From 8ad376e62e5f9893275b015444515b2e9938f1e6 Mon Sep 17 00:00:00 2001
From: "github-actions[bot]" <github-actions[bot]@users.noreply.github.com>
Date: Sun, 2 Aug 2026 17:35:14 +0000
Subject: [PATCH] Preview for PR #1492 4d7046c7b8b4b6e6d98dd2c41523d4b31eb9cb95

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 <p>Returns the horizontal field of view (FoV) in radians. </p>
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-<tr><td colspan="2"><div class="groupHeader">Getters for tunables shared across back-ends.</div></td></tr>
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@@ -1221,9 +1225,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
 
 <p>Computes the depth (Z coordinate) from a given disparity value. </p>
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-<picture><source srcset="form_2_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
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 <p> where ( f_x ) is the focal length of the left camera and ( c_x ) are principal points.</p>
 <dl class="params"><dt>Parameters</dt><dd>
@@ -1255,9 +1259,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
 
 <p>Computes the disparity value from a given depth. </p>
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-<picture><source srcset="form_3_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
+<img class="formulaDsp" alt="\[
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-\]" src="form_3.png"/></picture>
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@@ -1288,9 +1292,9 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
 
 <p>Computes the disparity value from a depth given in unsigned short format (millimeters). </p>
 <p>Converts depth expressed as an unsigned short (in millimeters) to disparity. The depth is first converted to meters before computing disparity using the formula:  </p><p class="formulaDsp">
-<picture><source srcset="form_4_dark.png" media="(prefers-color-scheme: dark)"/><img class="formulaDsp" alt="\[
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index e2a55044..e8aab07f 100644
--- a/preview/pr-1492/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html
+++ b/preview/pr-1492/api/latest/dir_fbc3350978c71aef49f2eeb1c9d88691.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html b/preview/pr-1492/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html
index 9152ed25..39191d76 100644
--- a/preview/pr-1492/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html
+++ b/preview/pr-1492/api/latest/dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/discrete__depth__distortion__model_8h_source.html b/preview/pr-1492/api/latest/discrete__depth__distortion__model_8h_source.html
index 47cef350..242a9449 100644
--- a/preview/pr-1492/api/latest/discrete__depth__distortion__model_8h_source.html
+++ b/preview/pr-1492/api/latest/discrete__depth__distortion__model_8h_source.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/doxygen-awesome-darkmode-toggle.js b/preview/pr-1492/api/latest/doxygen-awesome-darkmode-toggle.js
new file mode 100644
index 00000000..40fe2d38
--- /dev/null
+++ b/preview/pr-1492/api/latest/doxygen-awesome-darkmode-toggle.js
@@ -0,0 +1,157 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+class DoxygenAwesomeDarkModeToggle extends HTMLElement {
+    // SVG icons from https://fonts.google.com/icons
+    // Licensed under the Apache 2.0 license:
+    // https://www.apache.org/licenses/LICENSE-2.0.html
+    static lightModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FCBF00"><rect fill="none" height="24" width="24"/><circle cx="12" cy="12" opacity=".3" r="3"/><path d="M12,9c1.65,0,3,1.35,3,3s-1.35,3-3,3s-3-1.35-3-3S10.35,9,12,9 M12,7c-2.76,0-5,2.24-5,5s2.24,5,5,5s5-2.24,5-5 S14.76,7,12,7L12,7z M2,13l2,0c0.55,0,1-0.45,1-1s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S1.45,13,2,13z M20,13l2,0c0.55,0,1-0.45,1-1 s-0.45-1-1-1l-2,0c-0.55,0-1,0.45-1,1S19.45,13,20,13z M11,2v2c0,0.55,0.45,1,1,1s1-0.45,1-1V2c0-0.55-0.45-1-1-1S11,1.45,11,2z M11,20v2c0,0.55,0.45,1,1,1s1-0.45,1-1v-2c0-0.55-0.45-1-1-1C11.45,19,11,19.45,11,20z M5.99,4.58c-0.39-0.39-1.03-0.39-1.41,0 c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0s0.39-1.03,0-1.41L5.99,4.58z M18.36,16.95 c-0.39-0.39-1.03-0.39-1.41,0c-0.39,0.39-0.39,1.03,0,1.41l1.06,1.06c0.39,0.39,1.03,0.39,1.41,0c0.39-0.39,0.39-1.03,0-1.41 L18.36,16.95z M19.42,5.99c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06c-0.39,0.39-0.39,1.03,0,1.41 s1.03,0.39,1.41,0L19.42,5.99z M7.05,18.36c0.39-0.39,0.39-1.03,0-1.41c-0.39-0.39-1.03-0.39-1.41,0l-1.06,1.06 c-0.39,0.39-0.39,1.03,0,1.41s1.03,0.39,1.41,0L7.05,18.36z"/></svg>`
+    static darkModeIcon = `<svg xmlns="http://www.w3.org/2000/svg" enable-background="new 0 0 24 24" height="24px" viewBox="0 0 24 24" width="24px" fill="#FE9700"><rect fill="none" height="24" width="24"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27 C17.45,17.19,14.93,19,12,19c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z" opacity=".3"/><path d="M9.37,5.51C9.19,6.15,9.1,6.82,9.1,7.5c0,4.08,3.32,7.4,7.4,7.4c0.68,0,1.35-0.09,1.99-0.27C17.45,17.19,14.93,19,12,19 c-3.86,0-7-3.14-7-7C5,9.07,6.81,6.55,9.37,5.51z M12,3c-4.97,0-9,4.03-9,9s4.03,9,9,9s9-4.03,9-9c0-0.46-0.04-0.92-0.1-1.36 c-0.98,1.37-2.58,2.26-4.4,2.26c-2.98,0-5.4-2.42-5.4-5.4c0-1.81,0.89-3.42,2.26-4.4C12.92,3.04,12.46,3,12,3L12,3z"/></svg>`
+    static title = "Toggle Light/Dark Mode"
+
+    static prefersLightModeInDarkModeKey = "prefers-light-mode-in-dark-mode"
+    static prefersDarkModeInLightModeKey = "prefers-dark-mode-in-light-mode"
+
+    static _staticConstructor = function() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.userPreference)
+        // Update the color scheme when the browsers preference changes
+        // without user interaction on the website.
+        window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+            DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+        })
+        // Update the color scheme when the tab is made visible again.
+        // It is possible that the appearance was changed in another tab 
+        // while this tab was in the background.
+        document.addEventListener("visibilitychange", visibilityState => {
+            if (document.visibilityState === 'visible') {
+                DoxygenAwesomeDarkModeToggle.onSystemPreferenceChanged()
+            }
+        });
+    }()
+
+    static init() {
+        $(function() {
+            $(document).ready(function() {
+                const toggleButton = document.createElement('doxygen-awesome-dark-mode-toggle')
+                toggleButton.title = DoxygenAwesomeDarkModeToggle.title
+                toggleButton.updateIcon()
+
+                window.matchMedia('(prefers-color-scheme: dark)').addEventListener('change', event => {
+                    toggleButton.updateIcon()
+                })
+                document.addEventListener("visibilitychange", visibilityState => {
+                    if (document.visibilityState === 'visible') {
+                        toggleButton.updateIcon()
+                    }
+                });
+
+                $(document).ready(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+                $(window).resize(function(){
+                    document.getElementById("MSearchBox").parentNode.appendChild(toggleButton)
+                })
+            })
+        })
+    }
+
+    constructor() {
+        super();
+        this.onclick=this.toggleDarkMode
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode system preference
+     */
+    static get systemPreference() {
+        return window.matchMedia('(prefers-color-scheme: dark)').matches
+    }
+
+    /**
+     * @returns `true` for dark-mode, `false` for light-mode user preference
+     */
+    static get userPreference() {
+        return (!DoxygenAwesomeDarkModeToggle.systemPreference && localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)) || 
+        (DoxygenAwesomeDarkModeToggle.systemPreference && !localStorage.getItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey))
+    }
+
+    static set userPreference(userPreference) {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = userPreference
+        if(!userPreference) {
+            if(DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey)
+            }
+        } else {
+            if(!DoxygenAwesomeDarkModeToggle.systemPreference) {
+                localStorage.setItem(DoxygenAwesomeDarkModeToggle.prefersDarkModeInLightModeKey, true)
+            } else {
+                localStorage.removeItem(DoxygenAwesomeDarkModeToggle.prefersLightModeInDarkModeKey)
+            }
+        }
+        DoxygenAwesomeDarkModeToggle.onUserPreferenceChanged()
+    }
+
+    static enableDarkMode(enable) {
+        if(enable) {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = true
+            document.documentElement.classList.add("dark-mode")
+            document.documentElement.classList.remove("light-mode")
+        } else {
+            DoxygenAwesomeDarkModeToggle.darkModeEnabled = false
+            document.documentElement.classList.remove("dark-mode")
+            document.documentElement.classList.add("light-mode")
+        }
+    }
+
+    static onSystemPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.darkModeEnabled = DoxygenAwesomeDarkModeToggle.userPreference
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    static onUserPreferenceChanged() {
+        DoxygenAwesomeDarkModeToggle.enableDarkMode(DoxygenAwesomeDarkModeToggle.darkModeEnabled)
+    }
+
+    toggleDarkMode() {
+        DoxygenAwesomeDarkModeToggle.userPreference = !DoxygenAwesomeDarkModeToggle.userPreference
+        this.updateIcon()
+    }
+
+    updateIcon() {
+        if(DoxygenAwesomeDarkModeToggle.darkModeEnabled) {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.darkModeIcon
+        } else {
+            this.innerHTML = DoxygenAwesomeDarkModeToggle.lightModeIcon
+        }
+    }
+}
+
+customElements.define("doxygen-awesome-dark-mode-toggle", DoxygenAwesomeDarkModeToggle);
diff --git a/preview/pr-1492/api/latest/doxygen-awesome.css b/preview/pr-1492/api/latest/doxygen-awesome.css
new file mode 100644
index 00000000..c2f41142
--- /dev/null
+++ b/preview/pr-1492/api/latest/doxygen-awesome.css
@@ -0,0 +1,2681 @@
+/**
+
+Doxygen Awesome
+https://github.com/jothepro/doxygen-awesome-css
+
+MIT License
+
+Copyright (c) 2021 - 2023 jothepro
+
+Permission is hereby granted, free of charge, to any person obtaining a copy
+of this software and associated documentation files (the "Software"), to deal
+in the Software without restriction, including without limitation the rights
+to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+copies of the Software, and to permit persons to whom the Software is
+furnished to do so, subject to the following conditions:
+
+The above copyright notice and this permission notice shall be included in all
+copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
+SOFTWARE.
+
+*/
+
+html {
+    /* primary theme color. This will affect the entire websites color scheme: links, arrows, labels, ... */
+    --primary-color: #1779c4;
+    --primary-dark-color: #335c80;
+    --primary-light-color: #70b1e9;
+
+    /* page base colors */
+    --page-background-color: #ffffff;
+    --page-foreground-color: #2f4153;
+    --page-secondary-foreground-color: #6f7e8e;
+
+    /* color for all separators on the website: hr, borders, ... */
+    --separator-color: #dedede;
+
+    /* border radius for all rounded components. Will affect many components, like dropdowns, memitems, codeblocks, ... */
+    --border-radius-large: 8px;
+    --border-radius-small: 4px;
+    --border-radius-medium: 6px;
+
+    /* default spacings. Most components reference these values for spacing, to provide uniform spacing on the page. */
+    --spacing-small: 5px;
+    --spacing-medium: 10px;
+    --spacing-large: 16px;
+
+    /* default box shadow used for raising an element above the normal content. Used in dropdowns, search result, ... */
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.075);
+
+    --odd-color: rgba(0,0,0,.028);
+
+    /* font-families. will affect all text on the website
+     * font-family: the normal font for text, headlines, menus
+     * font-family-monospace: used for preformatted text in memtitle, code, fragments
+     */
+    --font-family: -apple-system,BlinkMacSystemFont,Segoe UI,Roboto,Oxygen,Ubuntu,Cantarell,Fira Sans,Droid Sans,Helvetica Neue,sans-serif;
+    --font-family-monospace: ui-monospace,SFMono-Regular,SF Mono,Menlo,Consolas,Liberation Mono,monospace;
+
+    /* font sizes */
+    --page-font-size: 15.6px;
+    --navigation-font-size: 14.4px;
+    --toc-font-size: 13.4px;
+    --code-font-size: 14px; /* affects code, fragment */
+    --title-font-size: 22px;
+
+    /* content text properties. These only affect the page content, not the navigation or any other ui elements */
+    --content-line-height: 27px;
+    /* The content is centered and constraint in it's width. To make the content fill the whole page, set the variable to auto.*/
+    --content-maxwidth: 1050px;
+    --table-line-height: 24px;
+    --toc-sticky-top: var(--spacing-medium);
+    --toc-width: 200px;
+    --toc-max-height: calc(100vh - 2 * var(--spacing-medium) - 85px);
+
+    /* colors for various content boxes: @warning, @note, @deprecated @bug */
+    --warning-color: #faf3d8;
+    --warning-color-dark: #f3a600;
+    --warning-color-darker: #5f4204;
+    --note-color: #e4f3ff;
+    --note-color-dark: #1879C4;
+    --note-color-darker: #274a5c;
+    --todo-color: #e4dafd;
+    --todo-color-dark: #5b2bdd;
+    --todo-color-darker: #2a0d72;
+    --deprecated-color: #ecf0f3;
+    --deprecated-color-dark: #5b6269;
+    --deprecated-color-darker: #43454a;
+    --bug-color: #f8d1cc;
+    --bug-color-dark: #b61825;
+    --bug-color-darker: #75070f;
+    --invariant-color: #d8f1e3;
+    --invariant-color-dark: #44b86f;
+    --invariant-color-darker: #265532;
+
+    /* blockquote colors */
+    --blockquote-background: #f8f9fa;
+    --blockquote-foreground: #636568;
+
+    /* table colors */
+    --tablehead-background: #f1f1f1;
+    --tablehead-foreground: var(--page-foreground-color);
+
+    /* menu-display: block | none
+     * Visibility of the top navigation on screens >= 768px. On smaller screen the menu is always visible.
+     * `GENERATE_TREEVIEW` MUST be enabled!
+     */
+    --menu-display: block;
+
+    --menu-focus-foreground: var(--page-background-color);
+    --menu-focus-background: var(--primary-color);
+    --menu-selected-background: rgba(0,0,0,.05);
+
+
+    --header-background: var(--page-background-color);
+    --header-foreground: var(--page-foreground-color);
+
+    /* searchbar colors */
+    --searchbar-background: var(--side-nav-background);
+    --searchbar-foreground: var(--page-foreground-color);
+
+    /* searchbar size
+     * (`searchbar-width` is only applied on screens >= 768px.
+     * on smaller screens the searchbar will always fill the entire screen width) */
+    --searchbar-height: 33px;
+    --searchbar-width: 210px;
+    --searchbar-border-radius: var(--searchbar-height);
+
+    /* code block colors */
+    --code-background: #f5f5f5;
+    --code-foreground: var(--page-foreground-color);
+
+    /* fragment colors */
+    --fragment-background: #F8F9FA;
+    --fragment-foreground: #37474F;
+    --fragment-keyword: #bb6bb2;
+    --fragment-keywordtype: #8258b3;
+    --fragment-keywordflow: #d67c3b;
+    --fragment-token: #438a59;
+    --fragment-comment: #969696;
+    --fragment-link: #5383d6;
+    --fragment-preprocessor: #46aaa5;
+    --fragment-linenumber-color: #797979;
+    --fragment-linenumber-background: #f4f4f5;
+    --fragment-linenumber-border: #e3e5e7;
+    --fragment-lineheight: 20px;
+
+    /* sidebar navigation (treeview) colors */
+    --side-nav-background: #fbfbfb;
+    --side-nav-foreground: var(--page-foreground-color);
+    --side-nav-arrow-opacity: 0;
+    --side-nav-arrow-hover-opacity: 0.9;
+
+    --toc-background: var(--side-nav-background);
+    --toc-foreground: var(--side-nav-foreground);
+
+    /* height of an item in any tree / collapsible table */
+    --tree-item-height: 30px;
+
+    --memname-font-size: var(--code-font-size);
+    --memtitle-font-size: 18px;
+
+    --webkit-scrollbar-size: 7px;
+    --webkit-scrollbar-padding: 4px;
+    --webkit-scrollbar-color: var(--separator-color);
+
+    --animation-duration: .12s
+}
+
+@media screen and (max-width: 767px) {
+    html {
+        --page-font-size: 16px;
+        --navigation-font-size: 16px;
+        --toc-font-size: 15px;
+        --code-font-size: 15px; /* affects code, fragment */
+        --title-font-size: 22px;
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) {
+        color-scheme: dark;
+
+        --primary-color: #1982d2;
+        --primary-dark-color: #86a9c4;
+        --primary-light-color: #4779ac;
+
+        --box-shadow: 0 2px 8px 0 rgba(0,0,0,.35);
+
+        --odd-color: rgba(100,100,100,.06);
+
+        --menu-selected-background: rgba(0,0,0,.4);
+
+        --page-background-color: #1C1D1F;
+        --page-foreground-color: #d2dbde;
+        --page-secondary-foreground-color: #859399;
+        --separator-color: #38393b;
+        --side-nav-background: #252628;
+
+        --code-background: #2a2c2f;
+
+        --tablehead-background: #2a2c2f;
+    
+        --blockquote-background: #222325;
+        --blockquote-foreground: #7e8c92;
+
+        --warning-color: #3b2e04;
+        --warning-color-dark: #f1b602;
+        --warning-color-darker: #ceb670;
+        --note-color: #163750;
+        --note-color-dark: #1982D2;
+        --note-color-darker: #dcf0fa;
+        --todo-color: #2a2536;
+        --todo-color-dark: #7661b3;
+        --todo-color-darker: #ae9ed6;
+        --deprecated-color: #2e323b;
+        --deprecated-color-dark: #738396;
+        --deprecated-color-darker: #abb0bd;
+        --bug-color: #2e1917;
+        --bug-color-dark: #ad2617;
+        --bug-color-darker: #f5b1aa;
+        --invariant-color: #303a35;
+        --invariant-color-dark: #76ce96;
+        --invariant-color-darker: #cceed5;
+
+        --fragment-background: #282c34;
+        --fragment-foreground: #dbe4eb;
+        --fragment-keyword: #cc99cd;
+        --fragment-keywordtype: #ab99cd;
+        --fragment-keywordflow: #e08000;
+        --fragment-token: #7ec699;
+        --fragment-comment: #999999;
+        --fragment-link: #98c0e3;
+        --fragment-preprocessor: #65cabe;
+        --fragment-linenumber-color: #cccccc;
+        --fragment-linenumber-background: #35393c;
+        --fragment-linenumber-border: #1f1f1f;
+    }
+}
+
+/* dark mode variables are defined twice, to support both the dark-mode without and with doxygen-awesome-darkmode-toggle.js */
+html.dark-mode {
+    color-scheme: dark;
+
+    --primary-color: #1982d2;
+    --primary-dark-color: #86a9c4;
+    --primary-light-color: #4779ac;
+
+    --box-shadow: 0 2px 8px 0 rgba(0,0,0,.30);
+
+    --odd-color: rgba(100,100,100,.06);
+
+    --menu-selected-background: rgba(0,0,0,.4);
+
+    --page-background-color: #1C1D1F;
+    --page-foreground-color: #d2dbde;
+    --page-secondary-foreground-color: #859399;
+    --separator-color: #38393b;
+    --side-nav-background: #252628;
+
+    --code-background: #2a2c2f;
+
+    --tablehead-background: #2a2c2f;
+
+    --blockquote-background: #222325;
+    --blockquote-foreground: #7e8c92;
+
+    --warning-color: #3b2e04;
+    --warning-color-dark: #f1b602;
+    --warning-color-darker: #ceb670;
+    --note-color: #163750;
+    --note-color-dark: #1982D2;
+    --note-color-darker: #dcf0fa;
+    --todo-color: #2a2536;
+    --todo-color-dark: #7661b3;
+    --todo-color-darker: #ae9ed6;
+    --deprecated-color: #2e323b;
+    --deprecated-color-dark: #738396;
+    --deprecated-color-darker: #abb0bd;
+    --bug-color: #2e1917;
+    --bug-color-dark: #ad2617;
+    --bug-color-darker: #f5b1aa;
+    --invariant-color: #303a35;
+    --invariant-color-dark: #76ce96;
+    --invariant-color-darker: #cceed5;
+
+    --fragment-background: #282c34;
+    --fragment-foreground: #dbe4eb;
+    --fragment-keyword: #cc99cd;
+    --fragment-keywordtype: #ab99cd;
+    --fragment-keywordflow: #e08000;
+    --fragment-token: #7ec699;
+    --fragment-comment: #999999;
+    --fragment-link: #98c0e3;
+    --fragment-preprocessor: #65cabe;
+    --fragment-linenumber-color: #cccccc;
+    --fragment-linenumber-background: #35393c;
+    --fragment-linenumber-border: #1f1f1f;
+}
+
+body {
+    color: var(--page-foreground-color);
+    background-color: var(--page-background-color);
+    font-size: var(--page-font-size);
+}
+
+body, table, div, p, dl, #nav-tree .label, .title,
+.sm-dox a, .sm-dox a:hover, .sm-dox a:focus, #projectname,
+.SelectItem, #MSearchField, .navpath li.navelem a,
+.navpath li.navelem a:hover, p.reference, p.definition, div.toc li, div.toc h3 {
+    font-family: var(--font-family);
+}
+
+h1, h2, h3, h4, h5 {
+    margin-top: 1em;
+    font-weight: 600;
+    line-height: initial;
+}
+
+p, div, table, dl, p.reference, p.definition {
+    font-size: var(--page-font-size);
+}
+
+p.reference, p.definition {
+    color: var(--page-secondary-foreground-color);
+}
+
+a:link, a:visited, a:hover, a:focus, a:active {
+    color: var(--primary-color) !important;
+    font-weight: 500;
+    background: none;
+}
+
+a.anchor {
+    scroll-margin-top: var(--spacing-large);
+    display: block;
+}
+
+/*
+ Title and top navigation
+ */
+
+#top {
+    background: var(--header-background);
+    border-bottom: 1px solid var(--separator-color);
+}
+
+@media screen and (min-width: 768px) {
+    #top {
+        display: flex;
+        flex-wrap: wrap;
+        justify-content: space-between;
+        align-items: center;
+    }
+}
+
+#main-nav {
+    flex-grow: 5;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#titlearea {
+    width: auto;
+    padding: var(--spacing-medium) var(--spacing-large);
+    background: none;
+    color: var(--header-foreground);
+    border-bottom: none;
+}
+
+@media screen and (max-width: 767px) {
+    #titlearea {
+        padding-bottom: var(--spacing-small);
+    }
+}
+
+#titlearea table tbody tr {
+    height: auto !important;
+}
+
+#projectname {
+    font-size: var(--title-font-size);
+    font-weight: 600;
+}
+
+#projectnumber {
+    font-family: inherit;
+    font-size: 60%;
+}
+
+#projectbrief {
+    font-family: inherit;
+    font-size: 80%;
+}
+
+#projectlogo {
+    vertical-align: middle;
+}
+
+#projectlogo img {
+    max-height: calc(var(--title-font-size) * 2);
+    margin-right: var(--spacing-small);
+}
+
+.sm-dox, .tabs, .tabs2, .tabs3 {
+    background: none;
+    padding: 0;
+}
+
+.tabs, .tabs2, .tabs3 {
+    border-bottom: 1px solid var(--separator-color);
+    margin-bottom: -1px;
+}
+
+.main-menu-btn-icon, .main-menu-btn-icon:before, .main-menu-btn-icon:after {
+    background: var(--page-secondary-foreground-color);
+}
+
+@media screen and (max-width: 767px) {
+    .sm-dox a span.sub-arrow {
+        background: var(--code-background);
+    }
+
+    #main-menu a.has-submenu span.sub-arrow {
+        color: var(--page-secondary-foreground-color);
+        border-radius: var(--border-radius-medium);
+    }
+
+    #main-menu a.has-submenu:hover span.sub-arrow {
+        color: var(--page-foreground-color);
+    }
+}
+
+@media screen and (min-width: 768px) {
+    .sm-dox li, .tablist li {
+        display: var(--menu-display);
+    }
+
+    .sm-dox a span.sub-arrow {
+        border-color: var(--header-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox a:hover span.sub-arrow {
+        border-color: var(--menu-focus-foreground) transparent transparent transparent;
+    }
+
+    .sm-dox ul a span.sub-arrow {
+        border-color: transparent transparent transparent var(--page-foreground-color);
+    }
+
+    .sm-dox ul a:hover span.sub-arrow {
+        border-color: transparent transparent transparent var(--menu-focus-foreground);
+    }
+}
+
+.sm-dox ul {
+    background: var(--page-background-color);
+    box-shadow: var(--box-shadow);
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium) !important;
+    padding: var(--spacing-small);
+    animation: ease-out 150ms slideInMenu;
+}
+
+@keyframes slideInMenu {
+    from {
+        opacity: 0;
+        transform: translate(0px, -2px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0px, 0px);
+    }
+}
+
+.sm-dox ul a {
+    color: var(--page-foreground-color) !important;
+    background: var(--page-background-color);
+    font-size: var(--navigation-font-size);
+}
+
+.sm-dox>li>ul:after {
+    border-bottom-color: var(--page-background-color) !important;
+}
+
+.sm-dox>li>ul:before {
+    border-bottom-color: var(--separator-color) !important;
+}
+
+.sm-dox ul a:hover, .sm-dox ul a:active, .sm-dox ul a:focus {
+    font-size: var(--navigation-font-size) !important;
+    color: var(--menu-focus-foreground) !important;
+    text-shadow: none;
+    background-color: var(--menu-focus-background);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a, .sm-dox a:focus, .tablist li, .tablist li a, .tablist li.current a {
+    text-shadow: none;
+    background: transparent;
+    background-image: none !important;
+    color: var(--header-foreground) !important;
+    font-weight: normal;
+    font-size: var(--navigation-font-size);
+    border-radius: var(--border-radius-small) !important;
+}
+
+.sm-dox a:focus {
+    outline: auto;
+}
+
+.sm-dox a:hover, .sm-dox a:active, .tablist li a:hover {
+    text-shadow: none;
+    font-weight: normal;
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+    border-radius: var(--border-radius-small) !important;
+    font-size: var(--navigation-font-size);
+}
+
+.tablist li.current {
+    border-radius: var(--border-radius-small);
+    background: var(--menu-selected-background);
+}
+
+.tablist li {
+    margin: var(--spacing-small) 0 var(--spacing-small) var(--spacing-small);
+}
+
+.tablist a {
+    padding: 0 var(--spacing-large);
+}
+
+
+/*
+ Search box
+ */
+
+#MSearchBox {
+    height: var(--searchbar-height);
+    background: var(--searchbar-background);
+    border-radius: var(--searchbar-border-radius);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    width: var(--searchbar-width);
+    position: relative;
+    box-shadow: none;
+    display: block;
+    margin-top: 0;
+}
+
+/* until Doxygen 1.9.4 */
+.left img#MSearchSelect {
+    left: 0;
+    user-select: none;
+    padding-left: 8px;
+}
+
+/* Doxygen 1.9.5 */
+.left span#MSearchSelect {
+    left: 0;
+    user-select: none;
+    margin-left: 8px;
+    padding: 0;
+}
+
+.left #MSearchSelect[src$=".png"] {
+    padding-left: 0
+}
+
+.SelectionMark {
+    user-select: none;
+}
+
+.tabs .left #MSearchSelect {
+    padding-left: 0;
+}
+
+.tabs #MSearchBox {
+    position: absolute;
+    right: var(--spacing-medium);
+}
+
+@media screen and (max-width: 767px) {
+    .tabs #MSearchBox {
+        position: relative;
+        right: 0;
+        margin-left: var(--spacing-medium);
+        margin-top: 0;
+    }
+}
+
+#MSearchSelectWindow, #MSearchResultsWindow {
+    z-index: 9999;
+}
+
+#MSearchBox.MSearchBoxActive {
+    border-color: var(--primary-color);
+    box-shadow: inset 0 0 0 1px var(--primary-color);
+}
+
+#main-menu > li:last-child {
+    margin-right: 0;
+}
+
+@media screen and (max-width: 767px) {
+    #main-menu > li:last-child {
+        height: 50px;
+    }
+}
+
+#MSearchField {
+    font-size: var(--navigation-font-size);
+    height: calc(var(--searchbar-height) - 2px);
+    background: transparent;
+    width: calc(var(--searchbar-width) - 64px);
+}
+
+.MSearchBoxActive #MSearchField {
+    color: var(--searchbar-foreground);
+}
+
+#MSearchSelect {
+    top: calc(calc(var(--searchbar-height) / 2) - 11px);
+}
+
+#MSearchBox span.left, #MSearchBox span.right {
+    background: none;
+    background-image: none;
+}
+
+#MSearchBox span.right {
+    padding-top: calc(calc(var(--searchbar-height) / 2) - 12px);
+    position: absolute;
+    right: var(--spacing-small);
+}
+
+.tabs #MSearchBox span.right {
+    top: calc(calc(var(--searchbar-height) / 2) - 12px);
+}
+
+@keyframes slideInSearchResults {
+    from {
+        opacity: 0;
+        transform: translate(0, 15px);
+    }
+
+    to {
+        opacity: 1;
+        transform: translate(0, 20px);
+    }
+}
+
+#MSearchResultsWindow {
+    left: auto !important;
+    right: var(--spacing-medium);
+    border-radius: var(--border-radius-large);
+    border: 1px solid var(--separator-color);
+    transform: translate(0, 20px);
+    box-shadow: var(--box-shadow);
+    animation: ease-out 280ms slideInSearchResults;
+    background: var(--page-background-color);
+}
+
+iframe#MSearchResults {
+    margin: 4px;
+}
+
+iframe {
+    color-scheme: normal;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) iframe#MSearchResults {
+        filter: invert() hue-rotate(180deg);
+    }
+}
+
+html.dark-mode iframe#MSearchResults {
+    filter: invert() hue-rotate(180deg);
+}
+
+#MSearchResults .SRPage {
+    background-color: transparent;
+}
+
+#MSearchResults .SRPage .SREntry {
+    font-size: 10pt;
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+#MSearchSelectWindow {
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    box-shadow: var(--box-shadow);
+    background: var(--page-background-color);
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+}
+
+#MSearchSelectWindow a.SelectItem {
+    font-size: var(--navigation-font-size);
+    line-height: var(--content-line-height);
+    margin: 0 var(--spacing-small);
+    border-radius: var(--border-radius-small);
+    color: var(--page-foreground-color) !important;
+    font-weight: normal;
+}
+
+#MSearchSelectWindow a.SelectItem:hover {
+    background: var(--menu-focus-background);
+    color: var(--menu-focus-foreground) !important;
+}
+
+@media screen and (max-width: 767px) {
+    #MSearchBox {
+        margin-top: var(--spacing-medium);
+        margin-bottom: var(--spacing-medium);
+        width: calc(100vw - 30px);
+    }
+
+    #main-menu > li:last-child {
+        float: none !important;
+    }
+
+    #MSearchField {
+        width: calc(100vw - 110px);
+    }
+
+    @keyframes slideInSearchResultsMobile {
+        from {
+            opacity: 0;
+            transform: translate(0, 15px);
+        }
+
+        to {
+            opacity: 1;
+            transform: translate(0, 20px);
+        }
+    }
+
+    #MSearchResultsWindow {
+        left: var(--spacing-medium) !important;
+        right: var(--spacing-medium);
+        overflow: auto;
+        transform: translate(0, 20px);
+        animation: ease-out 280ms slideInSearchResultsMobile;
+        width: auto !important;
+    }
+
+    /*
+     * Overwrites for fixing the searchbox on mobile in doxygen 1.9.2
+     */
+    label.main-menu-btn ~ #searchBoxPos1 {
+        top: 3px !important;
+        right: 6px !important;
+        left: 45px;
+        display: flex;
+    }
+
+    label.main-menu-btn ~ #searchBoxPos1 > #MSearchBox {
+        margin-top: 0;
+        margin-bottom: 0;
+        flex-grow: 2;
+        float: left;
+    }
+}
+
+/*
+ Tree view
+ */
+
+#side-nav {
+    padding: 0 !important;
+    background: var(--side-nav-background);
+    min-width: 8px;
+    max-width: 50vw;
+}
+
+@media screen and (max-width: 767px) {
+    #side-nav {
+        display: none;
+    }
+
+    #doc-content {
+        margin-left: 0 !important;
+    }
+}
+
+#nav-tree {
+    background: transparent;
+    margin-right: 1px;
+}
+
+#nav-tree .label {
+    font-size: var(--navigation-font-size);
+}
+
+#nav-tree .item {
+    height: var(--tree-item-height);
+    line-height: var(--tree-item-height);
+    overflow: hidden;
+    text-overflow: ellipsis;
+}
+
+#nav-tree .item > a:focus {
+    outline: none;
+}
+
+#nav-sync {
+    bottom: 12px;
+    right: 12px;
+    top: auto !important;
+    user-select: none;
+}
+
+#nav-tree .selected {
+    text-shadow: none;
+    background-image: none;
+    background-color: transparent;
+    position: relative;
+    color: var(--primary-color) !important;
+    font-weight: 500;
+}
+
+#nav-tree .selected::after {
+    content: "";
+    position: absolute;
+    top: 1px;
+    bottom: 1px;
+    left: 0;
+    width: 4px;
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    background: var(--primary-color);
+}
+
+
+#nav-tree a {
+    color: var(--side-nav-foreground) !important;
+    font-weight: normal;
+}
+
+#nav-tree a:focus {
+    outline-style: auto;
+}
+
+#nav-tree .arrow {
+    opacity: var(--side-nav-arrow-opacity);
+    background: none;
+}
+
+.arrow {
+    color: inherit;
+    cursor: pointer;
+    font-size: 45%;
+    vertical-align: middle;
+    margin-right: 2px;
+    font-family: serif;
+    height: auto;
+    text-align: right;
+}
+
+#nav-tree div.item:hover .arrow, #nav-tree a:focus .arrow {
+    opacity: var(--side-nav-arrow-hover-opacity);
+}
+
+#nav-tree .selected a {
+    color: var(--primary-color) !important;
+    font-weight: bolder;
+    font-weight: 600;
+}
+
+.ui-resizable-e {
+    width: 4px;
+    background: transparent;
+    box-shadow: inset -1px 0 0 0 var(--separator-color);
+}
+
+/*
+ Contents
+ */
+
+div.header {
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--page-background-color);
+    background-image: none;
+}
+
+@media screen and (min-width: 1000px) {
+    #doc-content > div > div.contents,
+    .PageDoc > div.contents {
+        display: flex;
+        flex-direction: row-reverse;
+        flex-wrap: nowrap;
+        align-items: flex-start;
+    }
+    
+    div.contents .textblock {
+        min-width: 200px;
+        flex-grow: 1;
+    }
+}
+
+div.contents, div.header .title, div.header .summary {
+    max-width: var(--content-maxwidth);
+}
+
+div.contents, div.header .title  {
+    line-height: initial;
+    margin: calc(var(--spacing-medium) + .2em) auto var(--spacing-medium) auto;
+}
+
+div.header .summary {
+    margin: var(--spacing-medium) auto 0 auto;
+}
+
+div.headertitle {
+    padding: 0;
+}
+
+div.header .title {
+    font-weight: 600;
+    font-size: 225%;
+    padding: var(--spacing-medium) var(--spacing-large);
+    word-break: break-word;
+}
+
+div.header .summary {
+    width: auto;
+    display: block;
+    float: none;
+    padding: 0 var(--spacing-large);
+}
+
+td.memSeparator {
+    border-color: var(--separator-color);
+}
+
+span.mlabel {
+    background: var(--primary-color);
+    border: none;
+    padding: 4px 9px;
+    border-radius: 12px;
+    margin-right: var(--spacing-medium);
+}
+
+span.mlabel:last-of-type {
+    margin-right: 2px;
+}
+
+div.contents {
+    padding: 0 var(--spacing-large);
+}
+
+div.contents p, div.contents li {
+    line-height: var(--content-line-height);
+}
+
+div.contents div.dyncontent {
+    margin: var(--spacing-medium) 0;
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) div.contents div.dyncontent img,
+    html:not(.light-mode) div.contents center img,
+    html:not(.light-mode) div.contents > table img,
+    html:not(.light-mode) div.contents div.dyncontent iframe,
+    html:not(.light-mode) div.contents center iframe,
+    html:not(.light-mode) div.contents table iframe,
+    html:not(.light-mode) div.contents .dotgraph iframe {
+        filter: brightness(89%) hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode div.contents div.dyncontent img,
+html.dark-mode div.contents center img,
+html.dark-mode div.contents > table img,
+html.dark-mode div.contents div.dyncontent iframe,
+html.dark-mode div.contents center iframe,
+html.dark-mode div.contents table iframe,
+html.dark-mode div.contents .dotgraph iframe
+ {
+    filter: brightness(89%) hue-rotate(180deg) invert();
+}
+
+h2.groupheader {
+    border-bottom: 0px;
+    color: var(--page-foreground-color);
+    box-shadow: 
+        100px 0 var(--page-background-color), 
+        -100px 0 var(--page-background-color),
+        100px 0.75px var(--separator-color),
+        -100px 0.75px var(--separator-color),
+        500px 0 var(--page-background-color), 
+        -500px 0 var(--page-background-color),
+        500px 0.75px var(--separator-color),
+        -500px 0.75px var(--separator-color),
+        900px 0 var(--page-background-color), 
+        -900px 0 var(--page-background-color),
+        900px 0.75px var(--separator-color),
+        -900px 0.75px var(--separator-color),
+        1400px 0 var(--page-background-color),
+        -1400px 0 var(--page-background-color), 
+        1400px 0.75px var(--separator-color),
+        -1400px 0.75px var(--separator-color),
+        1900px 0 var(--page-background-color),
+        -1900px 0 var(--page-background-color),
+        1900px 0.75px var(--separator-color),
+        -1900px 0.75px var(--separator-color);
+}
+
+blockquote {
+    margin: 0 var(--spacing-medium) 0 var(--spacing-medium);
+    padding: var(--spacing-small) var(--spacing-large);
+    background: var(--blockquote-background);
+    color: var(--blockquote-foreground);
+    border-left: 0;
+    overflow: visible;
+    border-radius: var(--border-radius-medium);
+    overflow: visible;
+    position: relative;
+}
+
+blockquote::before, blockquote::after {
+    font-weight: bold;
+    font-family: serif;
+    font-size: 360%;
+    opacity: .15;
+    position: absolute;
+}
+
+blockquote::before {
+    content: "“";
+    left: -10px;
+    top: 4px;
+}
+
+blockquote::after {
+    content: "”";
+    right: -8px;
+    bottom: -25px;
+}
+
+blockquote p {
+    margin: var(--spacing-small) 0 var(--spacing-medium) 0;
+}
+.paramname, .paramname em {
+    font-weight: 600;
+    color: var(--primary-dark-color);
+}
+
+.paramname > code {
+    border: 0;
+}
+
+table.params .paramname {
+    font-weight: 600;
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    padding-right: var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
+    text-shadow: 0 0 15px var(--primary-light-color);
+}
+
+.alphachar a {
+    color: var(--page-foreground-color);
+}
+
+.dotgraph {
+    max-width: 100%;
+    overflow-x: scroll;
+}
+
+.dotgraph .caption {
+    position: sticky;
+    left: 0;
+}
+
+/* Wrap Graphviz graphs with the `interactive_dotgraph` class if `INTERACTIVE_SVG = YES` */
+.interactive_dotgraph .dotgraph iframe {
+    max-width: 100%;
+}
+
+/*
+ Table of Contents
+ */
+
+div.contents .toc {
+    max-height: var(--toc-max-height);
+    min-width: var(--toc-width);
+    border: 0;
+    border-left: 1px solid var(--separator-color);
+    border-radius: 0;
+    background-color: var(--page-background-color);
+    box-shadow: none;
+    position: sticky;
+    top: var(--toc-sticky-top);
+    padding: 0 var(--spacing-large);
+    margin: var(--spacing-small) 0 var(--spacing-large) var(--spacing-large);
+}
+
+div.toc h3 {
+    color: var(--toc-foreground);
+    font-size: var(--navigation-font-size);
+    margin: var(--spacing-large) 0 var(--spacing-medium) 0;
+}
+
+div.toc li {
+    padding: 0;
+    background: none;
+    line-height: var(--toc-font-size);
+    margin: var(--toc-font-size) 0 0 0;
+}
+
+div.toc li::before {
+    display: none;
+}
+
+div.toc ul {
+    margin-top: 0
+}
+
+div.toc li a {
+    font-size: var(--toc-font-size);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+}
+
+div.toc li a:hover, div.toc li a.active {
+    color: var(--primary-color) !important;
+}
+
+div.toc li a.aboveActive {
+    color: var(--page-secondary-foreground-color) !important;
+}
+
+
+@media screen and (max-width: 999px) {
+    div.contents .toc {
+        max-height: 45vh;
+        float: none;
+        width: auto;
+        margin: 0 0 var(--spacing-medium) 0;
+        position: relative;
+        top: 0;
+        position: relative;
+        border: 1px solid var(--separator-color);
+        border-radius: var(--border-radius-medium);
+        background-color: var(--toc-background);
+        box-shadow: var(--box-shadow);
+    }
+
+    div.contents .toc.interactive {
+        max-height: calc(var(--navigation-font-size) + 2 * var(--spacing-large));
+        overflow: hidden;
+    }
+
+    div.contents .toc > h3 {
+        -webkit-tap-highlight-color: transparent;
+        cursor: pointer;
+        position: sticky;
+        top: 0;
+        background-color: var(--toc-background);
+        margin: 0;
+        padding: var(--spacing-large) 0;
+        display: block;
+    }
+
+    div.contents .toc.interactive > h3::before {
+        content: "";
+        width: 0; 
+        height: 0; 
+        border-left: 4px solid transparent;
+        border-right: 4px solid transparent;
+        border-top: 5px solid var(--primary-color);
+        display: inline-block;
+        margin-right: var(--spacing-small);
+        margin-bottom: calc(var(--navigation-font-size) / 4);
+        transform: rotate(-90deg);
+        transition: transform var(--animation-duration) ease-out;
+    }
+
+    div.contents .toc.interactive.open > h3::before {
+        transform: rotate(0deg);
+    }
+
+    div.contents .toc.interactive.open {
+        max-height: 45vh;
+        overflow: auto;
+        transition: max-height 0.2s ease-in-out;
+    }
+
+    div.contents .toc a, div.contents .toc a.active {
+        color: var(--primary-color) !important;
+    }
+
+    div.contents .toc a:hover {
+        text-decoration: underline;
+    }
+}
+
+/*
+ Code & Fragments
+ */
+
+code, div.fragment, pre.fragment {
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+}
+
+code {
+    display: inline;
+    background: var(--code-background);
+    color: var(--code-foreground);
+    padding: 2px 6px;
+}
+
+div.fragment, pre.fragment {
+    margin: var(--spacing-medium) 0;
+    padding: calc(var(--spacing-large) - (var(--spacing-large) / 6)) var(--spacing-large);
+    background: var(--fragment-background);
+    color: var(--fragment-foreground);
+    overflow-x: auto;
+}
+
+@media screen and (max-width: 767px) {
+    div.fragment, pre.fragment {
+        border-top-right-radius: 0;
+        border-bottom-right-radius: 0;
+        border-right: 0;
+    }
+
+    .contents > div.fragment,
+    .textblock > div.fragment,
+    .textblock > pre.fragment,
+    .textblock > .tabbed > ul > li > div.fragment,
+    .textblock > .tabbed > ul > li > pre.fragment,
+    .contents > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .textblock > .tabbed > ul > li > .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+        border-radius: 0;
+        border-left: 0;
+    }
+
+    .textblock li > .fragment,
+    .textblock li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-large));
+    }
+
+    .memdoc li > .fragment,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > .fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+    }
+
+    .textblock ul, .memdoc ul {
+        overflow: initial;
+    }
+
+    .memdoc > div.fragment,
+    .memdoc > pre.fragment,
+    dl dd > div.fragment,
+    dl dd pre.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > div.fragment,
+    .memdoc > .doxygen-awesome-fragment-wrapper > pre.fragment,
+    dl dd > .doxygen-awesome-fragment-wrapper > div.fragment,
+    dl dd .doxygen-awesome-fragment-wrapper > pre.fragment {
+        margin: var(--spacing-medium) calc(0px - var(--spacing-medium));
+        border-radius: 0;
+        border-left: 0;
+    }
+}
+
+code, code a, pre.fragment, div.fragment, div.fragment .line, div.fragment span, div.fragment .line a, div.fragment .line span {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size) !important;
+}
+
+div.line:after {
+    margin-right: var(--spacing-medium);
+}
+
+div.fragment .line, pre.fragment {
+    white-space: pre;
+    word-wrap: initial;
+    line-height: var(--fragment-lineheight);
+}
+
+div.fragment span.keyword {
+    color: var(--fragment-keyword);
+}
+
+div.fragment span.keywordtype {
+    color: var(--fragment-keywordtype);
+}
+
+div.fragment span.keywordflow {
+    color: var(--fragment-keywordflow);
+}
+
+div.fragment span.stringliteral {
+    color: var(--fragment-token)
+}
+
+div.fragment span.comment {
+    color: var(--fragment-comment);
+}
+
+div.fragment a.code {
+    color: var(--fragment-link) !important;
+}
+
+div.fragment span.preprocessor {
+    color: var(--fragment-preprocessor);
+}
+
+div.fragment span.lineno {
+    display: inline-block;
+    width: 27px;
+    border-right: none;
+    background: var(--fragment-linenumber-background);
+    color: var(--fragment-linenumber-color);
+}
+
+div.fragment span.lineno a {
+    background: none;
+    color: var(--fragment-link) !important;
+}
+
+div.fragment > .line:first-child .lineno {
+    box-shadow: -999999px 0px 0 999999px var(--fragment-linenumber-background), -999998px 0px 0 999999px var(--fragment-linenumber-border);
+    background-color: var(--fragment-linenumber-background) !important;
+}
+
+div.line {
+    border-radius: var(--border-radius-small);
+}
+
+div.line.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+/*
+ dl warning, attention, note, deprecated, bug, ...
+ */
+
+dl.bug dt a, dl.deprecated dt a, dl.todo dt a {
+    font-weight: bold !important;
+}
+
+dl.warning, dl.attention, dl.note, dl.deprecated, dl.bug, dl.invariant, dl.pre, dl.post, dl.todo, dl.remark {
+    padding: var(--spacing-medium);
+    margin: var(--spacing-medium) 0;
+    color: var(--page-background-color);
+    overflow: hidden;
+    margin-left: 0;
+    border-radius: var(--border-radius-small);
+}
+
+dl.section dd {
+    margin-bottom: 2px;
+}
+
+dl.warning, dl.attention {
+    background: var(--warning-color);
+    border-left: 8px solid var(--warning-color-dark);
+    color: var(--warning-color-darker);
+}
+
+dl.warning dt, dl.attention dt {
+    color: var(--warning-color-dark);
+}
+
+dl.note, dl.remark {
+    background: var(--note-color);
+    border-left: 8px solid var(--note-color-dark);
+    color: var(--note-color-darker);
+}
+
+dl.note dt, dl.remark dt {
+    color: var(--note-color-dark);
+}
+
+dl.todo {
+    background: var(--todo-color);
+    border-left: 8px solid var(--todo-color-dark);
+    color: var(--todo-color-darker);
+}
+
+dl.todo dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug dt a {
+    color: var(--todo-color-dark) !important;
+}
+
+dl.bug {
+    background: var(--bug-color);
+    border-left: 8px solid var(--bug-color-dark);
+    color: var(--bug-color-darker);
+}
+
+dl.bug dt a {
+    color: var(--bug-color-dark) !important;
+}
+
+dl.deprecated {
+    background: var(--deprecated-color);
+    border-left: 8px solid var(--deprecated-color-dark);
+    color: var(--deprecated-color-darker);
+}
+
+dl.deprecated dt a {
+    color: var(--deprecated-color-dark) !important;
+}
+
+dl.section dd, dl.bug dd, dl.deprecated dd, dl.todo dd {
+    margin-inline-start: 0px;
+}
+
+dl.invariant, dl.pre, dl.post {
+    background: var(--invariant-color);
+    border-left: 8px solid var(--invariant-color-dark);
+    color: var(--invariant-color-darker);
+}
+
+dl.invariant dt, dl.pre dt, dl.post dt {
+    color: var(--invariant-color-dark);
+}
+
+/*
+ memitem
+ */
+
+div.memdoc, div.memproto, h2.memtitle {
+    box-shadow: none;
+    background-image: none;
+    border: none;
+}
+
+div.memdoc {
+    padding: 0 var(--spacing-medium);
+    background: var(--page-background-color);
+}
+
+h2.memtitle, div.memitem {
+    border: 1px solid var(--separator-color);
+    box-shadow: var(--box-shadow);
+}
+
+h2.memtitle {
+    box-shadow: 0px var(--spacing-medium) 0 -1px var(--fragment-background), var(--box-shadow);
+}
+
+div.memitem {
+    transition: none;
+}
+
+div.memproto, h2.memtitle {
+    background: var(--fragment-background);
+}
+
+h2.memtitle {
+    font-weight: 500;
+    font-size: var(--memtitle-font-size);
+    font-family: var(--font-family-monospace);
+    border-bottom: none;
+    border-top-left-radius: var(--border-radius-medium);
+    border-top-right-radius: var(--border-radius-medium);
+    word-break: break-all;
+    position: relative;
+}
+
+h2.memtitle:after {
+    content: "";
+    display: block;
+    background: var(--fragment-background);
+    height: var(--spacing-medium);
+    bottom: calc(0px - var(--spacing-medium));
+    left: 0;
+    right: -14px;
+    position: absolute;
+    border-top-right-radius: var(--border-radius-medium);
+}
+
+h2.memtitle > span.permalink {
+    font-size: inherit;
+}
+
+h2.memtitle > span.permalink > a {
+    text-decoration: none;
+    padding-left: 3px;
+    margin-right: -4px;
+    user-select: none;
+    display: inline-block;
+    margin-top: -6px;
+}
+
+h2.memtitle > span.permalink > a:hover {
+    color: var(--primary-dark-color) !important;
+}
+
+a:target + h2.memtitle, a:target + h2.memtitle + div.memitem {
+    border-color: var(--primary-light-color);
+}
+
+div.memitem {
+    border-top-right-radius: var(--border-radius-medium);
+    border-bottom-right-radius: var(--border-radius-medium);
+    border-bottom-left-radius: var(--border-radius-medium);
+    overflow: hidden;
+    display: block !important;
+}
+
+div.memdoc {
+    border-radius: 0;
+}
+
+div.memproto {
+    border-radius: 0 var(--border-radius-small) 0 0;
+    overflow: auto;
+    border-bottom: 1px solid var(--separator-color);
+    padding: var(--spacing-medium);
+    margin-bottom: -1px;
+}
+
+div.memtitle {
+    border-top-right-radius: var(--border-radius-medium);
+    border-top-left-radius: var(--border-radius-medium);
+}
+
+div.memproto table.memname {
+    font-family: var(--font-family-monospace);
+    color: var(--page-foreground-color);
+    font-size: var(--memname-font-size);
+    text-shadow: none;
+}
+
+div.memproto div.memtemplate {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--memname-font-size);
+    margin-left: 2px;
+    text-shadow: none;
+}
+
+table.mlabels, table.mlabels > tbody {
+    display: block;
+}
+
+td.mlabels-left {
+    width: auto;
+}
+
+td.mlabels-right {
+    margin-top: 3px;
+    position: sticky;
+    left: 0;
+}
+
+table.mlabels > tbody > tr:first-child {
+    display: flex;
+    justify-content: space-between;
+    flex-wrap: wrap;
+}
+
+.memname, .memitem span.mlabels {
+    margin: 0
+}
+
+/*
+ reflist
+ */
+
+dl.reflist {
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-medium);
+    border: 1px solid var(--separator-color);
+    overflow: hidden;
+    padding: 0;
+}
+
+
+dl.reflist dt, dl.reflist dd {
+    box-shadow: none;
+    text-shadow: none;
+    background-image: none;
+    border: none;
+    padding: 12px;
+}
+
+
+dl.reflist dt {
+    font-weight: 500;
+    border-radius: 0;
+    background: var(--code-background);
+    border-bottom: 1px solid var(--separator-color);
+    color: var(--page-foreground-color)
+}
+
+
+dl.reflist dd {
+    background: none;
+}
+
+/*
+ Table
+ */
+
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname),
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: inline-block;
+    max-width: 100%;
+}
+
+.contents > table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname):not(.classindex) {
+    margin-left: calc(0px - var(--spacing-large));
+    margin-right: calc(0px - var(--spacing-large));
+    max-width: calc(100% + 2 * var(--spacing-large));
+}
+
+table.fieldtable,
+table.markdownTable tbody,
+table.doxtable tbody {
+    border: none;
+    margin: var(--spacing-medium) 0;
+    box-shadow: 0 0 0 1px var(--separator-color);
+    border-radius: var(--border-radius-small);
+}
+
+table.markdownTable, table.doxtable, table.fieldtable {
+    padding: 1px;
+}
+
+table.doxtable caption {
+    display: block;
+}
+
+table.fieldtable {
+    border-collapse: collapse;
+    width: 100%;
+}
+
+th.markdownTableHeadLeft,
+th.markdownTableHeadRight,
+th.markdownTableHeadCenter,
+th.markdownTableHeadNone,
+table.doxtable th {
+    background: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+    font-weight: 600;
+    font-size: var(--page-font-size);
+}
+
+th.markdownTableHeadLeft:first-child,
+th.markdownTableHeadRight:first-child,
+th.markdownTableHeadCenter:first-child,
+th.markdownTableHeadNone:first-child,
+table.doxtable tr th:first-child {
+    border-top-left-radius: var(--border-radius-small);
+}
+
+th.markdownTableHeadLeft:last-child,
+th.markdownTableHeadRight:last-child,
+th.markdownTableHeadCenter:last-child,
+th.markdownTableHeadNone:last-child,
+table.doxtable tr th:last-child {
+    border-top-right-radius: var(--border-radius-small);
+}
+
+table.markdownTable td,
+table.markdownTable th,
+table.fieldtable td,
+table.fieldtable th,
+table.doxtable td,
+table.doxtable th {
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) var(--spacing-medium);
+}
+
+table.markdownTable td:last-child,
+table.markdownTable th:last-child,
+table.fieldtable td:last-child,
+table.fieldtable th:last-child,
+table.doxtable td:last-child,
+table.doxtable th:last-child {
+    border-right: none;
+}
+
+table.markdownTable td:first-child,
+table.markdownTable th:first-child,
+table.fieldtable td:first-child,
+table.fieldtable th:first-child,
+table.doxtable td:first-child,
+table.doxtable th:first-child {
+    border-left: none;
+}
+
+table.markdownTable tr:first-child td,
+table.markdownTable tr:first-child th,
+table.fieldtable tr:first-child td,
+table.fieldtable tr:first-child th,
+table.doxtable tr:first-child td,
+table.doxtable tr:first-child th {
+    border-top: none;
+}
+
+table.markdownTable tr:last-child td,
+table.markdownTable tr:last-child th,
+table.fieldtable tr:last-child td,
+table.fieldtable tr:last-child th,
+table.doxtable tr:last-child td,
+table.doxtable tr:last-child th {
+    border-bottom: none;
+}
+
+table.markdownTable tr, table.doxtable tr {
+    border-bottom: 1px solid var(--separator-color);
+}
+
+table.markdownTable tr:last-child, table.doxtable tr:last-child {
+    border-bottom: none;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) {
+    display: block;
+}
+
+.full_width_table table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody {
+    display: table;
+    width: 100%;
+}
+
+table.fieldtable th {
+    font-size: var(--page-font-size);
+    font-weight: 600;
+    background-image: none;
+    background-color: var(--tablehead-background);
+    color: var(--tablehead-foreground);
+}
+
+table.fieldtable td.fieldtype, .fieldtable td.fieldname, .fieldtable td.fieldinit, .fieldtable td.fielddoc, .fieldtable th {
+    border-bottom: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+}
+
+table.fieldtable tr:last-child td:first-child {
+    border-bottom-left-radius: var(--border-radius-small);
+}
+
+table.fieldtable tr:last-child td:last-child {
+    border-bottom-right-radius: var(--border-radius-small);
+}
+
+.memberdecls td.glow, .fieldtable tr.glow {
+    background-color: var(--primary-light-color);
+    box-shadow: none;
+}
+
+table.memberdecls {
+    display: block;
+    -webkit-tap-highlight-color: transparent;
+}
+
+table.memberdecls tr[class^='memitem'] {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+}
+
+table.memberdecls tr[class^='memitem'] .memTemplParams {
+    font-family: var(--font-family-monospace);
+    font-size: var(--code-font-size);
+    color: var(--primary-dark-color);
+    white-space: normal;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memItemRight,
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight,
+table.memberdecls .memTemplParams {
+    transition: none;
+    padding-top: var(--spacing-small);
+    padding-bottom: var(--spacing-small);
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    background-color: var(--fragment-background);
+}
+
+table.memberdecls .memTemplItemLeft,
+table.memberdecls .memTemplItemRight {
+    padding-top: 2px;
+}
+
+table.memberdecls .memTemplParams {
+    border-bottom: 0;
+    border-left: 1px solid var(--separator-color);
+    border-right: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    padding-bottom: var(--spacing-small);
+}
+
+table.memberdecls .memTemplItemLeft {
+    border-radius: 0 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    border-top: 0;
+}
+
+table.memberdecls .memTemplItemRight {
+    border-radius: 0 0 var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-left: 0;
+    border-top: 0;
+}
+
+table.memberdecls .memItemLeft {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+    border-left: 1px solid var(--separator-color);
+    padding-left: var(--spacing-medium);
+    padding-right: 0;
+}
+
+table.memberdecls .memItemRight  {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+    border-right: 1px solid var(--separator-color);
+    padding-right: var(--spacing-medium);
+    padding-left: 0;
+
+}
+
+table.memberdecls .mdescLeft, table.memberdecls .mdescRight {
+    background: none;
+    color: var(--page-foreground-color);
+    padding: var(--spacing-small) 0;
+}
+
+table.memberdecls .memItemLeft,
+table.memberdecls .memTemplItemLeft {
+    padding-right: var(--spacing-medium);
+}
+
+table.memberdecls .memSeparator {
+    background: var(--page-background-color);
+    height: var(--spacing-large);
+    border: 0;
+    transition: none;
+}
+
+table.memberdecls .groupheader {
+    margin-bottom: var(--spacing-large);
+}
+
+table.memberdecls .inherit_header td {
+    padding: 0 0 var(--spacing-medium) 0;
+    text-indent: -12px;
+    color: var(--page-secondary-foreground-color);
+}
+
+table.memberdecls img[src="closed.png"],
+table.memberdecls img[src="open.png"],
+div.dynheader img[src="open.png"],
+div.dynheader img[src="closed.png"] {
+    width: 0; 
+    height: 0; 
+    border-left: 4px solid transparent;
+    border-right: 4px solid transparent;
+    border-top: 5px solid var(--primary-color);
+    margin-top: 8px;
+    display: block;
+    float: left;
+    margin-left: -10px;
+    transition: transform var(--animation-duration) ease-out;
+}
+
+table.memberdecls img {
+    margin-right: 10px;
+}
+
+table.memberdecls img[src="closed.png"],
+div.dynheader img[src="closed.png"] {
+    transform: rotate(-90deg);
+    
+}
+
+.compoundTemplParams {
+    font-family: var(--font-family-monospace);
+    color: var(--primary-dark-color);
+    font-size: var(--code-font-size);
+}
+
+@media screen and (max-width: 767px) {
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .memItemRight,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemLeft,
+    table.memberdecls .memTemplItemRight,
+    table.memberdecls .memTemplParams {
+        display: block;
+        text-align: left;
+        padding-left: var(--spacing-large);
+        margin: 0 calc(0px - var(--spacing-large)) 0 calc(0px - var(--spacing-large));
+        border-right: none;
+        border-left: none;
+        border-radius: 0;
+        white-space: normal;
+    }
+
+    table.memberdecls .memItemLeft,
+    table.memberdecls .mdescLeft,
+    table.memberdecls .memTemplItemLeft {
+        border-bottom: 0;
+        padding-bottom: 0;
+    }
+
+    table.memberdecls .memTemplItemLeft {
+        padding-top: 0;
+    }
+
+    table.memberdecls .mdescLeft {
+        margin-bottom: calc(0px - var(--page-font-size));
+    }
+
+    table.memberdecls .memItemRight, 
+    table.memberdecls .mdescRight,
+    table.memberdecls .memTemplItemRight {
+        border-top: 0;
+        padding-top: 0;
+        padding-right: var(--spacing-large);
+        overflow-x: auto;
+    }
+
+    table.memberdecls tr[class^='memitem']:not(.inherit) {
+        display: block;
+        width: calc(100vw - 2 * var(--spacing-large));
+    }
+
+    table.memberdecls .mdescRight {
+        color: var(--page-foreground-color);
+    }
+
+    table.memberdecls tr.inherit {
+        visibility: hidden;
+    }
+
+    table.memberdecls tr[style="display: table-row;"] {
+        display: block !important;
+        visibility: visible;
+        width: calc(100vw - 2 * var(--spacing-large));
+        animation: fade .5s;
+    }
+
+    @keyframes fade {
+        0% {
+            opacity: 0;
+            max-height: 0;
+        }
+
+        100% {
+            opacity: 1;
+            max-height: 200px;
+        }
+    }
+}
+
+
+/*
+ Horizontal Rule
+ */
+
+hr {
+    margin-top: var(--spacing-large);
+    margin-bottom: var(--spacing-large);
+    height: 1px;
+    background-color: var(--separator-color);
+    border: 0;
+}
+
+.contents hr {
+    box-shadow: 100px 0 var(--separator-color),
+                -100px 0 var(--separator-color),
+                500px 0 var(--separator-color),
+                -500px 0 var(--separator-color),
+                900px 0 var(--separator-color),
+                -900px 0 var(--separator-color),
+                1400px 0 var(--separator-color),
+                -1400px 0 var(--separator-color),
+                1900px 0 var(--separator-color),
+                -1900px 0 var(--separator-color);       
+}
+
+.contents img, .contents .center, .contents center, .contents div.image object {
+    max-width: 100%;
+    overflow: auto;
+}
+
+@media screen and (max-width: 767px) {
+    .contents .dyncontent > .center, .contents > center {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+        max-width: calc(100% + 2 * var(--spacing-large));
+    }
+}
+
+/*
+ Directories
+ */
+div.directory {
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    width: auto;
+}
+
+table.directory {
+    font-family: var(--font-family);
+    font-size: var(--page-font-size);
+    font-weight: normal;
+    width: 100%;
+}
+
+table.directory td.entry, table.directory td.desc {
+    padding: calc(var(--spacing-small) / 2) var(--spacing-small);
+    line-height: var(--table-line-height);
+}
+
+table.directory tr.even td:last-child {
+    border-radius: 0 var(--border-radius-small) var(--border-radius-small) 0;
+}
+
+table.directory tr.even td:first-child {
+    border-radius: var(--border-radius-small) 0 0 var(--border-radius-small);
+}
+
+table.directory tr.even:last-child td:last-child {
+    border-radius: 0 var(--border-radius-small) 0 0;
+}
+
+table.directory tr.even:last-child td:first-child {
+    border-radius: var(--border-radius-small) 0 0 0;
+}
+
+table.directory td.desc {
+    min-width: 250px;
+}
+
+table.directory tr.even {
+    background-color: var(--odd-color);
+}
+
+table.directory tr.odd {
+    background-color: transparent;
+}
+
+.icona {
+    width: auto;
+    height: auto;
+    margin: 0 var(--spacing-small);
+}
+
+.icon {
+    background: var(--primary-color);
+    border-radius: var(--border-radius-small);
+    font-size: var(--page-font-size);
+    padding: calc(var(--page-font-size) / 5);
+    line-height: var(--page-font-size);
+    transform: scale(0.8);
+    height: auto;
+    width: var(--page-font-size);
+    user-select: none;
+}
+
+.iconfopen, .icondoc, .iconfclosed {
+    background-position: center;
+    margin-bottom: 0;
+    height: var(--table-line-height);
+}
+
+.icondoc {
+    filter: saturate(0.2);
+}
+
+@media screen and (max-width: 767px) {
+    div.directory {
+        margin-left: calc(0px - var(--spacing-large));
+        margin-right: calc(0px - var(--spacing-large));
+    }
+}
+
+@media (prefers-color-scheme: dark) {
+    html:not(.light-mode) .iconfopen, html:not(.light-mode) .iconfclosed {
+        filter: hue-rotate(180deg) invert();
+    }
+}
+
+html.dark-mode .iconfopen, html.dark-mode .iconfclosed {
+    filter: hue-rotate(180deg) invert();
+}
+
+/*
+ Class list
+ */
+
+.classindex dl.odd {
+    background: var(--odd-color);
+    border-radius: var(--border-radius-small);
+}
+
+.classindex dl.even {
+    background-color: transparent;
+}
+
+/* 
+ Class Index Doxygen 1.8 
+*/
+
+table.classindex {
+    margin-left: 0;
+    margin-right: 0;
+    width: 100%;
+}
+
+table.classindex table div.ah {
+    background-image: none;
+    background-color: initial;
+    border-color: var(--separator-color);
+    color: var(--page-foreground-color);
+    box-shadow: var(--box-shadow);
+    border-radius: var(--border-radius-large);
+    padding: var(--spacing-small);
+}
+
+div.qindex {
+    background-color: var(--odd-color);
+    border-radius: var(--border-radius-small);
+    border: 1px solid var(--separator-color);
+    padding: var(--spacing-small) 0;
+}
+
+/*
+  Footer and nav-path
+ */
+
+#nav-path {
+    width: 100%;
+}
+
+#nav-path ul {
+    background-image: none;
+    background: var(--page-background-color);
+    border: none;
+    border-top: 1px solid var(--separator-color);
+    border-bottom: 1px solid var(--separator-color);
+    border-bottom: 0;
+    box-shadow: 0 0.75px 0 var(--separator-color);
+    font-size: var(--navigation-font-size);
+}
+
+img.footer {
+    width: 60px;
+}
+
+.navpath li.footer {
+    color: var(--page-secondary-foreground-color);
+}
+
+address.footer {
+    color: var(--page-secondary-foreground-color);
+    margin-bottom: var(--spacing-large);
+}
+
+#nav-path li.navelem {
+    background-image: none;
+    display: flex;
+    align-items: center;
+}
+
+.navpath li.navelem a {
+    text-shadow: none;
+    display: inline-block;
+    color: var(--primary-color) !important;
+}
+
+.navpath li.navelem b {
+    color: var(--primary-dark-color);
+    font-weight: 500;
+}
+
+li.navelem {
+    padding: 0;
+    margin-left: -8px;
+}
+
+li.navelem:first-child {
+    margin-left: var(--spacing-large);
+}
+
+li.navelem:first-child:before {
+    display: none;
+}
+
+#nav-path li.navelem:after {
+    content: '';
+    border: 5px solid var(--page-background-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(4.2);
+    z-index: 10;
+    margin-left: 6px;
+}
+
+#nav-path li.navelem:before {
+    content: '';
+    border: 5px solid var(--separator-color);
+    border-bottom-color: transparent;
+    border-right-color: transparent;
+    border-top-color: transparent;
+    transform: translateY(-1px) scaleY(3.2);
+    margin-right: var(--spacing-small);
+}
+
+.navpath li.navelem a:hover {
+    color: var(--primary-color);
+}
+
+/*
+ Scrollbars for Webkit
+*/
+
+#nav-tree::-webkit-scrollbar,
+div.fragment::-webkit-scrollbar,
+pre.fragment::-webkit-scrollbar,
+div.memproto::-webkit-scrollbar,
+.contents center::-webkit-scrollbar,
+.contents .center::-webkit-scrollbar,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar,
+div.contents .toc::-webkit-scrollbar,
+.contents .dotgraph::-webkit-scrollbar,
+.contents .tabs-overview-container::-webkit-scrollbar {
+    background: transparent;
+    width: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    height: calc(var(--webkit-scrollbar-size) + var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+}
+
+#nav-tree::-webkit-scrollbar-thumb,
+div.fragment::-webkit-scrollbar-thumb,
+pre.fragment::-webkit-scrollbar-thumb,
+div.memproto::-webkit-scrollbar-thumb,
+.contents center::-webkit-scrollbar-thumb,
+.contents .center::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-thumb,
+div.contents .toc::-webkit-scrollbar-thumb,
+.contents .dotgraph::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container::-webkit-scrollbar-thumb {
+    background-color: transparent;
+    border: var(--webkit-scrollbar-padding) solid transparent;
+    border-radius: calc(var(--webkit-scrollbar-padding) + var(--webkit-scrollbar-padding));
+    background-clip: padding-box;  
+}
+
+#nav-tree:hover::-webkit-scrollbar-thumb,
+div.fragment:hover::-webkit-scrollbar-thumb,
+pre.fragment:hover::-webkit-scrollbar-thumb,
+div.memproto:hover::-webkit-scrollbar-thumb,
+.contents center:hover::-webkit-scrollbar-thumb,
+.contents .center:hover::-webkit-scrollbar-thumb,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody:hover::-webkit-scrollbar-thumb,
+div.contents .toc:hover::-webkit-scrollbar-thumb,
+.contents .dotgraph:hover::-webkit-scrollbar-thumb,
+.contents .tabs-overview-container:hover::-webkit-scrollbar-thumb {
+    background-color: var(--webkit-scrollbar-color);
+}
+
+#nav-tree::-webkit-scrollbar-track,
+div.fragment::-webkit-scrollbar-track,
+pre.fragment::-webkit-scrollbar-track,
+div.memproto::-webkit-scrollbar-track,
+.contents center::-webkit-scrollbar-track,
+.contents .center::-webkit-scrollbar-track,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody::-webkit-scrollbar-track,
+div.contents .toc::-webkit-scrollbar-track,
+.contents .dotgraph::-webkit-scrollbar-track,
+.contents .tabs-overview-container::-webkit-scrollbar-track {
+    background: transparent;
+}
+
+#nav-tree::-webkit-scrollbar-corner {
+    background-color: var(--side-nav-background);
+}
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc {
+    overflow-x: auto;
+    overflow-x: overlay;
+}
+
+#nav-tree {
+    overflow-x: auto;
+    overflow-y: auto;
+    overflow-y: overlay;
+}
+
+/*
+ Scrollbars for Firefox
+*/
+
+#nav-tree,
+div.fragment,
+pre.fragment,
+div.memproto,
+.contents center,
+.contents .center,
+.contents table:not(.memberdecls):not(.mlabels):not(.fieldtable):not(.memname) tbody,
+div.contents .toc,
+.contents .dotgraph,
+.contents .tabs-overview-container {
+    scrollbar-width: thin;
+}
+
+/*
+  Optional Dark mode toggle button
+*/
+
+doxygen-awesome-dark-mode-toggle {
+    display: inline-block;
+    margin: 0 0 0 var(--spacing-small);
+    padding: 0;
+    width: var(--searchbar-height);
+    height: var(--searchbar-height);
+    background: none;
+    border: none;
+    border-radius: var(--searchbar-height);
+    vertical-align: middle;
+    text-align: center;
+    line-height: var(--searchbar-height);
+    font-size: 22px;
+    display: flex;
+    align-items: center;
+    justify-content: center;
+    user-select: none;
+    cursor: pointer;
+}
+
+doxygen-awesome-dark-mode-toggle > svg {
+    transition: transform var(--animation-duration) ease-in-out;
+}
+
+doxygen-awesome-dark-mode-toggle:active > svg {
+    transform: scale(.5);
+}
+
+doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.03);
+}
+
+html.dark-mode doxygen-awesome-dark-mode-toggle:hover {
+    background-color: rgba(0,0,0,.18);
+}
+
+/*
+ Optional fragment copy button
+*/
+.doxygen-awesome-fragment-wrapper {
+    position: relative;
+}
+
+doxygen-awesome-fragment-copy-button {
+    opacity: 0;
+    background: var(--fragment-background);
+    width: 28px;
+    height: 28px;
+    position: absolute;
+    right: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    top: calc(var(--spacing-large) - (var(--spacing-large) / 2.5));
+    border: 1px solid var(--fragment-foreground);
+    cursor: pointer;
+    border-radius: var(--border-radius-small);
+    display: flex;
+    justify-content: center;
+    align-items: center;
+}
+
+.doxygen-awesome-fragment-wrapper:hover doxygen-awesome-fragment-copy-button, doxygen-awesome-fragment-copy-button.success {
+    opacity: .28;
+}
+
+doxygen-awesome-fragment-copy-button:hover, doxygen-awesome-fragment-copy-button.success {
+    opacity: 1 !important;
+}
+
+doxygen-awesome-fragment-copy-button:active:not([class~=success]) svg {
+    transform: scale(.91);
+}
+
+doxygen-awesome-fragment-copy-button svg {
+    fill: var(--fragment-foreground);
+    width: 18px;
+    height: 18px;
+}
+
+doxygen-awesome-fragment-copy-button.success svg {
+    fill: rgb(14, 168, 14);
+}
+
+doxygen-awesome-fragment-copy-button.success {
+    border-color: rgb(14, 168, 14);
+}
+
+@media screen and (max-width: 767px) {
+    .textblock > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .textblock li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc li > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    .memdoc > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button,
+    dl dd > .doxygen-awesome-fragment-wrapper > doxygen-awesome-fragment-copy-button {
+        right: 0;
+    }
+}
+
+/*
+ Optional paragraph link button
+*/
+
+a.anchorlink {
+    font-size: 90%;
+    margin-left: var(--spacing-small);
+    color: var(--page-foreground-color) !important;
+    text-decoration: none;
+    opacity: .15;
+    display: none;
+    transition: opacity var(--animation-duration) ease-in-out, color var(--animation-duration) ease-in-out;
+}
+
+a.anchorlink svg {
+    fill: var(--page-foreground-color);
+}
+
+h3 a.anchorlink svg, h4 a.anchorlink svg {
+    margin-bottom: -3px;
+    margin-top: -4px;
+}
+
+a.anchorlink:hover {
+    opacity: .45;
+}
+
+h2:hover a.anchorlink, h1:hover a.anchorlink, h3:hover a.anchorlink, h4:hover a.anchorlink  {
+    display: inline-block;
+}
+
+/*
+ Optional tab feature
+*/
+
+.tabbed > ul {
+    padding-inline-start: 0px;
+    margin: 0;
+    padding: var(--spacing-small) 0;
+}
+
+.tabbed > ul > li {
+    display: none;
+}
+
+.tabbed > ul > li.selected {
+    display: block;
+}
+
+.tabs-overview-container {
+    overflow-x: auto;
+    display: block;
+    overflow-y: visible;
+}
+
+.tabs-overview {
+    border-bottom: 1px solid var(--separator-color);
+    display: flex;
+    flex-direction: row;
+}
+
+@media screen and (max-width: 767px) {
+    .tabs-overview-container {
+        margin: 0 calc(0px - var(--spacing-large));
+    }
+    .tabs-overview {
+        padding: 0 var(--spacing-large)
+    }
+}
+
+.tabs-overview button.tab-button {
+    color: var(--page-foreground-color);
+    margin: 0;
+    border: none;
+    background: transparent;
+    padding: calc(var(--spacing-large) / 2) 0;
+    display: inline-block;
+    font-size: var(--page-font-size);
+    cursor: pointer;
+    box-shadow: 0 1px 0 0 var(--separator-color);
+    position: relative;
+    
+    -webkit-tap-highlight-color: transparent;
+}
+
+.tabs-overview button.tab-button .tab-title::before {
+    display: block;
+    content: attr(title);
+    font-weight: 600;
+    height: 0;
+    overflow: hidden;
+    visibility: hidden;
+}
+
+.tabs-overview button.tab-button .tab-title {
+    float: left;
+    white-space: nowrap;
+    font-weight: normal;
+    padding: calc(var(--spacing-large) / 2) var(--spacing-large);
+    border-radius: var(--border-radius-medium);
+    transition: background-color var(--animation-duration) ease-in-out, font-weight var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button:not(:last-child) .tab-title {
+    box-shadow: 8px 0 0 -7px var(--separator-color);
+}
+
+.tabs-overview button.tab-button:hover .tab-title {
+    background: var(--separator-color);
+    box-shadow: none;
+}
+
+.tabs-overview button.tab-button.active .tab-title {
+    font-weight: 600;
+}
+
+.tabs-overview button.tab-button::after {
+    content: '';
+    display: block;
+    position: absolute;
+    left: 0;
+    bottom: 0;
+    right: 0;
+    height: 0;
+    width: 0%;
+    margin: 0 auto;
+    border-radius: var(--border-radius-small) var(--border-radius-small) 0 0;
+    background-color: var(--primary-color);
+    transition: width var(--animation-duration) ease-in-out, height var(--animation-duration) ease-in-out;
+}
+
+.tabs-overview button.tab-button.active::after {
+    width: 100%;
+    box-sizing: border-box;
+    height: 3px;
+}
+
+
+/*
+ Navigation Buttons
+*/
+
+.section_buttons:not(:empty) {
+    margin-top: calc(var(--spacing-large) * 3);
+}
+
+.section_buttons table.markdownTable {
+    display: block;
+    width: 100%;
+}
+
+.section_buttons table.markdownTable tbody {
+    display: table !important;
+    width: 100%;
+    box-shadow: none;
+    border-spacing: 10px;
+}
+
+.section_buttons table.markdownTable td {
+    padding: 0;
+}
+
+.section_buttons table.markdownTable th {
+    display: none;
+}
+
+.section_buttons table.markdownTable tr.markdownTableHead {
+    border: none;
+}
+
+.section_buttons tr th, .section_buttons tr td {
+    background: none;
+    border: none;
+    padding: var(--spacing-large) 0 var(--spacing-small);
+}
+
+.section_buttons a {
+    display: inline-block;
+    border: 1px solid var(--separator-color);
+    border-radius: var(--border-radius-medium);
+    color: var(--page-secondary-foreground-color) !important;
+    text-decoration: none;
+    transition: color var(--animation-duration) ease-in-out, background-color var(--animation-duration) ease-in-out;
+}
+
+.section_buttons a:hover {
+    color: var(--page-foreground-color) !important;
+    background-color: var(--odd-color);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a {
+    padding: var(--spacing-medium) var(--spacing-large) var(--spacing-medium) calc(var(--spacing-large) / 2);
+}
+
+.section_buttons tr td.markdownTableBodyRight a {
+    padding: var(--spacing-medium) calc(var(--spacing-large) / 2) var(--spacing-medium) var(--spacing-large);
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before,
+.section_buttons tr td.markdownTableBodyRight a::after {
+    color: var(--page-secondary-foreground-color) !important;
+    display: inline-block;
+    transition: color .08s ease-in-out, transform .09s ease-in-out;
+}
+
+.section_buttons tr td.markdownTableBodyLeft a::before {
+    content: '〈';
+    padding-right: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyRight a::after {
+    content: '〉';
+    padding-left: var(--spacing-large);
+}
+
+
+.section_buttons tr td.markdownTableBodyLeft a:hover::before {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(-3px);
+}
+
+.section_buttons tr td.markdownTableBodyRight a:hover::after {
+    color: var(--page-foreground-color) !important;
+    transform: translateX(3px);
+}
+
+@media screen and (max-width: 450px) {
+    .section_buttons a {
+        width: 100%;
+        box-sizing: border-box;
+    }
+
+    .section_buttons tr td:nth-of-type(1).markdownTableBodyLeft a {
+        border-radius: var(--border-radius-medium) 0 0 var(--border-radius-medium);
+        border-right: none;
+    }
+
+    .section_buttons tr td:nth-of-type(2).markdownTableBodyRight a {
+        border-radius: 0 var(--border-radius-medium) var(--border-radius-medium) 0;
+    }
+}
diff --git a/preview/pr-1492/api/latest/doxygen.css b/preview/pr-1492/api/latest/doxygen.css
index 009a9b55..8cff99eb 100644
--- a/preview/pr-1492/api/latest/doxygen.css
+++ b/preview/pr-1492/api/latest/doxygen.css
@@ -1,356 +1,14 @@
 /* The standard CSS for doxygen 1.9.8*/
 
-html {
-/* page base colors */
---page-background-color: white;
---page-foreground-color: black;
---page-link-color: #3D578C;
---page-visited-link-color: #4665A2;
-
-/* index */
---index-odd-item-bg-color: #F8F9FC;
---index-even-item-bg-color: white;
---index-header-color: black;
---index-separator-color: #A0A0A0;
-
-/* header */
---header-background-color: #F9FAFC;
---header-separator-color: #C4CFE5;
---header-gradient-image: url('nav_h.png');
---group-header-separator-color: #879ECB;
---group-header-color: #354C7B;
---inherit-header-color: gray;
-
---footer-foreground-color: #2A3D61;
---footer-logo-width: 104px;
---citation-label-color: #334975;
---glow-color: cyan;
-
---title-background-color: white;
---title-separator-color: #5373B4;
---directory-separator-color: #9CAFD4;
---separator-color: #4A6AAA;
-
---blockquote-background-color: #F7F8FB;
---blockquote-border-color: #9CAFD4;
-
---scrollbar-thumb-color: #9CAFD4;
---scrollbar-background-color: #F9FAFC;
-
---icon-background-color: #728DC1;
---icon-foreground-color: white;
---icon-doc-image: url('doc.svg');
---icon-folder-open-image: url('folderopen.svg');
---icon-folder-closed-image: url('folderclosed.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #F9FAFC;
---memdecl-separator-color: #DEE4F0;
---memdecl-foreground-color: #555;
---memdecl-template-color: #4665A2;
-
-/* detailed member list */
---memdef-border-color: #A8B8D9;
---memdef-title-background-color: #E2E8F2;
---memdef-title-gradient-image: url('nav_f.png');
---memdef-proto-background-color: #DFE5F1;
---memdef-proto-text-color: #253555;
---memdef-proto-text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---memdef-doc-background-color: white;
---memdef-param-name-color: #602020;
---memdef-template-color: #4665A2;
-
-/* tables */
---table-cell-border-color: #2D4068;
---table-header-background-color: #374F7F;
---table-header-foreground-color: #FFFFFF;
-
-/* labels */
---label-background-color: #728DC1;
---label-left-top-border-color: #5373B4;
---label-right-bottom-border-color: #C4CFE5;
---label-foreground-color: white;
-
-/** navigation bar/tree/menu */
---nav-background-color: #F9FAFC;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_b.png');
---nav-gradient-hover-image: url('tab_h.png');
---nav-gradient-active-image: url('tab_a.png');
---nav-gradient-active-image-parent: url("../tab_a.png");
---nav-separator-image: url('tab_s.png');
---nav-breadcrumb-image: url('bc_s.png');
---nav-breadcrumb-border-color: #C2CDE4;
---nav-splitbar-image: url('splitbar.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #283A5D;
---nav-text-hover-color: white;
---nav-text-active-color: white;
---nav-text-normal-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #364D7C;
---nav-menu-background-color: white;
---nav-menu-foreground-color: #555555;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.5);
---nav-arrow-color: #9CAFD4;
---nav-arrow-selected-color: #9CAFD4;
-
-/* table of contents */
---toc-background-color: #F4F6FA;
---toc-border-color: #D8DFEE;
---toc-header-color: #4665A2;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>");
-
-/** search field */
---search-background-color: white;
---search-foreground-color: #909090;
---search-magnification-image: url('mag.svg');
---search-magnification-select-image: url('mag_sel.svg');
---search-active-color: black;
---search-filter-background-color: #F9FAFC;
---search-filter-foreground-color: black;
---search-filter-border-color: #90A5CE;
---search-filter-highlight-text-color: white;
---search-filter-highlight-bg-color: #3D578C;
---search-results-foreground-color: #425E97;
---search-results-background-color: #EEF1F7;
---search-results-border-color: black;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #555;
-
-/** code fragments */
---code-keyword-color: #008000;
---code-type-keyword-color: #604020;
---code-flow-keyword-color: #E08000;
---code-comment-color: #800000;
---code-preprocessor-color: #806020;
---code-string-literal-color: #002080;
---code-char-literal-color: #008080;
---code-xml-cdata-color: black;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #000000;
---code-vhdl-keyword-color: #700070;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #4665A2;
---code-external-link-color: #4665A2;
---fragment-foreground-color: black;
---fragment-background-color: #FBFCFD;
---fragment-border-color: #C4CFE5;
---fragment-lineno-border-color: #00FF00;
---fragment-lineno-background-color: #E8E8E8;
---fragment-lineno-foreground-color: black;
---fragment-lineno-link-fg-color: #4665A2;
---fragment-lineno-link-bg-color: #D8D8D8;
---fragment-lineno-link-hover-fg-color: #4665A2;
---fragment-lineno-link-hover-bg-color: #C8C8C8;
---tooltip-foreground-color: black;
---tooltip-background-color: white;
---tooltip-border-color: gray;
---tooltip-doc-color: grey;
---tooltip-declaration-color: #006318;
---tooltip-link-color: #4665A2;
---tooltip-shadow: 1px 1px 7px gray;
---fold-line-color: #808080;
---fold-minus-image: url('minus.svg');
---fold-plus-image: url('plus.svg');
---fold-minus-image-relpath: url('../../minus.svg');
---fold-plus-image-relpath: url('../../plus.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-}
-
-@media (prefers-color-scheme: dark) {
-  html:not(.dark-mode) {
-    color-scheme: dark;
-
-/* page base colors */
---page-background-color: black;
---page-foreground-color: #C9D1D9;
---page-link-color: #90A5CE;
---page-visited-link-color: #A3B4D7;
-
-/* index */
---index-odd-item-bg-color: #0B101A;
---index-even-item-bg-color: black;
---index-header-color: #C4CFE5;
---index-separator-color: #334975;
-
-/* header */
---header-background-color: #070B11;
---header-separator-color: #141C2E;
---header-gradient-image: url('nav_hd.png');
---group-header-separator-color: #283A5D;
---group-header-color: #90A5CE;
---inherit-header-color: #A0A0A0;
-
---footer-foreground-color: #5B7AB7;
---footer-logo-width: 60px;
---citation-label-color: #90A5CE;
---glow-color: cyan;
-
---title-background-color: #090D16;
---title-separator-color: #354C79;
---directory-separator-color: #283A5D;
---separator-color: #283A5D;
-
---blockquote-background-color: #101826;
---blockquote-border-color: #283A5D;
-
---scrollbar-thumb-color: #283A5D;
---scrollbar-background-color: #070B11;
-
---icon-background-color: #334975;
---icon-foreground-color: #C4CFE5;
---icon-doc-image: url('docd.svg');
---icon-folder-open-image: url('folderopend.svg');
---icon-folder-closed-image: url('folderclosedd.svg');
-
-/* brief member declaration list */
---memdecl-background-color: #0B101A;
---memdecl-separator-color: #2C3F65;
---memdecl-foreground-color: #BBB;
---memdecl-template-color: #7C95C6;
-
-/* detailed member list */
---memdef-border-color: #233250;
---memdef-title-background-color: #1B2840;
---memdef-title-gradient-image: url('nav_fd.png');
---memdef-proto-background-color: #19243A;
---memdef-proto-text-color: #9DB0D4;
---memdef-proto-text-shadow: 0px 1px 1px rgba(0, 0, 0, 0.9);
---memdef-doc-background-color: black;
---memdef-param-name-color: #D28757;
---memdef-template-color: #7C95C6;
-
-/* tables */
---table-cell-border-color: #283A5D;
---table-header-background-color: #283A5D;
---table-header-foreground-color: #C4CFE5;
-
-/* labels */
---label-background-color: #354C7B;
---label-left-top-border-color: #4665A2;
---label-right-bottom-border-color: #283A5D;
---label-foreground-color: #CCCCCC;
-
-/** navigation bar/tree/menu */
---nav-background-color: #101826;
---nav-foreground-color: #364D7C;
---nav-gradient-image: url('tab_bd.png');
---nav-gradient-hover-image: url('tab_hd.png');
---nav-gradient-active-image: url('tab_ad.png');
---nav-gradient-active-image-parent: url("../tab_ad.png");
---nav-separator-image: url('tab_sd.png');
---nav-breadcrumb-image: url('bc_sd.png');
---nav-breadcrumb-border-color: #2A3D61;
---nav-splitbar-image: url('splitbard.png');
---nav-font-size-level1: 13px;
---nav-font-size-level2: 10px;
---nav-font-size-level3: 9px;
---nav-text-normal-color: #B6C4DF;
---nav-text-hover-color: #DCE2EF;
---nav-text-active-color: #DCE2EF;
---nav-text-normal-shadow: 0px 1px 1px black;
---nav-text-hover-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-text-active-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
---nav-menu-button-color: #B6C4DF;
---nav-menu-background-color: #05070C;
---nav-menu-foreground-color: #BBBBBB;
---nav-menu-toggle-color: rgba(255, 255, 255, 0.2);
---nav-arrow-color: #334975;
---nav-arrow-selected-color: #90A5CE;
-
-/* table of contents */
---toc-background-color: #151E30;
---toc-border-color: #202E4A;
---toc-header-color: #A3B4D7;
---toc-down-arrow-image: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px'><text x='0' y='5' font-size='10' fill='grey'>&%238595;</text></svg>");
-
-/** search field */
---search-background-color: black;
---search-foreground-color: #C5C5C5;
---search-magnification-image: url('mag_d.svg');
---search-magnification-select-image: url('mag_seld.svg');
---search-active-color: #C5C5C5;
---search-filter-background-color: #101826;
---search-filter-foreground-color: #90A5CE;
---search-filter-border-color: #7C95C6;
---search-filter-highlight-text-color: #BCC9E2;
---search-filter-highlight-bg-color: #283A5D;
---search-results-background-color: #101826;
---search-results-foreground-color: #90A5CE;
---search-results-border-color: #7C95C6;
---search-box-shadow: inset 0.5px 0.5px 3px 0px #2F436C;
-
-/** code fragments */
---code-keyword-color: #CC99CD;
---code-type-keyword-color: #AB99CD;
---code-flow-keyword-color: #E08000;
---code-comment-color: #717790;
---code-preprocessor-color: #65CABE;
---code-string-literal-color: #7EC699;
---code-char-literal-color: #00E0F0;
---code-xml-cdata-color: #C9D1D9;
---code-vhdl-digit-color: #FF00FF;
---code-vhdl-char-color: #C0C0C0;
---code-vhdl-keyword-color: #CF53C9;
---code-vhdl-logic-color: #FF0000;
---code-link-color: #79C0FF;
---code-external-link-color: #79C0FF;
---fragment-foreground-color: #C9D1D9;
---fragment-background-color: black;
---fragment-border-color: #30363D;
---fragment-lineno-border-color: #30363D;
---fragment-lineno-background-color: black;
---fragment-lineno-foreground-color: #6E7681;
---fragment-lineno-link-fg-color: #6E7681;
---fragment-lineno-link-bg-color: #303030;
---fragment-lineno-link-hover-fg-color: #8E96A1;
---fragment-lineno-link-hover-bg-color: #505050;
---tooltip-foreground-color: #C9D1D9;
---tooltip-background-color: #202020;
---tooltip-border-color: #C9D1D9;
---tooltip-doc-color: #D9E1E9;
---tooltip-declaration-color: #20C348;
---tooltip-link-color: #79C0FF;
---tooltip-shadow: none;
---fold-line-color: #808080;
---fold-minus-image: url('minusd.svg');
---fold-plus-image: url('plusd.svg');
---fold-minus-image-relpath: url('../../minusd.svg');
---fold-plus-image-relpath: url('../../plusd.svg');
-
-/** font-family */
---font-family-normal: Roboto,sans-serif;
---font-family-monospace: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
---font-family-nav: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
---font-family-title: Tahoma,Arial,sans-serif;
---font-family-toc: Verdana,'DejaVu Sans',Geneva,sans-serif;
---font-family-search: Arial,Verdana,sans-serif;
---font-family-icon: Arial,Helvetica;
---font-family-tooltip: Roboto,sans-serif;
-
-}}
 body {
-    background-color: var(--page-background-color);
-    color: var(--page-foreground-color);
+    background-color: white;
+    color: black;
 }
 
 body, table, div, p, dl {
 	font-weight: 400;
 	font-size: 14px;
-	font-family: var(--font-family-normal);
+	font-family: Roboto,sans-serif;
 	line-height: 22px;
 }
 
@@ -359,7 +17,7 @@ body, table, div, p, dl {
 .title {
 	font-weight: 400;
 	font-size: 14px;
-	font-family: var(--font-family-normal);
+	font-family: Roboto,sans-serif;
 	line-height: 28px;
 	font-size: 150%;
 	font-weight: bold;
@@ -371,8 +29,8 @@ h1.groupheader {
 }
 
 h2.groupheader {
-	border-bottom: 1px solid var(--group-header-separator-color);
-	color: var(--group-header-color);
+	border-bottom: 1px solid #879ECB;
+	color: #354C7B;
 	font-size: 150%;
 	font-weight: normal;
 	margin-top: 1.75em;
@@ -395,7 +53,7 @@ h1, h2, h3, h4, h5, h6 {
 }
 
 h1.glow, h2.glow, h3.glow, h4.glow, h5.glow, h6.glow {
-	text-shadow: 0 0 15px var(--glow-color);
+	text-shadow: 0 0 15px cyan;
 }
 
 dt {
@@ -468,15 +126,15 @@ td.navtab {
 }
 
 td.navtabHL {
-	background-image: var(--nav-gradient-active-image);
+	background-image: url('tab_a.png');
 	background-repeat:repeat-x;
 	padding-right: 6px;
 	padding-left: 6px;
 }
 
 td.navtabHL a, td.navtabHL a:visited {
-	color: var(--nav-text-hover-color);
-	text-shadow: var(--nav-text-hover-shadow);
+	color: white;
+	text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
 }
 
 a.navtab {
@@ -488,7 +146,7 @@ div.qindex{
 	width: 100%;
 	line-height: 140%;
 	font-size: 130%;
-	color: var(--index-separator-color);
+	color: #A0A0A0;
 }
 
 #main-menu a:focus {
@@ -503,7 +161,7 @@ dt.alphachar{
 }
 
 .alphachar a{
-	color: var(--index-header-color);
+	color: black;
 }
 
 .alphachar a:hover, .alphachar a:visited{
@@ -523,11 +181,11 @@ dt.alphachar{
 }
 
 .classindex dl.even {
-	background-color: var(--index-even-item-bg-color);
+	background-color: white;
 }
 
 .classindex dl.odd {
-	background-color: var(--index-odd-item-bg-color);
+	background-color: #F8F9FC;
 }
 
 @media(min-width: 1120px) {
@@ -546,13 +204,13 @@ dt.alphachar{
 /* @group Link Styling */
 
 a {
-	color: var(--page-link-color);
+	color: #3D578C;
 	font-weight: normal;
 	text-decoration: none;
 }
 
 .contents a:visited {
-	color: var(--page-visited-link-color);
+	color: #4665A2;
 }
 
 a:hover {
@@ -567,11 +225,11 @@ a.elRef {
 }
 
 a.code, a.code:visited, a.line, a.line:visited {
-	color: var(--code-link-color);
+	color: #4665A2;
 }
 
 a.codeRef, a.codeRef:visited, a.lineRef, a.lineRef:visited {
-	color: var(--code-external-link-color);
+	color: #4665A2;
 }
 
 a.code.hl_class { /* style for links to class names in code snippets */ }
@@ -637,29 +295,29 @@ ul.multicol {
 }
 
 pre.fragment {
-        border: 1px solid var(--fragment-border-color);
-        background-color: var(--fragment-background-color);
-	color: var(--fragment-foreground-color);
+        border: 1px solid #C4CFE5;
+        background-color: #FBFCFD;
+	color: black;
         padding: 4px 6px;
         margin: 4px 8px 4px 2px;
         overflow: auto;
         word-wrap: break-word;
         font-size:  9pt;
         line-height: 125%;
-        font-family: var(--font-family-monospace);
+        font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
         font-size: 105%;
 }
 
 div.fragment {
 	padding: 0 0 1px 0; /*Fixed: last line underline overlap border*/
 	margin: 4px 8px 4px 2px;
-	color: var(--fragment-foreground-color);
-	background-color: var(--fragment-background-color);
-	border: 1px solid var(--fragment-border-color);
+	color: black;
+	background-color: #FBFCFD;
+	border: 1px solid #C4CFE5;
 }
 
 div.line {
-	font-family: var(--font-family-monospace);
+	font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
         font-size: 13px;
 	min-height: 13px;
 	line-height: 1.2;
@@ -691,8 +349,8 @@ div.line:after {
 }
 
 div.line.glow {
-	background-color: var(--glow-color);
-	box-shadow: 0 0 10px var(--glow-color);
+	background-color: cyan;
+	box-shadow: 0 0 10px cyan;
 }
 
 span.fold {
@@ -712,19 +370,19 @@ span.lineno {
 	padding-right: 4px;
         margin-right: 9px;
 	text-align: right;
-	border-right: 2px solid var(--fragment-lineno-border-color);
-	color: var(--fragment-lineno-foreground-color);
-	background-color: var(--fragment-lineno-background-color);
+	border-right: 2px solid #00FF00;
+	color: black;
+	background-color: #E8E8E8;
         white-space: pre;
 }
 span.lineno a, span.lineno a:visited {
-	color: var(--fragment-lineno-link-fg-color);
-	background-color: var(--fragment-lineno-link-bg-color);
+	color: #4665A2;
+	background-color: #D8D8D8;
 }
 
 span.lineno a:hover {
-	color: var(--fragment-lineno-link-hover-fg-color);
-	background-color: var(--fragment-lineno-link-hover-bg-color);
+	color: #4665A2;
+	background-color: #C8C8C8;
 }
 
 .lineno {
@@ -757,7 +415,7 @@ div.groupText {
 }
 
 body {
-	color: var(--page-foreground-color);
+	color: black;
         margin: 0;
 }
 
@@ -805,11 +463,11 @@ address.footer {
 img.footer {
 	border: 0px;
 	vertical-align: middle;
-	width: var(--footer-logo-width);
+	width: 104px;
 }
 
 .compoundTemplParams {
-	color: var(--memdecl-template-color);
+	color: #4665A2;
 	font-size: 80%;
 	line-height: 120%;
 }
@@ -817,56 +475,56 @@ img.footer {
 /* @group Code Colorization */
 
 span.keyword {
-	color: var(--code-keyword-color);
+	color: #008000;
 }
 
 span.keywordtype {
-	color: var(--code-type-keyword-color);
+	color: #604020;
 }
 
 span.keywordflow {
-	color: var(--code-flow-keyword-color);
+	color: #E08000;
 }
 
 span.comment {
-	color: var(--code-comment-color);
+	color: #800000;
 }
 
 span.preprocessor {
-	color: var(--code-preprocessor-color);
+	color: #806020;
 }
 
 span.stringliteral {
-	color: var(--code-string-literal-color);
+	color: #002080;
 }
 
 span.charliteral {
-	color: var(--code-char-literal-color);
+	color: #008080;
 }
 
 span.xmlcdata {
-	color: var(--code-xml-cdata-color);
+	color: black;
 }
 
 span.vhdldigit { 
-	color: var(--code-vhdl-digit-color);
+	color: #FF00FF;
 }
 
 span.vhdlchar { 
-	color: var(--code-vhdl-char-color);
+	color: #000000;
 }
 
 span.vhdlkeyword { 
-	color: var(--code-vhdl-keyword-color);
+	color: #700070;
 }
 
 span.vhdllogic { 
-	color: var(--code-vhdl-logic-color);
+	color: #FF0000;
 }
 
 blockquote {
-        background-color: var(--blockquote-background-color);
-        border-left: 2px solid var(--blockquote-border-color);
+        background-color: #F7F8FB;
+        border-left: 2px solid #9CAFD4;
         margin: 0 24px 0 4px;
         padding: 0 12px 0 16px;
 }
@@ -880,19 +538,19 @@ td.tiny {
 .dirtab {
 	padding: 4px;
 	border-collapse: collapse;
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 }
 
 th.dirtab {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-weight: bold;
 }
 
 hr {
 	height: 0px;
 	border: none;
-	border-top: 1px solid var(--separator-color);
+	border-top: 1px solid #4A6AAA;
 }
 
 hr.footer {
@@ -920,14 +578,14 @@ table.memberdecls {
 }
 
 .memberdecls td.glow, .fieldtable tr.glow {
-	background-color: var(--glow-color);
-	box-shadow: 0 0 15px var(--glow-color);
+	background-color: cyan;
+	box-shadow: 0 0 15px cyan;
 }
 
 .mdescLeft, .mdescRight,
 .memItemLeft, .memItemRight,
 .memTemplItemLeft, .memTemplItemRight, .memTemplParams {
-	background-color: var(--memdecl-background-color);
+	background-color: #F9FAFC;
 	border: none;
 	margin: 4px;
 	padding: 1px 0 0 8px;
@@ -935,11 +593,11 @@ table.memberdecls {
 
 .mdescLeft, .mdescRight {
 	padding: 0px 8px 4px 8px;
-	color: var(--memdecl-foreground-color);
+	color: #555;
 }
 
 .memSeparator {
-        border-bottom: 1px solid var(--memdecl-separator-color);
+        border-bottom: 1px solid #DEE4F0;
         line-height: 1px;
         margin: 0px;
         padding: 0px;
@@ -954,7 +612,7 @@ table.memberdecls {
 }
 
 .memTemplParams {
-	color: var(--memdecl-template-color);
+	color: #4665A2;
         white-space: nowrap;
 	font-size: 80%;
 }
@@ -967,15 +625,15 @@ table.memberdecls {
 
 .memtitle {
 	padding: 8px;
-	border-top: 1px solid var(--memdef-border-color);
-	border-left: 1px solid var(--memdef-border-color);
-	border-right: 1px solid var(--memdef-border-color);
+	border-top: 1px solid #A8B8D9;
+	border-left: 1px solid #A8B8D9;
+	border-right: 1px solid #A8B8D9;
 	border-top-right-radius: 4px;
 	border-top-left-radius: 4px;
 	margin-bottom: -1px;
-	background-image: var(--memdef-title-gradient-image);
+	background-image: url('nav_f.png');
 	background-repeat: repeat-x;
-	background-color: var(--memdef-title-background-color);
+	background-color: #E2E8F2;
 	line-height: 1.25;
 	font-weight: 300;
 	float:left;
@@ -990,7 +648,7 @@ table.memberdecls {
 
 .memtemplate {
 	font-size: 80%;
-	color: var(--memdef-template-color);
+	color: #4665A2;
 	font-weight: normal;
 	margin-left: 9px;
 }
@@ -1013,7 +671,7 @@ table.memberdecls {
 }
 
 .memitem.glow {
-         box-shadow: 0 0 15px var(--glow-color);
+         box-shadow: 0 0 15px cyan;
 }
 
 .memname {
@@ -1026,32 +684,32 @@ table.memberdecls {
 }
 
 .memproto, dl.reflist dt {
-        border-top: 1px solid var(--memdef-border-color);
-        border-left: 1px solid var(--memdef-border-color);
-        border-right: 1px solid var(--memdef-border-color);
+        border-top: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
         padding: 6px 0px 6px 0px;
-        color: var(--memdef-proto-text-color);
+        color: #253555;
         font-weight: bold;
-        text-shadow: var(--memdef-proto-text-shadow);
-        background-color: var(--memdef-proto-background-color);
+        text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
+        background-color: #DFE5F1;
         box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15);
         border-top-right-radius: 4px;
 }
 
 .overload {
-        font-family: var(--font-family-monospace);
+        font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
 	font-size: 65%;
 }
 
 .memdoc, dl.reflist dd {
-        border-bottom: 1px solid var(--memdef-border-color);
-        border-left: 1px solid var(--memdef-border-color);
-        border-right: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
+        border-left: 1px solid #A8B8D9;
+        border-right: 1px solid #A8B8D9;
         padding: 6px 10px 2px 10px;
         border-top-width: 0;
         background-image:url('nav_g.png');
         background-repeat:repeat-x;
-        background-color: var(--memdef-doc-background-color);
+        background-color: white;
         /* opera specific markup */
         border-bottom-left-radius: 4px;
         border-bottom-right-radius: 4px;
@@ -1084,7 +742,7 @@ dl.reflist dd {
 }
 
 .paramname {
-	color: var(--memdef-param-name-color);
+	color: #602020;
 	white-space: nowrap;
 }
 .paramname em {
@@ -1110,7 +768,7 @@ dl.reflist dd {
 }
 
 .params .paramdir, .tparams .paramdir {
-        font-family: var(--font-family-monospace);
+        font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
         vertical-align: top;
 }
 
@@ -1134,13 +792,13 @@ span.mlabels {
 }
 
 span.mlabel {
-        background-color: var(--label-background-color);
-        border-top:1px solid var(--label-left-top-border-color);
-        border-left:1px solid var(--label-left-top-border-color);
-        border-right:1px solid var(--label-right-bottom-border-color);
-        border-bottom:1px solid var(--label-right-bottom-border-color);
+        background-color: #728DC1;
+        border-top:1px solid #5373B4;
+        border-left:1px solid #5373B4;
+        border-right:1px solid #C4CFE5;
+        border-bottom:1px solid #C4CFE5;
 	text-shadow: none;
-	color: var(--label-foreground-color);
+	color: white;
 	margin-right: 4px;
 	padding: 2px 3px;
 	border-radius: 3px;
@@ -1157,8 +815,8 @@ span.mlabel {
 
 div.directory {
         margin: 10px 0px;
-        border-top: 1px solid var(--directory-separator-color);
-        border-bottom: 1px solid var(--directory-separator-color);
+        border-top: 1px solid #9CAFD4;
+        border-bottom: 1px solid #9CAFD4;
         width: 100%;
 }
 
@@ -1196,12 +854,12 @@ div.directory {
 
 .directory tr.odd {
 	padding-left: 6px;
-	background-color: var(--index-odd-item-bg-color);
+	background-color: #F8F9FC;
 }
 
 .directory tr.even {
 	padding-left: 6px;
-	background-color: var(--index-even-item-bg-color);
+	background-color: white;
 }
 
 .directory img {
@@ -1219,11 +877,11 @@ div.directory {
         cursor: pointer;
         padding-left: 2px;
         padding-right: 2px;
-	color: var(--page-link-color);
+	color: #3D578C;
 }
 
 .arrow {
-    color: var(--nav-arrow-color);
+    color: #9CAFD4;
     -webkit-user-select: none;
     -khtml-user-select: none;
     -moz-user-select: none;
@@ -1237,15 +895,15 @@ div.directory {
 }
 
 .icon {
-    font-family: var(--font-family-icon);
+    font-family: Arial,Helvetica;
     line-height: normal;
     font-weight: bold;
     font-size: 12px;
     height: 14px;
     width: 16px;
     display: inline-block;
-    background-color: var(--icon-background-color);
-    color: var(--icon-foreground-color);
+    background-color: #728DC1;
+    color: white;
     text-align: center;
     border-radius: 4px;
     margin-left: 2px;
@@ -1262,7 +920,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-folder-open-image);
+    background-image:url('folderopen.svg');
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1272,7 +930,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-folder-closed-image);
+    background-image:url('folderclosed.svg');
     background-repeat: repeat-y;
     vertical-align:top;
     display: inline-block;
@@ -1282,7 +940,7 @@ div.directory {
     width: 24px;
     height: 18px;
     margin-bottom: 4px;
-    background-image:var(--icon-doc-image);
+    background-image:url('doc.svg');
     background-position: 0px -4px;
     background-repeat: repeat-y;
     vertical-align:top;
@@ -1303,7 +961,7 @@ div.dynheader {
 
 address {
 	font-style: normal;
-	color: var(--footer-foreground-color);
+	color: #2A3D61;
 }
 
 table.doxtable caption {
@@ -1317,13 +975,13 @@ table.doxtable {
 }
 
 table.doxtable td, table.doxtable th {
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 	padding: 3px 7px 2px;
 }
 
 table.doxtable th {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-size: 110%;
 	padding-bottom: 4px;
 	padding-top: 5px;
@@ -1331,7 +989,7 @@ table.doxtable th {
 
 table.fieldtable {
         margin-bottom: 10px;
-        border: 1px solid var(--memdef-border-color);
+        border: 1px solid #A8B8D9;
         border-spacing: 0px;
         border-radius: 4px;
         box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15);
@@ -1343,8 +1001,8 @@ table.fieldtable {
 
 .fieldtable td.fieldtype, .fieldtable td.fieldname {
         white-space: nowrap;
-        border-right: 1px solid var(--memdef-border-color);
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-right: 1px solid #A8B8D9;
+        border-bottom: 1px solid #A8B8D9;
         vertical-align: top;
 }
 
@@ -1353,7 +1011,7 @@ table.fieldtable {
 }
 
 .fieldtable td.fielddoc {
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
 }
 
 .fieldtable td.fielddoc p:first-child {
@@ -1369,18 +1027,18 @@ table.fieldtable {
 }
 
 .fieldtable th {
-        background-image: var(--memdef-title-gradient-image);
+        background-image: url('nav_f.png');
         background-repeat:repeat-x;
-        background-color: var(--memdef-title-background-color);
+        background-color: #E2E8F2;
         font-size: 90%;
-        color: var(--memdef-proto-text-color);
+        color: #253555;
         padding-bottom: 4px;
         padding-top: 5px;
         text-align:left;
         font-weight: 400;
         border-top-left-radius: 4px;
         border-top-right-radius: 4px;
-        border-bottom: 1px solid var(--memdef-border-color);
+        border-bottom: 1px solid #A8B8D9;
 }
 
 
@@ -1388,7 +1046,7 @@ table.fieldtable {
 	top: 0px;
 	left: 10px;
 	height: 36px;
-	background-image: var(--nav-gradient-image);
+	background-image: url('tab_b.png');
 	z-index: 101;
 	overflow: hidden;
 	font-size: 13px;
@@ -1397,13 +1055,13 @@ table.fieldtable {
 .navpath ul
 {
 	font-size: 11px;
-	background-image: var(--nav-gradient-image);
+	background-image: url('tab_b.png');
 	background-repeat:repeat-x;
 	background-position: 0 -5px;
 	height:30px;
 	line-height:30px;
-	color:var(--nav-text-normal-color);
-	border:solid 1px var(--nav-breadcrumb-border-color);
+	color:#283A5D;
+	border:solid 1px #C2CDE4;
 	overflow:hidden;
 	margin:0px;
 	padding:0px;
@@ -1415,10 +1073,10 @@ table.fieldtable {
 	float:left;
 	padding-left:10px;
 	padding-right:15px;
-	background-image:var(--nav-breadcrumb-image);
+	background-image:url('bc_s.png');
 	background-repeat:no-repeat;
 	background-position:right;
-	color: var(--nav-foreground-color);
+	color: #364D7C;
 }
 
 .navpath li.navelem a
@@ -1427,16 +1085,16 @@ table.fieldtable {
 	display:block;
 	text-decoration: none;
 	outline: none;
-	color: var(--nav-text-normal-color);
-	font-family: var(--font-family-nav);
-	text-shadow: var(--nav-text-normal-shadow);
+	color: #283A5D;
+	font-family: 'Lucida Grande',Geneva,Helvetica,Arial,sans-serif;
+	text-shadow: 0px 1px 1px rgba(255, 255, 255, 0.9);
 	text-decoration: none;
 }
 
 .navpath li.navelem a:hover
 {
-	color: var(--nav-text-hover-color);
-	text-shadow: var(--nav-text-hover-shadow);
+	color: white;
+	text-shadow: 0px 1px 1px rgba(0, 0, 0, 1.0);
 }
 
 .navpath li.footer
@@ -1448,7 +1106,7 @@ table.fieldtable {
         background-image:none;
         background-repeat:no-repeat;
         background-position:right;
-        color: var(--footer-foreground-color);
+        color: #2A3D61;
         font-size: 8pt;
 }
 
@@ -1493,11 +1151,11 @@ div.ingroups a
 
 div.header
 {
-        background-image: var(--header-gradient-image);
+        background-image: url('nav_h.png');
         background-repeat:repeat-x;
-	background-color: var(--header-background-color);
+	background-color: #F9FAFC;
 	margin:  0px;
-	border-bottom: 1px solid var(--header-separator-color);
+	border-bottom: 1px solid #C4CFE5;
 }
 
 div.headertitle
@@ -1600,7 +1258,7 @@ dl.section dd {
 #projectname
 {
 	font-size: 200%;
-	font-family: var(--font-family-title);
+	font-family: Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 2px 0px;
 }
@@ -1608,7 +1266,7 @@ dl.section dd {
 #projectbrief
 {
 	font-size: 90%;
-        font-family: var(--font-family-title);
+        font-family: Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 0px;
 }
@@ -1616,7 +1274,7 @@ dl.section dd {
 #projectnumber
 {
 	font-size: 50%;
-	font-family: 50% var(--font-family-title);
+	font-family: 50% Tahoma,Arial,sans-serif;
 	margin: 0px;
 	padding: 0px;
 }
@@ -1626,8 +1284,8 @@ dl.section dd {
 	padding: 0px;
 	margin: 0px;
 	width: 100%;
-	border-bottom: 1px solid var(--title-separator-color);
-	background-color: var(--title-background-color);
+	border-bottom: 1px solid #5373B4;
+	background-color: white;
 }
 
 .image
@@ -1665,7 +1323,7 @@ dl.citelist {
 }
 
 dl.citelist dt {
-        color:var(--citation-label-color);
+        color:#334975;
         float:left;
         font-weight:bold;
         margin-right:10px;
@@ -1681,8 +1339,8 @@ dl.citelist dd {
 
 div.toc {
         padding: 14px 25px;
-        background-color: var(--toc-background-color);
-        border: 1px solid var(--toc-border-color);
+        background-color: #F4F6FA;
+        border: 1px solid #D8DFEE;
         border-radius: 7px 7px 7px 7px;
         float: right;
         height: auto;
@@ -1691,16 +1349,16 @@ div.toc {
 }
 
 div.toc li {
-        background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent;
-        font: 10px/1.2 var(--font-family-toc);
+        background: url("data:image/svg+xml;utf8,<svg xmlns='http://www.w3.org/2000/svg' version='1.1' height='10px' width='5px' fill='grey'><text x='0' y='5' font-size='10'>&%238595;</text></svg>") no-repeat scroll 0 5px transparent;
+        font: 10px/1.2 Verdana,'DejaVu Sans',Geneva,sans-serif;
         margin-top: 5px;
         padding-left: 10px;
         padding-top: 2px;
 }
 
 div.toc h3 {
-        font: bold 12px/1.2 var(--font-family-toc);
-	color: var(--toc-header-color);
+        font: bold 12px/1.2 Verdana,'DejaVu Sans',Geneva,sans-serif;
+	color: #4665A2;
         border-bottom: 0 none;
         margin: 0;
 }
@@ -1739,7 +1397,7 @@ span.obfuscator {
 
 .inherit_header {
         font-weight: bold;
-        color: var(--inherit-header-color);
+        color: gray;
         cursor: pointer;
 	-webkit-touch-callout: none;
 	-webkit-user-select: none;
@@ -1772,11 +1430,11 @@ tr.heading h2 {
 #powerTip {
 	cursor: default;
 	/*white-space: nowrap;*/
-        color: var(--tooltip-foreground-color);
-	background-color: var(--tooltip-background-color);
-	border: 1px solid var(--tooltip-border-color);
+        color: black;
+	background-color: white;
+	border: 1px solid gray;
 	border-radius: 4px 4px 4px 4px;
-	box-shadow: var(--tooltip-shadow);
+	box-shadow: 1px 1px 7px gray;
 	display: none;
 	font-size: smaller;
 	max-width: 80%;
@@ -1787,7 +1445,7 @@ tr.heading h2 {
 }
 
 #powerTip div.ttdoc {
-        color: var(--tooltip-doc-color);
+        color: grey;
 	font-style: italic;
 }
 
@@ -1796,7 +1454,7 @@ tr.heading h2 {
 }
 
 #powerTip a {
-	color: var(--tooltip-link-color);
+	color: #4665A2;
 }
 
 #powerTip div.ttname {
@@ -1804,14 +1462,14 @@ tr.heading h2 {
 }
 
 #powerTip div.ttdeci {
-        color: var(--tooltip-declaration-color);
+        color: #006318;
 }
 
 #powerTip div {
         margin: 0px;
         padding: 0px;
         font-size: 12px;
-       	font-family: var(--font-family-tooltip);
+       	font-family: Roboto,sans-serif;
 	line-height: 16px;
 }
 
@@ -1857,12 +1515,12 @@ tr.heading h2 {
 }
 
 #powerTip.n:after, #powerTip.ne:after, #powerTip.nw:after {
-	border-top-color: var(--tooltip-background-color);
+	border-top-color: white;
 	border-width: 10px;
 	margin: 0px -10px;
 }
 #powerTip.n:before, #powerTip.ne:before, #powerTip.nw:before {
-	border-top-color: var(--tooltip-border-color);
+	border-top-color: gray;
 	border-width: 11px;
 	margin: 0px -11px;
 }
@@ -1885,13 +1543,13 @@ tr.heading h2 {
 }
 
 #powerTip.s:after, #powerTip.se:after, #powerTip.sw:after {
-	border-bottom-color: var(--tooltip-background-color);
+	border-bottom-color: white;
 	border-width: 10px;
 	margin: 0px -10px;
 }
 
 #powerTip.s:before, #powerTip.se:before, #powerTip.sw:before {
-	border-bottom-color: var(--tooltip-border-color);
+	border-bottom-color: gray;
 	border-width: 11px;
 	margin: 0px -11px;
 }
@@ -1912,13 +1570,13 @@ tr.heading h2 {
 	left: 100%;
 }
 #powerTip.e:after {
-	border-left-color: var(--tooltip-border-color);
+	border-left-color: gray;
 	border-width: 10px;
 	top: 50%;
 	margin-top: -10px;
 }
 #powerTip.e:before {
-	border-left-color: var(--tooltip-border-color);
+	border-left-color: gray;
 	border-width: 11px;
 	top: 50%;
 	margin-top: -11px;
@@ -1928,13 +1586,13 @@ tr.heading h2 {
 	right: 100%;
 }
 #powerTip.w:after {
-	border-right-color: var(--tooltip-border-color);
+	border-right-color: gray;
 	border-width: 10px;
 	top: 50%;
 	margin-top: -10px;
 }
 #powerTip.w:before {
-	border-right-color: var(--tooltip-border-color);
+	border-right-color: gray;
 	border-width: 11px;
 	top: 50%;
 	margin-top: -11px;
@@ -1968,7 +1626,7 @@ table.markdownTable {
 }
 
 table.markdownTable td, table.markdownTable th {
-	border: 1px solid var(--table-cell-border-color);
+	border: 1px solid #2D4068;
 	padding: 3px 7px 2px;
 }
 
@@ -1976,8 +1634,8 @@ table.markdownTable tr {
 }
 
 th.markdownTableHeadLeft, th.markdownTableHeadRight, th.markdownTableHeadCenter, th.markdownTableHeadNone {
-	background-color: var(--table-header-background-color);
-	color: var(--table-header-foreground-color);
+	background-color: #374F7F;
+	color: #FFFFFF;
 	font-size: 110%;
 	padding-bottom: 4px;
 	padding-top: 5px;
@@ -2025,21 +1683,3 @@ details[open]>summary::before {
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index 9b281563..eca6d89d 100644
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-var minusImg = [ "var(--fold-minus-image)", "var(--fold-minus-image-relpath)" ];
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 function codefold_toggle_all(relPath) {
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@@ -133,8 +137,7 @@ Functions</h2></td></tr>
 <a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
 <p>Converts various PCL point cloud types into a unified 2D <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> format. </p>
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diff --git a/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.html b/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.html
index 74987b3a..620bddcb 100644
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diff --git a/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html
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diff --git a/preview/pr-1492/api/latest/group__TransformPoint.html b/preview/pr-1492/api/latest/group__TransformPoint.html
index f29acbcb..32f9698c 100644
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index ddf447c4..eab5a6b2 100644
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index 7076fb73..dc899632 100644
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@@ -285,10 +289,10 @@ Memory management</h1>
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 <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>When an iteration goes over budget, the nodes of lowest weight are moved to the long-term memory at the end of it &ndash; age only breaks ties between equal weights, so it is not simply the oldest that go. Weight is how often a place has been seen: while a node is still in the short-term memory, a new node similar enough to it (<a class="el" href="classrtabmap_1_1Parameters.html#a634f4790c9c84772935bf406265bc692">Mem/RehearsalSimilarity</a>) is merged into it and raises its weight &ndash; the rehearsal mechanism. Places the robot dwells on or revisits therefore stay in the working memory, while views seen once leave first. They are not lost: when a loop closure is found, their neighbours are brought back into the working memory for the next iterations, up to <a class="el" href="classrtabmap_1_1Parameters.html#ae42b8a843c6830eff62087a9e0df72b1">Rtabmap/MaxRetrieved</a> nodes (plus <a class="el" href="classrtabmap_1_1Parameters.html#a0ba27238802e7bbd1a7c0327bbc11d99">RGBD/MaxLocalRetrieved</a> around the current pose and along a planned path). This is what makes long-term mapping practical: the robot keeps a bounded, relevant working set and pulls the rest back as it recognizes where it is. Retrieval and node immunization only run when memory management is on.</p>
-<p>Which nodes go first is tunable: <a class="el" href="classrtabmap_1_1Parameters.html#a4459441e2574e19b15fedb9cb0bc3fd9">Mem/RecentWmRatio</a> protects the most recent part of the working memory, <a class="el" href="classrtabmap_1_1Parameters.html#a7197e89c24af786042c4f3854c14627f">RGBD/LocalImmunizationRatio</a> protects the nodes around the current pose, and <a class="el" href="classrtabmap_1_1Parameters.html#aea65d81db6cbca6869d7ee1b8e1003a7">Mem/TransferSortingByWeightId</a> selects the ordering. The step-by-step behaviour is documented on <a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">rtabmap::Rtabmap</a> (steps 4 and 6), and the <code>Memory/Working_memory_size</code> and <code>Memory/Signatures_retrieved</code> entries of <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">rtabmap::Statistics</a> report what happens at runtime.</p>
+<p>Which nodes go first is controlled by three parameters: <a class="el" href="classrtabmap_1_1Parameters.html#a4459441e2574e19b15fedb9cb0bc3fd9">Mem/RecentWmRatio</a> protects the most recent part of the working memory, <a class="el" href="classrtabmap_1_1Parameters.html#a7197e89c24af786042c4f3854c14627f">RGBD/LocalImmunizationRatio</a> protects the nodes around the current pose, and <a class="el" href="classrtabmap_1_1Parameters.html#aea65d81db6cbca6869d7ee1b8e1003a7">Mem/TransferSortingByWeightId</a> selects the ordering. The step-by-step behaviour is documented on <a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">rtabmap::Rtabmap</a> (steps 4 and 6), and the <code>Memory/Working_memory_size</code> and <code>Memory/Signatures_retrieved</code> entries of <a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">rtabmap::Statistics</a> report what happens at runtime.</p>
 <h1><a class="anchor" id="autotoc_md3"></a>
 Configuration</h1>
-<p>Every tunable is a string key/value pair 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>, declared with its default and description in <code><a class="el" href="Parameters_8h_source.html">Parameters.h</a></code> (for example <code>Parameters::kMemSTMSize()</code>, <code>Parameters::kRGBDLinearUpdate()</code>). The same keys are used by the applications, the ROS wrappers and the <code>--Param value</code> command-line arguments of the tools, so a setting found here applies everywhere.</p>
+<p>Every parameter is a string key/value pair 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>, declared with its default and description in <code><a class="el" href="Parameters_8h_source.html">Parameters.h</a></code> (for example <code>Parameters::kMemSTMSize()</code>, <code>Parameters::kRGBDLinearUpdate()</code>). The same keys are used by the applications, the ROS wrappers and the <code>--Param value</code> command-line arguments of the tools, so a setting found here applies everywhere.</p>
 <p>The <a class="el" href="parameters.html">Parameter reference</a> lists all of them, grouped, with their type, default value and description.</p>
 <div class="fragment"><div class="line"><a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> parameters;</div>
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@@ -297,8 +301,7 @@ Configuration</h1>
 </div><!-- fragment --><h1><a class="anchor" id="autotoc_md4"></a>
 The main classes</h1>
 <p>Doxygen lists the classes alphabetically; this is the same set arranged by the role they play, as a starting point into the API.</p>
-<h2><a class="anchor" id="autotoc_md5"></a>
-The map structure</h2>
+<h2>The map structure</h2>
 <table class="markdownTable">
 <tr class="markdownTableHead">
 <th class="markdownTableHeadNone">Class   </th><th class="markdownTableHeadNone">Role    </th></tr>
@@ -315,8 +318,7 @@ The map structure</h2>
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 </table>
-<h2><a class="anchor" id="autotoc_md6"></a>
-Inputs</h2>
+<h2>Inputs</h2>
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@@ -331,8 +333,7 @@ Inputs</h2>
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 </table>
-<h2><a class="anchor" id="autotoc_md7"></a>
-Building blocks</h2>
+<h2>Building blocks</h2>
 <table class="markdownTable">
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index ad897ba2..c83c85a8 100644
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-      [ "Inputs", "index.html#autotoc_md6", null ],
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@@ -3581,7 +3585,7 @@ Assumes the cameras are pointing parallel to ground (e.g., forward and backward
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+<link href="custom.css" rel="stylesheet" type="text/css"/>
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diff --git a/preview/pr-1492/api/latest/parameters.html b/preview/pr-1492/api/latest/parameters.html
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
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@@ -97,61 +101,6 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
   <div class="headertitle"><div class="title">Parameter reference</div></div>
 </div><!--header-->
 <div class="contents">
-<div class="toc"><h3>Table of Contents</h3>
-<ul><li class="level1"><a href="#parameters_Rtabmap">Rtabmap</a></li>
-<li class="level1"><a href="#parameters_Mem">Mem</a></li>
-<li class="level1"><a href="#parameters_Kp">Kp</a></li>
-<li class="level1"><a href="#parameters_DbSqlite3">DbSqlite3</a></li>
-<li class="level1"><a href="#parameters_Db">Db</a></li>
-<li class="level1"><a href="#parameters_SURF">SURF</a></li>
-<li class="level1"><a href="#parameters_SIFT">SIFT</a></li>
-<li class="level1"><a href="#parameters_BRIEF">BRIEF</a></li>
-<li class="level1"><a href="#parameters_FAST">FAST</a></li>
-<li class="level1"><a href="#parameters_GFTT">GFTT</a></li>
-<li class="level1"><a href="#parameters_ORB">ORB</a></li>
-<li class="level1"><a href="#parameters_FREAK">FREAK</a></li>
-<li class="level1"><a href="#parameters_BRISK">BRISK</a></li>
-<li class="level1"><a href="#parameters_KAZE">KAZE</a></li>
-<li class="level1"><a href="#parameters_SuperPoint">SuperPoint</a></li>
-<li class="level1"><a href="#parameters_SuperPointRpautrat">SuperPointRpautrat</a></li>
-<li class="level1"><a href="#parameters_PyDetector">PyDetector</a></li>
-<li class="level1"><a href="#parameters_Bayes">Bayes</a></li>
-<li class="level1"><a href="#parameters_VhEp">VhEp</a></li>
-<li class="level1"><a href="#parameters_RGBD">RGBD</a></li>
-<li class="level1"><a href="#parameters_Optimizer">Optimizer</a></li>
-<li class="level1"><a href="#parameters_g2o">g2o</a></li>
-<li class="level1"><a href="#parameters_GTSAM">GTSAM</a></li>
-<li class="level1"><a href="#parameters_Odom">Odom</a></li>
-<li class="level1"><a href="#parameters_OdomF2M">OdomF2M</a></li>
-<li class="level1"><a href="#parameters_OdomMono">OdomMono</a></li>
-<li class="level1"><a href="#parameters_OdomFovis">OdomFovis</a></li>
-<li class="level1"><a href="#parameters_OdomViso2">OdomViso2</a></li>
-<li class="level1"><a href="#parameters_OdomORBSLAM">OdomORBSLAM</a></li>
-<li class="level1"><a href="#parameters_OdomOKVIS">OdomOKVIS</a></li>
-<li class="level1"><a href="#parameters_OdomLOAM">OdomLOAM</a></li>
-<li class="level1"><a href="#parameters_OdomMSCKF">OdomMSCKF</a></li>
-<li class="level1"><a href="#parameters_OdomVINSFusion">OdomVINSFusion</a></li>
-<li class="level1"><a href="#parameters_OdomOpenVINS">OdomOpenVINS</a></li>
-<li class="level1"><a href="#parameters_OdomOpen3D">OdomOpen3D</a></li>
-<li class="level1"><a href="#parameters_OdomCuVSLAM">OdomCuVSLAM</a></li>
-<li class="level1"><a href="#parameters_OdomLIOSAM">OdomLIOSAM</a></li>
-<li class="level1"><a href="#parameters_Reg">Reg</a></li>
-<li class="level1"><a href="#parameters_Vis">Vis</a></li>
-<li class="level1"><a href="#parameters_PyMatcher">PyMatcher</a></li>
-<li class="level1"><a href="#parameters_GMS">GMS</a></li>
-<li class="level1"><a href="#parameters_PyDescriptor">PyDescriptor</a></li>
-<li class="level1"><a href="#parameters_Icp">Icp</a></li>
-<li class="level1"><a href="#parameters_Stereo">Stereo</a></li>
-<li class="level1"><a href="#parameters_StereoBM">StereoBM</a></li>
-<li class="level1"><a href="#parameters_StereoSGBM">StereoSGBM</a></li>
-<li class="level1"><a href="#parameters_Grid">Grid</a></li>
-<li class="level1"><a href="#parameters_GridGlobal">GridGlobal</a></li>
-<li class="level1"><a href="#parameters_Marker">Marker</a></li>
-<li class="level1"><a href="#parameters_MarkerAprilTag">MarkerAprilTag</a></li>
-<li class="level1"><a href="#parameters_MarkerOpenCV">MarkerOpenCV</a></li>
-<li class="level1"><a href="#parameters_ImuFilter">ImuFilter</a></li>
-</ul>
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 <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="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>
@@ -161,7 +110,9 @@ $(document).ready(function(){initNavTree('parameters.html',''); initResizable();
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 <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>
-<h1><a class="anchor" id="parameters_Rtabmap"></a>
+<p><b>Groups:</b> <a class="el" href="parameters.html#parameters_Rtabmap">Rtabmap</a>, <a class="el" href="parameters.html#parameters_Mem">Mem</a>, <a class="el" href="parameters.html#parameters_Kp">Kp</a>, <a class="el" href="parameters.html#parameters_DbSqlite3">DbSqlite3</a>, <a class="el" href="parameters.html#parameters_Db">Db</a>, <a class="el" href="parameters.html#parameters_SURF">SURF</a>, <a class="el" href="parameters.html#parameters_SIFT">SIFT</a>, <a class="el" href="parameters.html#parameters_BRIEF">BRIEF</a>, <a class="el" href="parameters.html#parameters_FAST">FAST</a>, <a class="el" href="parameters.html#parameters_GFTT">GFTT</a>, <a class="el" href="parameters.html#parameters_ORB">ORB</a>, <a class="el" href="parameters.html#parameters_FREAK">FREAK</a>, <a class="el" href="parameters.html#parameters_BRISK">BRISK</a>, <a class="el" href="parameters.html#parameters_KAZE">KAZE</a>, <a class="el" href="parameters.html#parameters_SuperPoint">SuperPoint</a>, <a class="el" href="parameters.html#parameters_SuperPointRpautrat">SuperPointRpautrat</a>, <a class="el" href="parameters.html#parameters_PyDetector">PyDetector</a>, <a class="el" href="parameters.html#parameters_Bayes">Bayes</a>, <a class="el" href="parameters.html#parameters_VhEp">VhEp</a>, <a class="el" href="parameters.html#parameters_RGBD">RGBD</a>, <a class="el" href="parameters.html#parameters_Optimizer">Optimizer</a>, <a class="el" href="parameters.html#parameters_g2o">g2o</a>, <a class="el" href="parameters.html#parameters_GTSAM">GTSAM</a>, <a class="el" href="parameters.html#parameters_Odom">Odom</a>, <a class="el" href="parameters.html#parameters_OdomF2M">OdomF2M</a>, <a class="el" href="parameters.html#parameters_OdomMono">OdomMono</a>, <a class="el" href="parameters.html#parameters_OdomFovis">OdomFovis</a>, <a class="el" href="parameters.html#parameters_OdomViso2">OdomViso2</a>, <a class="el" href="parameters.html#parameters_OdomORBSLAM">OdomORBSLAM</a>, <a class="el" href="parameters.html#parameters_OdomOKVIS">OdomOKVIS</a>, <a class="el" href="parameters.html#parameters_OdomLOAM">OdomLOAM</a>, <a class="el" href="parameters.html#parameters_OdomMSCKF">OdomMSCKF</a>, <a class="el" href="parameters.html#parameters_OdomVINSFusion">OdomVINSFusion</a>, <a class="el" href="parameters.html#parameters_OdomOpenVINS">OdomOpenVINS</a>, <a class="el" href="parameters.html#parameters_OdomOpen3D">OdomOpen3D</a>, <a class="el" href="parameters.html#parameters_OdomCuVSLAM">OdomCuVSLAM</a>, <a class="el" href="parameters.html#parameters_OdomLIOSAM">OdomLIOSAM</a>, <a class="el" href="parameters.html#parameters_Reg">Reg</a>, <a class="el" href="parameters.html#parameters_Vis">Vis</a>, <a class="el" href="parameters.html#parameters_PyMatcher">PyMatcher</a>, <a class="el" href="parameters.html#parameters_GMS">GMS</a>, <a class="el" href="parameters.html#parameters_PyDescriptor">PyDescriptor</a>, <a class="el" href="parameters.html#parameters_Icp">Icp</a>, <a class="el" href="parameters.html#parameters_Stereo">Stereo</a>, <a class="el" href="parameters.html#parameters_StereoBM">StereoBM</a>, <a class="el" href="parameters.html#parameters_StereoSGBM">StereoSGBM</a>, <a class="el" href="parameters.html#parameters_Grid">Grid</a>, <a class="el" href="parameters.html#parameters_GridGlobal">GridGlobal</a>, <a class="el" href="parameters.html#parameters_Marker">Marker</a>, <a class="el" href="parameters.html#parameters_MarkerAprilTag">MarkerAprilTag</a>, <a class="el" href="parameters.html#parameters_MarkerOpenCV">MarkerOpenCV</a>, <a class="el" href="parameters.html#parameters_ImuFilter">ImuFilter</a></p>
+<p><a class="anchor" id="parameters_Rtabmap"></a></p>
+<h1><a class="anchor" id="autotoc_md9"></a>
 Rtabmap</h1>
 <p>Top-level loop closure detection and map management.</p>
 <table class="markdownTable">
@@ -220,7 +171,8 @@ Rtabmap</h1>
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 <td class="markdownTableBodyNone"><a class="anchor" id="param_RtabmapVirtualPlaceLikelihoodRatio"></a><a class="el" href="classrtabmap_1_1Parameters.html#aef900d9efe01dcbfbe5348b131d9ff46">Rtabmap/VirtualPlaceLikelihoodRatio</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)   </td></tr>
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+<p><a class="anchor" id="parameters_Mem"></a></p>
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 Mem</h1>
 <p>Memory management: what is kept in STM/WM, what is transferred to LTM.</p>
 <table class="markdownTable">
@@ -303,7 +255,8 @@ Mem</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_MemRotateImagesUpsideUp"></a><a class="el" href="classrtabmap_1_1Parameters.html#a65474937d0e1e01e02d29dc773363353">Mem/RotateImagesUpsideUp</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">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.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Kp"></a>
+<p><a class="anchor" id="parameters_Kp"></a></p>
+<h1><a class="anchor" id="autotoc_md11"></a>
 Kp</h1>
 <p>Bag-of-words dictionary used for global loop closure detection.</p>
 <table class="markdownTable">
@@ -359,7 +312,8 @@ Kp</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_KpGridCols"></a><a class="el" href="classrtabmap_1_1Parameters.html#a1a302199e3aa8f82688160732a637f4b">Kp/GridCols</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>1</code>   </td><td class="markdownTableBodyNone">Number of columns of the grid used to extract uniformly "@ref param_KpMaxFeatures "Kp/MaxFeatures" / grid cells" features from each cell.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_DbSqlite3"></a>
+<p><a class="anchor" id="parameters_DbSqlite3"></a></p>
+<h1><a class="anchor" id="autotoc_md12"></a>
 DbSqlite3</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -375,7 +329,8 @@ DbSqlite3</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_DbSqlite3TempStore"></a><a class="el" href="classrtabmap_1_1Parameters.html#a2ee0c59c976d0fdffc18c690ab7aef73">DbSqlite3/TempStore</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>2</code>   </td><td class="markdownTableBodyNone">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.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Db"></a>
+<p><a class="anchor" id="parameters_Db"></a></p>
+<h1><a class="anchor" id="autotoc_md13"></a>
 Db</h1>
 <p>Database (long-term memory) storage.</p>
 <table class="markdownTable">
@@ -384,7 +339,8 @@ Db</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_DbTargetVersion"></a><a class="el" href="classrtabmap_1_1Parameters.html#a4356a08f2a4153665ff049e73000c303">Db/TargetVersion</a>   </td><td class="markdownTableBodyNone">string   </td><td class="markdownTableBodyNone"><code>""</code>   </td><td class="markdownTableBodyNone">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).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_SURF"></a>
+<p><a class="anchor" id="parameters_SURF"></a></p>
+<h1><a class="anchor" id="autotoc_md14"></a>
 SURF</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -404,7 +360,8 @@ SURF</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_SURFGpuKeypointsRatio"></a><a class="el" href="classrtabmap_1_1Parameters.html#ac854e7a9427ce1400a3188e939ec0b6e">SURF/GpuKeypointsRatio</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.01</code>   </td><td class="markdownTableBodyNone">Used with SURF GPU.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_SIFT"></a>
+<p><a class="anchor" id="parameters_SIFT"></a></p>
+<h1><a class="anchor" id="autotoc_md15"></a>
 SIFT</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -430,7 +387,8 @@ SIFT</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_SIFTUpscale"></a><a class="el" href="classrtabmap_1_1Parameters.html#a7dd0d575bac18d9db0c3fdb61860f034">SIFT/Upscale</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">CudaSift: Whether to enable upscaling.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_BRIEF"></a>
+<p><a class="anchor" id="parameters_BRIEF"></a></p>
+<h1><a class="anchor" id="autotoc_md16"></a>
 BRIEF</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -438,7 +396,8 @@ BRIEF</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_BRIEFBytes"></a><a class="el" href="classrtabmap_1_1Parameters.html#a62ce1ff73ad01bb94bc5c1b19467e140">BRIEF/Bytes</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>32</code>   </td><td class="markdownTableBodyNone">Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_FAST"></a>
+<p><a class="anchor" id="parameters_FAST"></a></p>
+<h1><a class="anchor" id="autotoc_md17"></a>
 FAST</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -462,7 +421,8 @@ FAST</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_FASTCV"></a><a class="el" href="classrtabmap_1_1Parameters.html#a9868a2aa2ff8894d00088ca7aded75e0">FAST/CV</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_GFTT"></a>
+<p><a class="anchor" id="parameters_GFTT"></a></p>
+<h1><a class="anchor" id="autotoc_md18"></a>
 GFTT</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -480,7 +440,8 @@ GFTT</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_GFTTGpu"></a><a class="el" href="classrtabmap_1_1Parameters.html#ab29e59a1629d8d113cdf61f27a4b009f">GFTT/Gpu</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV&gt;=3 is built with CUDA and GPUs are detected.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_ORB"></a>
+<p><a class="anchor" id="parameters_ORB"></a></p>
+<h1><a class="anchor" id="autotoc_md19"></a>
 ORB</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -502,7 +463,8 @@ ORB</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_ORBGpu"></a><a class="el" href="classrtabmap_1_1Parameters.html#a75ad893a9fb12411d07292be6f3cf151">ORB/Gpu</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_FREAK"></a>
+<p><a class="anchor" id="parameters_FREAK"></a></p>
+<h1><a class="anchor" id="autotoc_md20"></a>
 FREAK</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -516,7 +478,8 @@ FREAK</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_FREAKNOctaves"></a><a class="el" href="classrtabmap_1_1Parameters.html#af48faacb97db49ed8bfdfe5138996c6b">FREAK/NOctaves</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>4</code>   </td><td class="markdownTableBodyNone">Number of octaves covered by the detected keypoints.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_BRISK"></a>
+<p><a class="anchor" id="parameters_BRISK"></a></p>
+<h1><a class="anchor" id="autotoc_md21"></a>
 BRISK</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -528,7 +491,8 @@ BRISK</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_BRISKPatternScale"></a><a class="el" href="classrtabmap_1_1Parameters.html#a44b86ee14e1ed84d429fe58f889854c7">BRISK/PatternScale</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>1</code>   </td><td class="markdownTableBodyNone">Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_KAZE"></a>
+<p><a class="anchor" id="parameters_KAZE"></a></p>
+<h1><a class="anchor" id="autotoc_md22"></a>
 KAZE</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -546,7 +510,8 @@ KAZE</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_KAZEDiffusivity"></a><a class="el" href="classrtabmap_1_1Parameters.html#a4038e9285978f2a7ad4eaae4e752de3b">KAZE/Diffusivity</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>1</code>   </td><td class="markdownTableBodyNone">Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_SuperPoint"></a>
+<p><a class="anchor" id="parameters_SuperPoint"></a></p>
+<h1><a class="anchor" id="autotoc_md23"></a>
 SuperPoint</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -562,7 +527,8 @@ SuperPoint</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_SuperPointCuda"></a><a class="el" href="classrtabmap_1_1Parameters.html#a2b81d483c201d3aa7191b6e4fb5ad7a5">SuperPoint/Cuda</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>true</code>   </td><td class="markdownTableBodyNone">Use Cuda device for Torch, otherwise CPU device is used by default.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_SuperPointRpautrat"></a>
+<p><a class="anchor" id="parameters_SuperPointRpautrat"></a></p>
+<h1><a class="anchor" id="autotoc_md24"></a>
 SuperPointRpautrat</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -580,7 +546,8 @@ SuperPointRpautrat</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_SuperPointRpautratCuda"></a><a class="el" href="classrtabmap_1_1Parameters.html#a3f06822bbaedae5abe23a74309a19387">SuperPointRpautrat/Cuda</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>true</code>   </td><td class="markdownTableBodyNone">Use Cuda device for Torch, otherwise CPU device is used by default.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_PyDetector"></a>
+<p><a class="anchor" id="parameters_PyDetector"></a></p>
+<h1><a class="anchor" id="autotoc_md25"></a>
 PyDetector</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -590,7 +557,8 @@ PyDetector</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_PyDetectorCuda"></a><a class="el" href="classrtabmap_1_1Parameters.html#afdbdfe89192b8c4b332d457fdd83620a">PyDetector/Cuda</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>true</code>   </td><td class="markdownTableBodyNone">Use cuda.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Bayes"></a>
+<p><a class="anchor" id="parameters_Bayes"></a></p>
+<h1><a class="anchor" id="autotoc_md26"></a>
 Bayes</h1>
 <p>Bayes filter used for loop closure hypotheses.</p>
 <table class="markdownTable">
@@ -603,7 +571,8 @@ Bayes</h1>
 <tr class="markdownTableRowOdd">
 <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>
 </table>
-<h1><a class="anchor" id="parameters_VhEp"></a>
+<p><a class="anchor" id="parameters_VhEp"></a></p>
+<h1><a class="anchor" id="autotoc_md27"></a>
 VhEp</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -617,7 +586,8 @@ VhEp</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_VhEpRansacParam2"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa8c6e571280a46e6d19996e1e7b23791">VhEp/RansacParam2</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.99</code>   </td><td class="markdownTableBodyNone">Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_RGBD"></a>
+<p><a class="anchor" id="parameters_RGBD"></a></p>
+<h1><a class="anchor" id="autotoc_md28"></a>
 RGBD</h1>
 <p>Metric SLAM: graph, proximity detection and localization.</p>
 <table class="markdownTable">
@@ -714,7 +684,8 @@ RGBD</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_RGBDProximityMergedScanCovFactor"></a><a class="el" href="classrtabmap_1_1Parameters.html#a177ab21121656a2d6bc07a24e3a9b0ad">RGBD/ProximityMergedScanCovFactor</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>100.0</code>   </td><td class="markdownTableBodyNone">Covariance factor for one-to-many proximity detection (when <a class="el" href="parameters.html#param_RGBDProximityPathMaxNeighbors">RGBD/ProximityPathMaxNeighbors</a>&gt;0 and scans are used).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Optimizer"></a>
+<p><a class="anchor" id="parameters_Optimizer"></a></p>
+<h1><a class="anchor" id="autotoc_md29"></a>
 Optimizer</h1>
 <p>Graph optimization back-end.</p>
 <table class="markdownTable">
@@ -753,7 +724,8 @@ Optimizer</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerRobustKernelDelta"></a><a class="el" href="classrtabmap_1_1Parameters.html#a5900adc0a8a2d5bf42963e4e5bee7855">Optimizer/RobustKernelDelta</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>8</code>   </td><td class="markdownTableBodyNone">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.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_g2o"></a>
+<p><a class="anchor" id="parameters_g2o"></a></p>
+<h1><a class="anchor" id="autotoc_md30"></a>
 g2o</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -764,7 +736,8 @@ g2o</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_g2oOptimizer"></a><a class="el" href="classrtabmap_1_1Parameters.html#aef86c8d789e3c0883af2bdcc0bccc95a">g2o/Optimizer</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">0=Levenberg 1=GaussNewton   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_GTSAM"></a>
+<p><a class="anchor" id="parameters_GTSAM"></a></p>
+<h1><a class="anchor" id="autotoc_md31"></a>
 GTSAM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -778,7 +751,8 @@ GTSAM</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_GTSAMIncRelinearizeSkip"></a><a class="el" href="classrtabmap_1_1Parameters.html#a134ec2e200cdcd6939f5a76c597cddcc">GTSAM/IncRelinearizeSkip</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>1</code>   </td><td class="markdownTableBodyNone">Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Odom"></a>
+<p><a class="anchor" id="parameters_Odom"></a></p>
+<h1><a class="anchor" id="autotoc_md32"></a>
 Odom</h1>
 <p>Odometry front-end shared settings.</p>
 <table class="markdownTable">
@@ -827,7 +801,8 @@ Odom</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomDeskewing"></a><a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208">Odom/Deskewing</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>true</code>   </td><td class="markdownTableBodyNone">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).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomF2M"></a>
+<p><a class="anchor" id="parameters_OdomF2M"></a></p>
+<h1><a class="anchor" id="autotoc_md33"></a>
 OdomF2M</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -862,7 +837,8 @@ OdomF2M</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomF2MBundleUpdateFeatureMapOnAllFrames"></a><a class="el" href="classrtabmap_1_1Parameters.html#aafbd529e88aa7d92dc489dda0ac65b9f">OdomF2M/BundleUpdateFeatureMapOnAllFrames</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">Update 3D local feature map on every frame with bundle adjustment. Recommended if <a class="el" href="parameters.html#param_VisDepthAsMask">Vis/DepthAsMask</a>=false and <a class="el" href="parameters.html#param_MemUseOdomFeatures">Mem/UseOdomFeatures</a>=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).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomMono"></a>
+<p><a class="anchor" id="parameters_OdomMono"></a></p>
+<h1><a class="anchor" id="autotoc_md34"></a>
 OdomMono</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -876,7 +852,8 @@ OdomMono</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomMonoMaxVariance"></a><a class="el" href="classrtabmap_1_1Parameters.html#a05fb10e20f11bdb85a45b4f5c6fd6499">OdomMono/MaxVariance</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.01</code>   </td><td class="markdownTableBodyNone">Maximum variance to add new points to local map.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomFovis"></a>
+<p><a class="anchor" id="parameters_OdomFovis"></a></p>
+<h1><a class="anchor" id="autotoc_md35"></a>
 OdomFovis</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -930,7 +907,8 @@ OdomFovis</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomFovisStereoMaxDisparity"></a><a class="el" href="classrtabmap_1_1Parameters.html#a556f56fbb700a484357a85d4617611d5">OdomFovis/StereoMaxDisparity</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>128</code>   </td><td class="markdownTableBodyNone"></td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomViso2"></a>
+<p><a class="anchor" id="parameters_OdomViso2"></a></p>
+<h1><a class="anchor" id="autotoc_md36"></a>
 OdomViso2</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -968,7 +946,8 @@ OdomViso2</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomViso2BucketHeight"></a><a class="el" href="classrtabmap_1_1Parameters.html#a5f25f50240e1e3827151e95f4622ec40">OdomViso2/BucketHeight</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>50</code>   </td><td class="markdownTableBodyNone">Height of bucket.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomORBSLAM"></a>
+<p><a class="anchor" id="parameters_OdomORBSLAM"></a></p>
+<h1><a class="anchor" id="autotoc_md37"></a>
 OdomORBSLAM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -998,7 +977,8 @@ OdomORBSLAM</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomORBSLAMSamplingRate"></a><a class="el" href="classrtabmap_1_1Parameters.html#afb0188eab89d395209fe258e81b591c1">OdomORBSLAM/SamplingRate</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">IMU sampling rate (0 to estimate from input data).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomOKVIS"></a>
+<p><a class="anchor" id="parameters_OdomOKVIS"></a></p>
+<h1><a class="anchor" id="autotoc_md38"></a>
 OdomOKVIS</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1006,7 +986,8 @@ OdomOKVIS</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomOKVISConfigPath"></a><a class="el" href="classrtabmap_1_1Parameters.html#acd5cb2b77739ac361d5697054849f34d">OdomOKVIS/ConfigPath</a>   </td><td class="markdownTableBodyNone">string   </td><td class="markdownTableBodyNone"><code>""</code>   </td><td class="markdownTableBodyNone">Path of OKVIS config file.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomLOAM"></a>
+<p><a class="anchor" id="parameters_OdomLOAM"></a></p>
+<h1><a class="anchor" id="autotoc_md39"></a>
 OdomLOAM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1024,7 +1005,8 @@ OdomLOAM</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomLOAMLocalMapping"></a><a class="el" href="classrtabmap_1_1Parameters.html#a1cd4a929870ee08a96751824fa4b6488">OdomLOAM/LocalMapping</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>true</code>   </td><td class="markdownTableBodyNone">Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomMSCKF"></a>
+<p><a class="anchor" id="parameters_OdomMSCKF"></a></p>
+<h1><a class="anchor" id="autotoc_md40"></a>
 OdomMSCKF</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1084,7 +1066,8 @@ OdomMSCKF</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomMSCKFMaxCamStateSize"></a><a class="el" href="classrtabmap_1_1Parameters.html#aaab6359b5620a95b1c967dff2ab72de4">OdomMSCKF/MaxCamStateSize</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>20</code>   </td><td class="markdownTableBodyNone"></td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomVINSFusion"></a>
+<p><a class="anchor" id="parameters_OdomVINSFusion"></a></p>
+<h1><a class="anchor" id="autotoc_md41"></a>
 OdomVINSFusion</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1092,7 +1075,8 @@ OdomVINSFusion</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomVINSFusionConfigPath"></a><a class="el" href="classrtabmap_1_1Parameters.html#acf6e02f152acab60ee7e978c41de0bd9">OdomVINSFusion/ConfigPath</a>   </td><td class="markdownTableBodyNone">string   </td><td class="markdownTableBodyNone"><code>""</code>   </td><td class="markdownTableBodyNone">Path of VINS-Fusion config file.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomOpenVINS"></a>
+<p><a class="anchor" id="parameters_OdomOpenVINS"></a></p>
+<h1><a class="anchor" id="autotoc_md42"></a>
 OdomOpenVINS</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1212,7 +1196,8 @@ OdomOpenVINS</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomOpenVINSUpSLAMChi2Multiplier"></a><a class="el" href="classrtabmap_1_1Parameters.html#a85e55e34a7da45dcde5cbde1b352625e">OdomOpenVINS/UpSLAMChi2Multiplier</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>1.0</code>   </td><td class="markdownTableBodyNone">Chi2 multiplier for SLAM features.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomOpen3D"></a>
+<p><a class="anchor" id="parameters_OdomOpen3D"></a></p>
+<h1><a class="anchor" id="autotoc_md43"></a>
 OdomOpen3D</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1222,7 +1207,8 @@ OdomOpen3D</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomOpen3DMethod"></a><a class="el" href="classrtabmap_1_1Parameters.html#ab4468a9f811ecb9d61dc9d9830f6713b">OdomOpen3D/Method</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomCuVSLAM"></a>
+<p><a class="anchor" id="parameters_OdomCuVSLAM"></a></p>
+<h1><a class="anchor" id="autotoc_md44"></a>
 OdomCuVSLAM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1230,7 +1216,8 @@ OdomCuVSLAM</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomCuVSLAMMulticamMode"></a><a class="el" href="classrtabmap_1_1Parameters.html#a27425f8e3e56f5a804d0dd5be78b9788">OdomCuVSLAM/MulticamMode</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_OdomLIOSAM"></a>
+<p><a class="anchor" id="parameters_OdomLIOSAM"></a></p>
+<h1><a class="anchor" id="autotoc_md45"></a>
 OdomLIOSAM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1262,7 +1249,8 @@ OdomLIOSAM</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomLIOSAMAngVar"></a><a class="el" href="classrtabmap_1_1Parameters.html#ae28d1bf81e35c7efb5c4ef046f0ed992">OdomLIOSAM/AngVar</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.01</code>   </td><td class="markdownTableBodyNone">Angular output variance.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Reg"></a>
+<p><a class="anchor" id="parameters_Reg"></a></p>
+<h1><a class="anchor" id="autotoc_md46"></a>
 Reg</h1>
 <p>Registration strategy shared by loop closures and proximity detection.</p>
 <table class="markdownTable">
@@ -1275,7 +1263,8 @@ Reg</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_RegForce3DoF"></a><a class="el" href="classrtabmap_1_1Parameters.html#adeb11e4b89634351a54bab99b3aeb68c">Reg/Force3DoF</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Vis"></a>
+<p><a class="anchor" id="parameters_Vis"></a></p>
+<h1><a class="anchor" id="autotoc_md47"></a>
 Vis</h1>
 <p>Visual registration (feature extraction, matching and PnP).</p>
 <table class="markdownTable">
@@ -1369,7 +1358,8 @@ Vis</h1>
 <td class="markdownTableBodyNone"><a class="anchor" id="param_VisBundleAdjustment"></a><a class="el" href="classrtabmap_1_1Parameters.html#a0c02ea87b8364cb887d712388c88a8a0">Vis/BundleAdjustment</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>1</code> with <code>defined(RTABMAP_G2O) \|\| defined(RTABMAP_ORB_SLAM)</code><br  />
 <code>0</code> otherwise   </td><td class="markdownTableBodyNone">Optimization with bundle adjustment. Value matches the <a class="el" href="parameters.html#param_OptimizerStrategy">Optimizer/Strategy</a> parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_PyMatcher"></a>
+<p><a class="anchor" id="parameters_PyMatcher"></a></p>
+<h1><a class="anchor" id="autotoc_md48"></a>
 PyMatcher</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1385,7 +1375,8 @@ PyMatcher</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_PyMatcherModel"></a><a class="el" href="classrtabmap_1_1Parameters.html#a577a5fd2e1bd55f481fb3996237e7c86">PyMatcher/Model</a>   </td><td class="markdownTableBodyNone">string   </td><td class="markdownTableBodyNone"><code>indoor</code>   </td><td class="markdownTableBodyNone">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").   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_GMS"></a>
+<p><a class="anchor" id="parameters_GMS"></a></p>
+<h1><a class="anchor" id="autotoc_md49"></a>
 GMS</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1397,7 +1388,8 @@ GMS</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_GMSThresholdFactor"></a><a class="el" href="classrtabmap_1_1Parameters.html#a4ac2b3550fbbd94f088b7b40a4fb7fe1">GMS/ThresholdFactor</a>   </td><td class="markdownTableBodyNone">double   </td><td class="markdownTableBodyNone"><code>6.0</code>   </td><td class="markdownTableBodyNone">The higher, the less matches.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_PyDescriptor"></a>
+<p><a class="anchor" id="parameters_PyDescriptor"></a></p>
+<h1><a class="anchor" id="autotoc_md50"></a>
 PyDescriptor</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1407,7 +1399,8 @@ PyDescriptor</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_PyDescriptorDim"></a><a class="el" href="classrtabmap_1_1Parameters.html#aea51e2c74f29d39e1688a592962cf9ad">PyDescriptor/Dim</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>4096</code>   </td><td class="markdownTableBodyNone">Descriptor dimension.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Icp"></a>
+<p><a class="anchor" id="parameters_Icp"></a></p>
+<h1><a class="anchor" id="autotoc_md51"></a>
 Icp</h1>
 <p>Geometric registration by iterative closest point.</p>
 <table class="markdownTable">
@@ -1477,7 +1470,8 @@ Icp</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_IcpCCMaxFinalRMS"></a><a class="el" href="classrtabmap_1_1Parameters.html#a296483386b095ff93c27c7ddd5204d08">Icp/CCMaxFinalRMS</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.2</code>   </td><td class="markdownTableBodyNone">Maximum final RMS error.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Stereo"></a>
+<p><a class="anchor" id="parameters_Stereo"></a></p>
+<h1><a class="anchor" id="autotoc_md52"></a>
 Stereo</h1>
 <p>Stereo correspondence.</p>
 <table class="markdownTable">
@@ -1512,7 +1506,8 @@ Stereo</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_StereoDenseStrategy"></a><a class="el" href="classrtabmap_1_1Parameters.html#a3d90e8ab6857becd7e2c3bf9e35ab261">Stereo/DenseStrategy</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">0=cv::StereoBM, 1=cv::StereoSGBM   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_StereoBM"></a>
+<p><a class="anchor" id="parameters_StereoBM"></a></p>
+<h1><a class="anchor" id="autotoc_md53"></a>
 StereoBM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1538,7 +1533,8 @@ StereoBM</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_StereoBMDisp12MaxDiff"></a><a class="el" href="classrtabmap_1_1Parameters.html#adfa753955fde235a1368dd679b75ee56">StereoBM/Disp12MaxDiff</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>-1</code>   </td><td class="markdownTableBodyNone">See cv::StereoBM   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_StereoSGBM"></a>
+<p><a class="anchor" id="parameters_StereoSGBM"></a></p>
+<h1><a class="anchor" id="autotoc_md54"></a>
 StereoSGBM</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1567,7 +1563,8 @@ StereoSGBM</h1>
 <td class="markdownTableBodyNone"><a class="anchor" id="param_StereoSGBMMode"></a><a class="el" href="classrtabmap_1_1Parameters.html#a838ec79552e7506f983ff71cbd6fb56d">StereoSGBM/Mode</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code> with <code>CV_MAJOR_VERSION &amp;lt; 3</code><br  />
 <code>2</code> otherwise   </td><td class="markdownTableBodyNone">See cv::StereoSGBM   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Grid"></a>
+<p><a class="anchor" id="parameters_Grid"></a></p>
+<h1><a class="anchor" id="autotoc_md55"></a>
 Grid</h1>
 <p>Local occupancy grid generation from each node.</p>
 <table class="markdownTable">
@@ -1629,7 +1626,8 @@ Grid</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_GridRayTracing"></a><a class="el" href="classrtabmap_1_1Parameters.html#aaf5a23830e3aee217920e18aeada9f00">Grid/RayTracing</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If <a class="el" href="parameters.html#param_Grid3D">Grid/3D</a>=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_GridGlobal"></a>
+<p><a class="anchor" id="parameters_GridGlobal"></a></p>
+<h1><a class="anchor" id="autotoc_md56"></a>
 GridGlobal</h1>
 <p>Assembly of the local grids into the global map.</p>
 <table class="markdownTable">
@@ -1660,7 +1658,8 @@ GridGlobal</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_GridGlobalFloodFillDepth"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa9112f877f9d69592f68df92e72c2105">GridGlobal/FloodFillDepth</a>   </td><td class="markdownTableBodyNone">unsigned int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">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.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_Marker"></a>
+<p><a class="anchor" id="parameters_Marker"></a></p>
+<h1><a class="anchor" id="autotoc_md57"></a>
 Marker</h1>
 <p>Fiducial marker (ArUco/AprilTag) detection and landmarks.</p>
 <table class="markdownTable">
@@ -1693,7 +1692,8 @@ Marker</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerPriorsVarianceAngular"></a><a class="el" href="classrtabmap_1_1Parameters.html#ad7eae2c7445b3cec440feac79c3aa635">Marker/PriorsVarianceAngular</a>   </td><td class="markdownTableBodyNone">float   </td><td class="markdownTableBodyNone"><code>0.001</code>   </td><td class="markdownTableBodyNone">Angular variance to set on marker priors.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_MarkerAprilTag"></a>
+<p><a class="anchor" id="parameters_MarkerAprilTag"></a></p>
+<h1><a class="anchor" id="autotoc_md58"></a>
 MarkerAprilTag</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1711,7 +1711,8 @@ MarkerAprilTag</h1>
 <tr class="markdownTableRowEven">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerAprilTagDebug"></a><a class="el" href="classrtabmap_1_1Parameters.html#afa504a77adb75f55aadb411b20b8d045">MarkerAprilTag/Debug</a>   </td><td class="markdownTableBodyNone">bool   </td><td class="markdownTableBodyNone"><code>false</code>   </td><td class="markdownTableBodyNone">When true, write a variety of debugging images to the working directory where the app started (not <a class="el" href="parameters.html#param_RtabmapWorkingDirectory">Rtabmap/WorkingDirectory</a>) at various stages through the detection process. (Somewhat slow).   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_MarkerOpenCV"></a>
+<p><a class="anchor" id="parameters_MarkerOpenCV"></a></p>
+<h1><a class="anchor" id="autotoc_md59"></a>
 MarkerOpenCV</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
@@ -1719,7 +1720,8 @@ MarkerOpenCV</h1>
 <tr class="markdownTableRowOdd">
 <td class="markdownTableBodyNone"><a class="anchor" id="param_MarkerOpenCVCornerRefinementMethod"></a><a class="el" href="classrtabmap_1_1Parameters.html#a9858aa16eb660ea69e0523d30407fe84">MarkerOpenCV/CornerRefinementMethod</a>   </td><td class="markdownTableBodyNone">int   </td><td class="markdownTableBodyNone"><code>0</code>   </td><td class="markdownTableBodyNone">Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV &lt;3.3.0, this is "doCornerRefinement" parameter: set 0 for false and 1 for true.   </td></tr>
 </table>
-<h1><a class="anchor" id="parameters_ImuFilter"></a>
+<p><a class="anchor" id="parameters_ImuFilter"></a></p>
+<h1><a class="anchor" id="autotoc_md60"></a>
 ImuFilter</h1>
 <table class="markdownTable">
 <tr class="markdownTableHead">
diff --git a/preview/pr-1492/api/latest/rtabmap__core__export_8h_source.html b/preview/pr-1492/api/latest/rtabmap__core__export_8h_source.html
index 888f6bb1..eba4cd81 100644
--- a/preview/pr-1492/api/latest/rtabmap__core__export_8h_source.html
+++ b/preview/pr-1492/api/latest/rtabmap__core__export_8h_source.html
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+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
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+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
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 <body>
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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 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/search/all_11.js b/preview/pr-1492/api/latest/search/all_11.js
index ac136e9d..00a65ec6 100644
--- a/preview/pr-1492/api/latest/search/all_11.js
+++ b/preview/pr-1492/api/latest/search/all_11.js
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-  ['odom_10',['Odom',['../parameters.html#parameters_Odom',1,'']]],
+  ['odom_10',['Odom',['../parameters.html#autotoc_md32',1,'']]],
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-  ['kaze_8',['kaze',['../parameters.html#parameters_KAZE',1,'KAZE'],['../classrtabmap_1_1KAZE.html',1,'rtabmap::KAZE']]],
+  ['kaze_8',['kaze',['../parameters.html#autotoc_md22',1,'KAZE'],['../classrtabmap_1_1KAZE.html',1,'rtabmap::KAZE']]],
   ['kbayesfullpredictionupdate_9',['kBayesFullPredictionUpdate',['../classrtabmap_1_1Parameters.html#a08f0a214eb15975386b5d06be56e38b4',1,'rtabmap::Parameters']]],
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@@ -500,7 +500,7 @@ var searchData=
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-  ['kp_500',['Kp',['../parameters.html#parameters_Kp',1,'']]],
+  ['kp_500',['Kp',['../parameters.html#autotoc_md11',1,'']]],
   ['kposeprior_501',['kPosePrior',['../classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1',1,'rtabmap::Link']]],
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diff --git a/preview/pr-1492/api/latest/search/all_f.js b/preview/pr-1492/api/latest/search/all_f.js
index 01e1c9c2..f408b508 100644
--- a/preview/pr-1492/api/latest/search/all_f.js
+++ b/preview/pr-1492/api/latest/search/all_f.js
@@ -4,30 +4,29 @@ var searchData=
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   ['management_3',['Memory management',['../index.html#autotoc_md2',1,'']]],
-  ['map_4',['Working with a map',['../tools.html#autotoc_md8',1,'']]],
+  ['map_4',['Working with a map',['../tools.html#autotoc_md5',1,'']]],
   ['map_20c_20api_5',['RTAB-Map C++ API',['../index.html',1,'']]],
-  ['map_20structure_6',['The map structure',['../index.html#autotoc_md5',1,'']]],
-  ['mapcorrection_7',['mapCorrection',['../classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d',1,'rtabmap::Statistics']]],
-  ['mapid_8',['mapId',['../classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb',1,'rtabmap::Signature']]],
-  ['marker_9',['Marker',['../parameters.html#parameters_Marker',1,'']]],
-  ['markerapriltag_10',['MarkerAprilTag',['../parameters.html#parameters_MarkerAprilTag',1,'']]],
-  ['markerdetector_11',['MarkerDetector',['../classrtabmap_1_1MarkerDetector.html',1,'rtabmap']]],
-  ['markerinfo_12',['MarkerInfo',['../classrtabmap_1_1MarkerInfo.html',1,'rtabmap']]],
-  ['markeropencv_13',['MarkerOpenCV',['../parameters.html#parameters_MarkerOpenCV',1,'']]],
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-  ['matchespercam_16',['matchesPerCam',['../classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82',1,'rtabmap::RegistrationInfo']]],
-  ['mathematic_20operations_17',['Basic mathematic operations',['../group__UtiLite.html#math',1,'']]],
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-  ['maxlevel_20',['maxLevel',['../classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5',1,'rtabmap::Stereo']]],
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-  ['memorychanged_24',['memoryChanged',['../classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a',1,'rtabmap::Memory']]],
-  ['memoryusage_25',['memoryUsage',['../classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3',1,'rtabmap::OdometryInfo']]],
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-  ['mergetextures_27',['mergeTextures',['../namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238',1,'rtabmap::util3d']]],
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+  ['mapcorrection_6',['mapCorrection',['../classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d',1,'rtabmap::Statistics']]],
+  ['mapid_7',['mapId',['../classrtabmap_1_1Signature.html#ac6a75872fb4cb64bd088794df6e897bb',1,'rtabmap::Signature']]],
+  ['marker_8',['Marker',['../parameters.html#autotoc_md57',1,'']]],
+  ['markerapriltag_9',['MarkerAprilTag',['../parameters.html#autotoc_md58',1,'']]],
+  ['markerdetector_10',['MarkerDetector',['../classrtabmap_1_1MarkerDetector.html',1,'rtabmap']]],
+  ['markerinfo_11',['MarkerInfo',['../classrtabmap_1_1MarkerInfo.html',1,'rtabmap']]],
+  ['markeropencv_12',['MarkerOpenCV',['../parameters.html#autotoc_md59',1,'']]],
+  ['matches_13',['matches',['../classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8',1,'rtabmap::RegistrationInfo']]],
+  ['matchesids_14',['matchesIDs',['../classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc',1,'rtabmap::RegistrationInfo']]],
+  ['matchespercam_15',['matchesPerCam',['../classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82',1,'rtabmap::RegistrationInfo']]],
+  ['mathematic_20operations_16',['Basic mathematic operations',['../group__UtiLite.html#math',1,'']]],
+  ['maxdisparity_17',['maxDisparity',['../classrtabmap_1_1Stereo.html#a83319186c8c434ad0482d2eb911ecd31',1,'rtabmap::Stereo']]],
+  ['maxgrapherrors_18',['MaxGraphErrors',['../structrtabmap_1_1graph_1_1MaxGraphErrors.html',1,'rtabmap::graph']]],
+  ['maxlevel_19',['maxLevel',['../classrtabmap_1_1Stereo.html#a3834923d75c9453e885bea01cb5ecfa5',1,'rtabmap::Stereo']]],
+  ['mem_20',['Mem',['../parameters.html#autotoc_md10',1,'']]],
+  ['memory_21',['memory',['../classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4',1,'rtabmap::Memory::Memory()'],['../classrtabmap_1_1Memory.html',1,'rtabmap::Memory']]],
+  ['memory_20management_22',['Memory management',['../index.html#autotoc_md2',1,'']]],
+  ['memorychanged_23',['memoryChanged',['../classrtabmap_1_1Memory.html#a8720df55fa6f8be933827808d364f20a',1,'rtabmap::Memory']]],
+  ['memoryusage_24',['memoryUsage',['../classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3',1,'rtabmap::OdometryInfo']]],
+  ['merge_25',['merge',['../classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542',1,'rtabmap::Link']]],
+  ['mergetextures_26',['mergeTextures',['../namespacertabmap_1_1util3d.html#aeec8dd0024231c36c089340895609238',1,'rtabmap::util3d']]],
+  ['mindisparity_27',['minDisparity',['../classrtabmap_1_1Stereo.html#aaeec1e0e5470b1b1268b4e04bff81742',1,'rtabmap::Stereo']]],
+  ['multibandtexturing_28',['multiBandTexturing',['../namespacertabmap_1_1util3d.html#a695eb29e9b2679634edb6b8c36a11942',1,'rtabmap::util3d']]]
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diff --git a/preview/pr-1492/api/latest/search/search.css b/preview/pr-1492/api/latest/search/search.css
index 19f76f9d..d7b0f90b 100644
--- a/preview/pr-1492/api/latest/search/search.css
+++ b/preview/pr-1492/api/latest/search/search.css
@@ -25,9 +25,9 @@ dark-mode-toggle {
 #MSearchBox {
     display: inline-block;
     white-space : nowrap;
-    background: var(--search-background-color);
+    background: white;
     border-radius: 0.65em;
-    box-shadow: var(--search-box-shadow);
+    box-shadow: inset 0.5px 0.5px 3px 0px #555;
     z-index: 102;
 }
 
@@ -42,7 +42,7 @@ dark-mode-toggle {
     vertical-align: middle;
     width: 20px;
     height: 19px;
-    background-image: var(--search-magnification-select-image);
+    background-image: url('mag_sel.svg');
     margin: 0 0 0 0.3em;
     padding: 0;
 }
@@ -52,7 +52,7 @@ dark-mode-toggle {
     vertical-align: middle;
     width: 10px;
     height: 19px;
-    background-image: var(--search-magnification-image);
+    background-image: url('mag.svg');
     margin: 0 0 0 0.5em;
     padding: 0;
 }
@@ -67,9 +67,9 @@ dark-mode-toggle {
     padding: 0;
     line-height: 1em;
     border:none;
-    color: var(--search-foreground-color);
+    color: #909090;
     outline: none;
-    font-family: var(--font-family-search);
+    font-family: Arial,Verdana,sans-serif;
     -webkit-border-radius: 0px;
     border-radius: 0px;
     background: none;
@@ -106,7 +106,7 @@ dark-mode-toggle {
 }
 
 .MSearchBoxActive #MSearchField {
-    color: var(--search-active-color);
+    color: black;
 }
 
 
@@ -117,8 +117,8 @@ dark-mode-toggle {
     display: none;
     position: absolute;
     left: 0; top: 0;
-    border: 1px solid var(--search-filter-border-color);
-    background-color: var(--search-filter-background-color);
+    border: 1px solid #90A5CE;
+    background-color: #F9FAFC;
     z-index: 10001;
     padding-top: 4px;
     padding-bottom: 4px;
@@ -131,7 +131,7 @@ dark-mode-toggle {
 }
 
 .SelectItem {
-    font: 8pt var(--font-family-search);
+    font: 8pt Arial,Verdana,sans-serif;
     padding-left:  2px;
     padding-right: 12px;
     border: 0px;
@@ -139,7 +139,7 @@ dark-mode-toggle {
 
 span.SelectionMark {
     margin-right: 4px;
-    font-family: var(--font-family-monospace);
+    font-family: 'JetBrains Mono',Consolas,Monaco,'Andale Mono','Ubuntu Mono',monospace,fixed;
     outline-style: none;
     text-decoration: none;
 }
@@ -147,7 +147,7 @@ span.SelectionMark {
 a.SelectItem {
     display: block;
     outline-style: none;
-    color: var(--search-filter-foreground-color);
+    color: black;
     text-decoration: none;
     padding-left:   6px;
     padding-right: 12px;
@@ -155,14 +155,14 @@ a.SelectItem {
 
 a.SelectItem:focus,
 a.SelectItem:active {
-    color: var(--search-filter-foreground-color);
+    color: black;
     outline-style: none;
     text-decoration: none;
 }
 
 a.SelectItem:hover {
-    color: var(--search-filter-highlight-text-color);
-    background-color: var(--search-filter-highlight-bg-color);
+    color: white;
+    background-color: #3D578C;
     outline-style: none;
     text-decoration: none;
     cursor: pointer;
@@ -180,8 +180,8 @@ iframe#MSearchResults {
     display: none;
     position: absolute;
     left: 0; top: 0;
-    border: 1px solid var(--search-results-border-color);
-    background-color: var(--search-results-background-color);
+    border: 1px solid black;
+    background-color: #EEF1F7;
     z-index:10000;
     width: 300px;
     height: 400px;
@@ -207,7 +207,7 @@ iframe#MSearchResults {
 
 div.SRPage {
     margin: 5px 2px;
-    background-color: var(--search-results-background-color);
+    background-color: #EEF1F7;
 }
 
 .SRChildren {
@@ -220,16 +220,16 @@ div.SRPage {
 
 .SRSymbol {
     font-weight: bold;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
+    color: #425E97;
+    font-family: Arial,Verdana,sans-serif;
     text-decoration: none;
     outline: none;
 }
 
 a.SRScope {
     display: block;
-    color: var(--search-results-foreground-color);
-    font-family: var(--font-family-search);
+    color: #425E97;
+    font-family: Arial,Verdana,sans-serif;
     font-size: 8pt;
     text-decoration: none;
     outline: none;
@@ -242,14 +242,14 @@ a.SRScope:focus, a.SRScope:active {
 
 span.SRScope {
     padding-left: 4px;
-    font-family: var(--font-family-search);
+    font-family: Arial,Verdana,sans-serif;
 }
 
 .SRPage .SRStatus {
     padding: 2px 5px;
     font-size: 8pt;
     font-style: italic;
-    font-family: var(--font-family-search);
+    font-family: Arial,Verdana,sans-serif;
 }
 
 .SRResult {
@@ -266,7 +266,7 @@ div.searchresults {
 .pages b {
    color: white;
    padding: 5px 5px 3px 5px;
-   background-image: var(--nav-gradient-active-image-parent);
+   background-image: url("../tab_a.png");
    background-repeat: repeat-x;
    text-shadow: 0 1px 1px #000000;
 }
diff --git a/preview/pr-1492/api/latest/slam__calibrator_8h_source.html b/preview/pr-1492/api/latest/slam__calibrator_8h_source.html
index a7f9c261..d565e7ac 100644
--- a/preview/pr-1492/api/latest/slam__calibrator_8h_source.html
+++ b/preview/pr-1492/api/latest/slam__calibrator_8h_source.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html b/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html
index 13208c83..36dca3b9 100644
--- a/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html
+++ b/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html
index c58508f8..a88b39cc 100644
--- a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html
+++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html
index 25de1d55..52b82ea1 100644
--- a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html
+++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html
index 59e695fc..3fa94d19 100644
--- a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html
+++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html
@@ -18,9 +18,13 @@
 <script type="text/javascript" src="search/searchdata.js"></script>
 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
 <script type="text/javascript" src="version-switcher.js"></script>
+<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
+<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
 </head>
 <body>
 <div id="top"><!-- do not remove this div, it is closed by doxygen! -->
diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html
index a30797ce..3a00f9f8 100644
--- a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html
+++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html
@@ -18,9 +18,13 @@
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 <script type="text/javascript" src="search/search.js"></script>
 <link href="doxygen.css" rel="stylesheet" type="text/css" />
+<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
+<link href="custom.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
 <script type="text/javascript" src="../versions.js"></script>
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