMaxFinalRMS float 0.2 Maximum final RMS error.
        -

        +

        +

        Stereo

        Stereo correspondence.

        @@ -1512,7 +1506,8 @@ Stereo
        Stereo/DenseStrategy int 0 0=cv::StereoBM, 1=cv::StereoSGBM
        -

        +

        +

        StereoBM

        @@ -1538,7 +1533,8 @@ StereoBM
        StereoBM/Disp12MaxDiff int -1 See cv::StereoBM
        -

        +

        +

        StereoSGBM

        @@ -1567,7 +1563,8 @@ StereoSGBM
        StereoSGBM/Mode int 0 with CV_MAJOR_VERSION &lt; 3
        2 otherwise         		See cv::StereoSGBM
        -

        +

        +

        Grid

        Local occupancy grid generation from each node.

        @@ -1629,7 +1626,8 @@ Grid
        Grid/RayTracing bool false Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If Grid/3D=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.
        -

        +

        +

        GridGlobal

        Assembly of the local grids into the global map.

        @@ -1660,7 +1658,8 @@ GridGlobal
        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.
        -

        +

        +

        Marker

        Fiducial marker (ArUco/AprilTag) detection and landmarks.

        @@ -1693,7 +1692,8 @@ Marker
        Marker/PriorsVarianceAngular float 0.001 Angular variance to set on marker priors.
        -

        +

        +

        MarkerAprilTag

        @@ -1711,7 +1711,8 @@ MarkerAprilTag
        MarkerAprilTag/Debug bool false When true, write a variety of debugging images to the working directory where the app started (not Rtabmap/WorkingDirectory) at various stages through the detection process. (Somewhat slow).
        -

        +

        +

        MarkerOpenCV

        @@ -1719,7 +1720,8 @@ MarkerOpenCV
        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.
        -

        +

        +

        ImuFilter

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        diff --git a/preview/pr-1492/api/latest/rvl__codec_8h_source.html b/preview/pr-1492/api/latest/rvl__codec_8h_source.html index 7f77c3ed..29d1ec52 100644 --- a/preview/pr-1492/api/latest/rvl__codec_8h_source.html +++ b/preview/pr-1492/api/latest/rvl__codec_8h_source.html @@ -18,9 +18,13 @@ + + + +
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b/preview/pr-1492/api/latest/tools.html index 67124839..9dca36b1 100644 --- a/preview/pr-1492/api/latest/tools.html +++ b/preview/pr-1492/api/latest/tools.html @@ -18,9 +18,13 @@ + + + +
        @@ -99,7 +103,7 @@ $(document).ready(function(){initNavTree('tools.html',''); initResizable(); });

        Building RTAB-Map installs a set of executables next to the libraries. They are built on the same API these pages document, so each one is also a worked example of it – and the quickest way to inspect, replay or convert a map without writing code.

        All of them take the --Param Group/Name value arguments described in the Parameter reference, and print their options with --help.

        -

        +

        Working with a map

        @@ -123,7 +127,7 @@ Working with a map
        rtabmap-cleanupLocalGrids Clears from the local occupancy grids the space that the assembled global grid shows as empty, so that removed obstacles do not reappear when the map is regenerated.
        -

        +

        Recording and datasets

        @@ -143,7 +147,7 @@ Recording and datasets
        rtabmap-imagesJoiner Joins images of two directories side by side, to build a stereo sequence out of two monocular ones.
        -

        +

        Sensors and calibration

        These need the GUI library (Qt), so they are only built when it is available.

        @@ -162,7 +166,7 @@ Sensors and calibration
        rtabmap-databaseViewer Inspects a database: browse the nodes and their data, the graph and its links, add or remove constraints, re-optimize, regenerate the grids and export.
        -

        +

        Algorithm evaluation

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