diff --git a/preview/pr-1492/api/index.html b/preview/pr-1492/api/index.html new file mode 100644 index 00000000..d8e0f6a3 --- /dev/null +++ b/preview/pr-1492/api/index.html @@ -0,0 +1,6 @@ + + +RTAB-Map API documentation + + +

Redirecting to the latest API documentation.

diff --git a/preview/pr-1492/api/latest/BayesFilter_8h_source.html b/preview/pr-1492/api/latest/BayesFilter_8h_source.html index b67fc283..88e9f6e4 100644 --- a/preview/pr-1492/api/latest/BayesFilter_8h_source.html +++ b/preview/pr-1492/api/latest/BayesFilter_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
BayesFilter.h
@@ -133,10 +150,10 @@ $(document).ready(function() { init_codefold(0); });
71class RTABMAP_CORE_EXPORT BayesFilter
72{
73public:
-
78 BayesFilter(const ParametersMap & parameters = ParametersMap());
+
78 BayesFilter(const ParametersMap & parameters = ParametersMap());
79 virtual ~BayesFilter();
80
-
85 virtual void parseParameters(const ParametersMap & parameters);
+
85 virtual void parseParameters(const ParametersMap & parameters);
86
99 const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
100
@@ -197,10 +214,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html b/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html index 7084ee8e..a5cb5e2d 100644 --- a/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html +++ b/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraDepthAI.h
@@ -214,9 +231,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraEvent_8h_source.html b/preview/pr-1492/api/latest/CameraEvent_8h_source.html index 2f267829..267022e7 100644 --- a/preview/pr-1492/api/latest/CameraEvent_8h_source.html +++ b/preview/pr-1492/api/latest/CameraEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraEvent.h
@@ -116,9 +133,13 @@ $(document).ready(function() { init_codefold(0); });
29
30#include "rtabmap/core/SensorEvent.h"
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html b/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html index 206a2fee..cf20216b 100644 --- a/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html +++ b/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraFreenect2.h
@@ -198,9 +215,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraFreenect_8h_source.html b/preview/pr-1492/api/latest/CameraFreenect_8h_source.html index 3e2b434e..66a9eec2 100644 --- a/preview/pr-1492/api/latest/CameraFreenect_8h_source.html +++ b/preview/pr-1492/api/latest/CameraFreenect_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraFreenect.h
@@ -174,9 +191,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraImages_8h_source.html b/preview/pr-1492/api/latest/CameraImages_8h_source.html index ac4a5766..3dd4281e 100644 --- a/preview/pr-1492/api/latest/CameraImages_8h_source.html +++ b/preview/pr-1492/api/latest/CameraImages_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraImages.h
@@ -331,9 +348,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraInfo_8h_source.html b/preview/pr-1492/api/latest/CameraInfo_8h_source.html index e60f543c..df2dd59f 100644 --- a/preview/pr-1492/api/latest/CameraInfo_8h_source.html +++ b/preview/pr-1492/api/latest/CameraInfo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraInfo.h
@@ -116,9 +133,13 @@ $(document).ready(function() { init_codefold(0); });
29
30#include "rtabmap/core/SensorCaptureInfo.h"
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraK4A_8h_source.html b/preview/pr-1492/api/latest/CameraK4A_8h_source.html index f613aeea..edc3886f 100644 --- a/preview/pr-1492/api/latest/CameraK4A_8h_source.html +++ b/preview/pr-1492/api/latest/CameraK4A_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraK4A.h
@@ -196,9 +213,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraK4W2_8h_source.html b/preview/pr-1492/api/latest/CameraK4W2_8h_source.html index 5d9539a1..f3efdd8d 100644 --- a/preview/pr-1492/api/latest/CameraK4W2_8h_source.html +++ b/preview/pr-1492/api/latest/CameraK4W2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraK4W2.h
@@ -192,9 +209,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraModel_8h_source.html b/preview/pr-1492/api/latest/CameraModel_8h_source.html index e97fdedb..135a564f 100644 --- a/preview/pr-1492/api/latest/CameraModel_8h_source.html +++ b/preview/pr-1492/api/latest/CameraModel_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraModel.h
@@ -309,9 +326,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html b/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html index a8e083da..9da805bc 100644 --- a/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html +++ b/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraMyntEye.h
@@ -205,9 +222,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html b/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html index 1fa2f4cc..18954920 100644 --- a/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html +++ b/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraOpenNI2.h
@@ -190,9 +207,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html b/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html index d5fdb3ec..46a425a1 100644 --- a/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html +++ b/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraOpenNICV.h
@@ -158,9 +175,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraOpenni_8h_source.html b/preview/pr-1492/api/latest/CameraOpenni_8h_source.html index f8fa3c4e..77eaf7cd 100644 --- a/preview/pr-1492/api/latest/CameraOpenni_8h_source.html +++ b/preview/pr-1492/api/latest/CameraOpenni_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraOpenni.h
@@ -196,9 +213,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html b/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html index f8075156..0c8378c6 100644 --- a/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html +++ b/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraOrbbecSDK.h
@@ -203,9 +220,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html b/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html index 40a21da2..8f1fec7e 100644 --- a/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html +++ b/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraRGBDImages.h
@@ -155,9 +172,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraRGBD_8h_source.html b/preview/pr-1492/api/latest/CameraRGBD_8h_source.html index d2afbc8d..74318c75 100644 --- a/preview/pr-1492/api/latest/CameraRGBD_8h_source.html +++ b/preview/pr-1492/api/latest/CameraRGBD_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
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CameraRGBD.h
@@ -127,9 +144,13 @@ $(document).ready(function() { init_codefold(0); });
40#include <rtabmap/core/camera/CameraSeerSense.h>
41#include <rtabmap/core/camera/CameraOrbbecSDK.h>
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraRGB_8h_source.html b/preview/pr-1492/api/latest/CameraRGB_8h_source.html index 988a69ab..ba9443e0 100644 --- a/preview/pr-1492/api/latest/CameraRGB_8h_source.html +++ b/preview/pr-1492/api/latest/CameraRGB_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
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CameraRGB.h
@@ -117,9 +134,13 @@ $(document).ready(function() { init_codefold(0); });
30#include <rtabmap/core/camera/CameraImages.h>
31#include <rtabmap/core/camera/CameraVideo.h>
+ -
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+ diff --git a/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html b/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html index b048b825..0aa7e70c 100644 --- a/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html +++ b/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraRealSense2.h
@@ -255,9 +272,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraRealSense_8h_source.html b/preview/pr-1492/api/latest/CameraRealSense_8h_source.html index 808dd8a7..0579d7d0 100644 --- a/preview/pr-1492/api/latest/CameraRealSense_8h_source.html +++ b/preview/pr-1492/api/latest/CameraRealSense_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraRealSense.h
@@ -201,9 +218,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html b/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html index 09af63f0..9bb738c8 100644 --- a/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html +++ b/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
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CameraSeerSense.h
@@ -153,9 +170,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
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+ diff --git a/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html b/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html index 7a0b3f1a..3851838e 100644 --- a/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
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CameraStereoDC1394.h
@@ -161,9 +178,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
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+ diff --git a/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html b/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html index d566ec65..24a44888 100644 --- a/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
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CameraStereoFlyCapture2.h
@@ -162,9 +179,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
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+ diff --git a/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html b/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html index 5b7b65ca..00c31769 100644 --- a/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
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CameraStereoImages.h
@@ -197,9 +214,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html b/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html index a8db9347..b79d20ae 100644 --- a/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraStereoTara.h
@@ -165,9 +182,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html b/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html index 19673513..d31098c3 100644 --- a/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraStereoVideo.h
@@ -189,9 +206,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html b/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html index 9b772eac..d27938b6 100644 --- a/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraStereoZedOC.h
@@ -181,9 +198,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html b/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html index 1f050d94..b3c16938 100644 --- a/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraStereoZed.h
@@ -213,9 +230,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraStereo_8h_source.html b/preview/pr-1492/api/latest/CameraStereo_8h_source.html index 8c9303e0..f7ee877e 100644 --- a/preview/pr-1492/api/latest/CameraStereo_8h_source.html +++ b/preview/pr-1492/api/latest/CameraStereo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraStereo.h
@@ -124,9 +141,13 @@ $(document).ready(function() { init_codefold(0); });
37#include <rtabmap/core/camera/CameraMyntEye.h>
38#include <rtabmap/core/camera/CameraDepthAI.h>
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraThread_8h_source.html b/preview/pr-1492/api/latest/CameraThread_8h_source.html index b8c43200..188a285b 100644 --- a/preview/pr-1492/api/latest/CameraThread_8h_source.html +++ b/preview/pr-1492/api/latest/CameraThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraThread.h
@@ -116,9 +133,13 @@ $(document).ready(function() { init_codefold(0); });
29
30#include "rtabmap/core/SensorCaptureThread.h"
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CameraVideo_8h_source.html b/preview/pr-1492/api/latest/CameraVideo_8h_source.html index 75372697..0fa797e9 100644 --- a/preview/pr-1492/api/latest/CameraVideo_8h_source.html +++ b/preview/pr-1492/api/latest/CameraVideo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CameraVideo.h
@@ -179,9 +196,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Camera_8h_source.html b/preview/pr-1492/api/latest/Camera_8h_source.html index 03fbcb1d..567a972d 100644 --- a/preview/pr-1492/api/latest/Camera_8h_source.html +++ b/preview/pr-1492/api/latest/Camera_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Camera.h
@@ -167,9 +184,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/CloudMap_8h_source.html b/preview/pr-1492/api/latest/CloudMap_8h_source.html index dac1d0e1..ebb3e7f7 100644 --- a/preview/pr-1492/api/latest/CloudMap_8h_source.html +++ b/preview/pr-1492/api/latest/CloudMap_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
CloudMap.h
@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
40class RTABMAP_CORE_EXPORT CloudMap : public GlobalMap
41{
42public:
-
43 CloudMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
43 CloudMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
44
45 virtual void clear();
46
@@ -158,10 +175,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Compression_8h_source.html b/preview/pr-1492/api/latest/Compression_8h_source.html index 30da129b..99515a63 100644 --- a/preview/pr-1492/api/latest/Compression_8h_source.html +++ b/preview/pr-1492/api/latest/Compression_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Compression.h
@@ -182,9 +199,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::compressImage2
cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat &image, const std::string &format=".png")
Same as compressImage() but returns a CV_8UC1 row matrix.
rtabmap::compressData2
cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat &data)
Same as compressData() but returns a CV_8UC1 row matrix.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html b/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html index b6febb50..a4e5ce4a 100644 --- a/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html +++ b/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
DBDriverSqlite3.h
@@ -131,10 +148,10 @@ $(document).ready(function() { init_codefold(0); });
70class RTABMAP_CORE_EXPORT DBDriverSqlite3: public DBDriver {
71public:
-
76 DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
+
76 DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
77 virtual ~DBDriverSqlite3();
78
-
80 virtual void parseParameters(const ParametersMap & parameters);
+
80 virtual void parseParameters(const ParametersMap & parameters);
85 virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
90 void setDbInMemory(bool dbInMemory);
110 void setJournalMode(int journalMode);
@@ -166,7 +183,7 @@ $(document).ready(function() { init_codefold(0); });
176 virtual int getLastDictionarySizeQuery() const;
177 virtual int getTotalNodesSizeQuery() const;
178 virtual int getTotalDictionarySizeQuery() const;
-
179 virtual ParametersMap getLastParametersQuery() const;
+
179 virtual ParametersMap getLastParametersQuery() const;
180 virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;
181 virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;
182 virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;
@@ -334,10 +351,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
rtabmap
Definition BayesFilter.h:39
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/DBDriver_8h_source.html b/preview/pr-1492/api/latest/DBDriver_8h_source.html index 35330116..13ea8443 100644 --- a/preview/pr-1492/api/latest/DBDriver_8h_source.html +++ b/preview/pr-1492/api/latest/DBDriver_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
DBDriver.h
@@ -123,7 +140,7 @@ $(document).ready(function() { init_codefold(0); });
36#include <set>
37#include <opencv2/core/core.hpp>
38#include "rtabmap/utilite/UMutex.h"
-
39#include "rtabmap/utilite/UThreadNode.h"
+
39#include "rtabmap/utilite/UThreadNode.h"
40#include "rtabmap/core/Parameters.h"
41#include "rtabmap/core/SensorData.h"
42#include <rtabmap/core/Statistics.h>
@@ -141,12 +158,12 @@ $(document).ready(function() { init_codefold(0); });
71class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode
72{
73public:
-
79 static DBDriver * create(const ParametersMap & parameters = ParametersMap());
+
79 static DBDriver * create(const ParametersMap & parameters = ParametersMap());
80
81public:
82 virtual ~DBDriver();
83
-
85 virtual void parseParameters(const ParametersMap & parameters);
+
85 virtual void parseParameters(const ParametersMap & parameters);
90 virtual bool isInMemory() const {return _url.empty();}
92 const std::string & getUrl() const {return _url;}
94 const std::string & getTargetVersion() const {return _targetVersion;}
@@ -179,7 +196,7 @@ $(document).ready(function() { init_codefold(0); });
156 void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);
162 void updateLaserScan(int nodeId, const LaserScan & scan);
165public:
-
170 void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
+
170 void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
176 void addStatistics(const Statistics & statistics, bool saveWmState) const;
182 void savePreviewImage(const cv::Mat & image) const;
184 cv::Mat loadPreviewImage() const;
@@ -226,7 +243,7 @@ $(document).ready(function() { init_codefold(0); });
251 int getLastDictionarySize() const; // working memory
252 int getTotalNodesSize() const;
253 int getTotalDictionarySize() const;
-
254 ParametersMap getLastParameters() const;
+
254 ParametersMap getLastParameters() const;
255 std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
256 std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
257 std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
@@ -262,7 +279,7 @@ $(document).ready(function() { init_codefold(0); });
310 void getNodeIdByLabel(const std::string & label, int & id) const;
311 void getAllLabels(std::map<int, std::string> & labels) const;
314protected:
-
318 DBDriver(const ParametersMap & parameters = ParametersMap());
+
318 DBDriver(const ParametersMap & parameters = ParametersMap());
319
324 virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
325 virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
@@ -284,7 +301,7 @@ $(document).ready(function() { init_codefold(0); });
341 virtual int getLastDictionarySizeQuery() const = 0;
342 virtual int getTotalNodesSizeQuery() const = 0;
343 virtual int getTotalDictionarySizeQuery() const = 0;
-
344 virtual ParametersMap getLastParametersQuery() const = 0;
+
344 virtual ParametersMap getLastParametersQuery() const = 0;
345 virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
346 virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
347 virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
@@ -398,6 +415,7 @@ $(document).ready(function() { init_codefold(0); });
458}
459
460#endif /* DBDRIVER_H_ */
+
UThreadNode.h
Backward-compatible alias header for UThread.
UMutex
Definition UMutex.h:55
USemaphore
Definition USemaphore.h:56
UThread
Definition UThread.h:87
@@ -447,10 +465,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
rtabmap
Definition BayesFilter.h:39
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/DBReader_8h_source.html b/preview/pr-1492/api/latest/DBReader_8h_source.html index c82cddbc..82ea2ae5 100644 --- a/preview/pr-1492/api/latest/DBReader_8h_source.html +++ b/preview/pr-1492/api/latest/DBReader_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
DBReader.h
@@ -232,9 +249,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/EnvSensor_8h_source.html b/preview/pr-1492/api/latest/EnvSensor_8h_source.html index 2631a5a1..d40a620e 100644 --- a/preview/pr-1492/api/latest/EnvSensor_8h_source.html +++ b/preview/pr-1492/api/latest/EnvSensor_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
EnvSensor.h
@@ -133,15 +150,15 @@ $(document).ready(function() { init_codefold(0); });
65 kAmbientRelativeHumidity,
66
67 kCustomSensor1 = 100,
-
68 kCustomSensor2,
-
69 kCustomSensor3,
-
70 kCustomSensor4,
-
71 kCustomSensor5,
-
72 kCustomSensor6,
-
73 kCustomSensor7,
-
74 kCustomSensor8,
-
75 kCustomSensor9
-
76 };
+
68 kCustomSensor2,
+
69 kCustomSensor3,
+
70 kCustomSensor4,
+
71 kCustomSensor5,
+
72 kCustomSensor6,
+
73 kCustomSensor7,
+
74 kCustomSensor8,
+
75 kCustomSensor9
+
76 };
77
78public:
@@ -183,12 +200,20 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::EnvSensor::stamp
const double & stamp() const
Definition EnvSensor.h:105
rtabmap::EnvSensor::Type
Type
Environmental sensor channel identifier.
Definition EnvSensor.h:59
rtabmap::EnvSensor::kWifiSignalStrength
@ kWifiSignalStrength
Wi‑Fi signal strength (dBm).
Definition EnvSensor.h:61
+
rtabmap::EnvSensor::kCustomSensor8
@ kCustomSensor8
User-defined sensor slot 8.
Definition EnvSensor.h:74
rtabmap::EnvSensor::kAmbientAirPressure
@ kAmbientAirPressure
Ambient air pressure (hPa).
Definition EnvSensor.h:63
+
rtabmap::EnvSensor::kCustomSensor4
@ kCustomSensor4
User-defined sensor slot 4.
Definition EnvSensor.h:70
+
rtabmap::EnvSensor::kCustomSensor9
@ kCustomSensor9
User-defined sensor slot 9.
Definition EnvSensor.h:75
+
rtabmap::EnvSensor::kCustomSensor3
@ kCustomSensor3
User-defined sensor slot 3.
Definition EnvSensor.h:69
rtabmap::EnvSensor::kAmbientRelativeHumidity
@ kAmbientRelativeHumidity
Relative humidity (%).
Definition EnvSensor.h:65
rtabmap::EnvSensor::kCustomSensor1
@ kCustomSensor1
User-defined sensor slot 1.
Definition EnvSensor.h:67
rtabmap::EnvSensor::kAmbientLight
@ kAmbientLight
Ambient illuminance (lx).
Definition EnvSensor.h:64
+
rtabmap::EnvSensor::kCustomSensor2
@ kCustomSensor2
User-defined sensor slot 2.
Definition EnvSensor.h:68
rtabmap::EnvSensor::kAmbientTemperature
@ kAmbientTemperature
Ambient temperature (°C).
Definition EnvSensor.h:62
rtabmap::EnvSensor::kUndefined
@ kUndefined
Uninitialized / unknown channel.
Definition EnvSensor.h:60
+
rtabmap::EnvSensor::kCustomSensor7
@ kCustomSensor7
User-defined sensor slot 7.
Definition EnvSensor.h:73
+
rtabmap::EnvSensor::kCustomSensor6
@ kCustomSensor6
User-defined sensor slot 6.
Definition EnvSensor.h:72
+
rtabmap::EnvSensor::kCustomSensor5
@ kCustomSensor5
User-defined sensor slot 5.
Definition EnvSensor.h:71
rtabmap::EnvSensor::value
const double & value() const
Definition EnvSensor.h:103
rtabmap::EnvSensor::EnvSensor
EnvSensor()
Default constructor: kUndefined type, zero value and stamp.
Definition EnvSensor.h:80
rtabmap::EnvSensor::EnvSensor
EnvSensor(const Type &type, const double &value, const double &stamp=0)
Constructs a reading with the given type, value, and optional stamp.
Definition EnvSensor.h:92
@@ -196,9 +221,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html b/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html index 81419796..2a7ac246 100644 --- a/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html +++ b/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
EpipolarGeometry.h
@@ -137,10 +154,10 @@ $(document).ready(function() { init_codefold(0); });
49class RTABMAP_CORE_EXPORT EpipolarGeometry
50{
51public:
-
52 EpipolarGeometry(const ParametersMap & parameters = ParametersMap());
+
52 EpipolarGeometry(const ParametersMap & parameters = ParametersMap());
53 virtual ~EpipolarGeometry();
54 bool check(const Signature * ssA, const Signature * ssB);
-
55 void parseParameters(const ParametersMap & parameters);
+
55 void parseParameters(const ParametersMap & parameters);
56
57 int getMatchCountMinAccepted() const {return _matchCountMinAccepted;}
58 double getRansacParam1() const {return _ransacParam1;}
@@ -342,10 +359,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::EpipolarGeometry::findPairsAll
static int findPairsAll(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:197
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Features2d_8h_source.html b/preview/pr-1492/api/latest/Features2d_8h_source.html index 1d65a96d..46f6537b 100644 --- a/preview/pr-1492/api/latest/Features2d_8h_source.html +++ b/preview/pr-1492/api/latest/Features2d_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Features2d.h
@@ -281,8 +298,8 @@ $(document).ready(function() { init_codefold(0); });
209 }
210
-
212 static Feature2D * create(const ParametersMap & parameters = ParametersMap());
-
214 static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap());
+
212 static Feature2D * create(const ParametersMap & parameters = ParametersMap());
+
214 static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap());
215
217 static bool isAvailable(Feature2D::Type type);
218
@@ -343,21 +360,21 @@ $(document).ready(function() { init_codefold(0); });
280 const SensorData & data,
281 const std::vector<cv::KeyPoint> & keypoints) const;
282
-
283 virtual void parseParameters(const ParametersMap & parameters);
-
284 virtual const ParametersMap & getParameters() const {return parameters_;}
+
283 virtual void parseParameters(const ParametersMap & parameters);
+
284 virtual const ParametersMap & getParameters() const {return parameters_;}
285 virtual Feature2D::Type getType() const = 0;
286
294 virtual bool isGpuAvailable() const {return false;}
295
296protected:
-
297 Feature2D(const ParametersMap & parameters = ParametersMap());
+
297 Feature2D(const ParametersMap & parameters = ParametersMap());
298
299private:
300 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) = 0;
301 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
302
303private:
-
304 ParametersMap parameters_;
+
304 ParametersMap parameters_;
305 int maxFeatures_;
306 bool SSC_;
307 float _maxDepth; // 0=inf
@@ -377,10 +394,10 @@ $(document).ready(function() { init_codefold(0); });
320class RTABMAP_CORE_EXPORT SURF : public Feature2D
321{
322public:
-
323 SURF(const ParametersMap & parameters = ParametersMap());
+
323 SURF(const ParametersMap & parameters = ParametersMap());
324 virtual ~SURF();
325
-
326 virtual void parseParameters(const ParametersMap & parameters) override;
+
326 virtual void parseParameters(const ParametersMap & parameters) override;
327 virtual Feature2D::Type getType() const override {return kFeatureSurf;}
328 virtual bool isGpuAvailable() const override;
329
@@ -406,10 +423,10 @@ $(document).ready(function() { init_codefold(0); });
348class RTABMAP_CORE_EXPORT SIFT : public Feature2D
349{
350public:
-
351 SIFT(const ParametersMap & parameters = ParametersMap());
+
351 SIFT(const ParametersMap & parameters = ParametersMap());
352 virtual ~SIFT();
353
-
354 virtual void parseParameters(const ParametersMap & parameters) override;
+
354 virtual void parseParameters(const ParametersMap & parameters) override;
355 virtual Feature2D::Type getType() const override {return kFeatureSift;}
356 virtual bool isGpuAvailable() const override;
357
@@ -442,10 +459,10 @@ $(document).ready(function() { init_codefold(0); });
383class RTABMAP_CORE_EXPORT ORB : public Feature2D
384{
385public:
-
386 ORB(const ParametersMap & parameters = ParametersMap());
+
386 ORB(const ParametersMap & parameters = ParametersMap());
387 virtual ~ORB();
388
-
389 virtual void parseParameters(const ParametersMap & parameters) override;
+
389 virtual void parseParameters(const ParametersMap & parameters) override;
390 virtual Feature2D::Type getType() const override {return kFeatureOrb;}
391 virtual bool isGpuAvailable() const override;
392
@@ -475,10 +492,10 @@ $(document).ready(function() { init_codefold(0); });
415class RTABMAP_CORE_EXPORT FAST : public Feature2D
416{
417public:
-
418 FAST(const ParametersMap & parameters = ParametersMap());
+
418 FAST(const ParametersMap & parameters = ParametersMap());
419 virtual ~FAST();
420
-
421 virtual void parseParameters(const ParametersMap & parameters) override;
+
421 virtual void parseParameters(const ParametersMap & parameters) override;
422 virtual Feature2D::Type getType() const override {return kFeatureUndef;}
423 virtual bool isGpuAvailable() const override;
424
@@ -513,10 +530,10 @@ $(document).ready(function() { init_codefold(0); });
452class RTABMAP_CORE_EXPORT FAST_BRIEF : public FAST
453{
454public:
-
455 FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
+
455 FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
456 virtual ~FAST_BRIEF();
457
-
458 virtual void parseParameters(const ParametersMap & parameters) override;
+
458 virtual void parseParameters(const ParametersMap & parameters) override;
459 virtual Feature2D::Type getType() const override {return kFeatureFastBrief;}
460
461private:
@@ -533,10 +550,10 @@ $(document).ready(function() { init_codefold(0); });
471class RTABMAP_CORE_EXPORT FAST_FREAK : public FAST
472{
473public:
-
474 FAST_FREAK(const ParametersMap & parameters = ParametersMap());
+
474 FAST_FREAK(const ParametersMap & parameters = ParametersMap());
475 virtual ~FAST_FREAK();
476
-
477 virtual void parseParameters(const ParametersMap & parameters) override;
+
477 virtual void parseParameters(const ParametersMap & parameters) override;
478 virtual Feature2D::Type getType() const override {return kFeatureFastFreak;}
479
480private:
@@ -556,10 +573,10 @@ $(document).ready(function() { init_codefold(0); });
493class RTABMAP_CORE_EXPORT GFTT : public Feature2D
494{
495public:
-
496 GFTT(const ParametersMap & parameters = ParametersMap());
+
496 GFTT(const ParametersMap & parameters = ParametersMap());
497 virtual ~GFTT();
498
-
499 virtual void parseParameters(const ParametersMap & parameters) override;
+
499 virtual void parseParameters(const ParametersMap & parameters) override;
500 virtual bool isGpuAvailable() const override;
501
502private:
@@ -582,10 +599,10 @@ $(document).ready(function() { init_codefold(0); });
518class RTABMAP_CORE_EXPORT GFTT_BRIEF : public GFTT
519{
520public:
-
521 GFTT_BRIEF(const ParametersMap & parameters = ParametersMap());
+
521 GFTT_BRIEF(const ParametersMap & parameters = ParametersMap());
522 virtual ~GFTT_BRIEF();
523
-
524 virtual void parseParameters(const ParametersMap & parameters) override;
+
524 virtual void parseParameters(const ParametersMap & parameters) override;
525 virtual Feature2D::Type getType() const override {return kFeatureGfttBrief;}
526
527private:
@@ -602,10 +619,10 @@ $(document).ready(function() { init_codefold(0); });
537class RTABMAP_CORE_EXPORT GFTT_FREAK : public GFTT
538{
539public:
-
540 GFTT_FREAK(const ParametersMap & parameters = ParametersMap());
+
540 GFTT_FREAK(const ParametersMap & parameters = ParametersMap());
541 virtual ~GFTT_FREAK();
542
-
543 virtual void parseParameters(const ParametersMap & parameters) override;
+
543 virtual void parseParameters(const ParametersMap & parameters) override;
544 virtual Feature2D::Type getType() const override {return kFeatureGfttFreak;}
545
546private:
@@ -625,10 +642,10 @@ $(document).ready(function() { init_codefold(0); });
559class RTABMAP_CORE_EXPORT SURF_FREAK : public SURF
560{
561public:
-
562 SURF_FREAK(const ParametersMap & parameters = ParametersMap());
+
562 SURF_FREAK(const ParametersMap & parameters = ParametersMap());
563 virtual ~SURF_FREAK();
564
-
565 virtual void parseParameters(const ParametersMap & parameters) override;
+
565 virtual void parseParameters(const ParametersMap & parameters) override;
566 virtual Feature2D::Type getType() const override {return kFeatureSurfFreak;}
567
568private:
@@ -648,10 +665,10 @@ $(document).ready(function() { init_codefold(0); });
581class RTABMAP_CORE_EXPORT GFTT_ORB : public GFTT
582{
583public:
-
584 GFTT_ORB(const ParametersMap & parameters = ParametersMap());
+
584 GFTT_ORB(const ParametersMap & parameters = ParametersMap());
585 virtual ~GFTT_ORB();
586
-
587 virtual void parseParameters(const ParametersMap & parameters) override;
+
587 virtual void parseParameters(const ParametersMap & parameters) override;
588 virtual Feature2D::Type getType() const override {return kFeatureGfttOrb;}
589
590private:
@@ -666,10 +683,10 @@ $(document).ready(function() { init_codefold(0); });
598class RTABMAP_CORE_EXPORT BRISK : public Feature2D
599{
600public:
-
601 BRISK(const ParametersMap & parameters = ParametersMap());
+
601 BRISK(const ParametersMap & parameters = ParametersMap());
602 virtual ~BRISK();
603
-
604 virtual void parseParameters(const ParametersMap & parameters) override;
+
604 virtual void parseParameters(const ParametersMap & parameters) override;
605 virtual Feature2D::Type getType() const override {return kFeatureBrisk;}
606
607private:
@@ -689,10 +706,10 @@ $(document).ready(function() { init_codefold(0); });
620class RTABMAP_CORE_EXPORT KAZE : public Feature2D
621{
622public:
-
623 KAZE(const ParametersMap & parameters = ParametersMap());
+
623 KAZE(const ParametersMap & parameters = ParametersMap());
624 virtual ~KAZE();
625
-
626 virtual void parseParameters(const ParametersMap & parameters) override;
+
626 virtual void parseParameters(const ParametersMap & parameters) override;
627 virtual Feature2D::Type getType() const override { return kFeatureKaze; }
628
629private:
@@ -717,10 +734,10 @@ $(document).ready(function() { init_codefold(0); });
647class RTABMAP_CORE_EXPORT ORBOctree : public Feature2D
648{
649public:
-
650 ORBOctree(const ParametersMap & parameters = ParametersMap());
+
650 ORBOctree(const ParametersMap & parameters = ParametersMap());
651 virtual ~ORBOctree();
652
-
653 virtual void parseParameters(const ParametersMap & parameters) override;
+
653 virtual void parseParameters(const ParametersMap & parameters) override;
654 virtual Feature2D::Type getType() const override {return kFeatureOrbOctree;}
655
656private:
@@ -744,10 +761,10 @@ $(document).ready(function() { init_codefold(0); });
673class RTABMAP_CORE_EXPORT SuperPointTorch : public Feature2D
674{
675public:
-
676 SuperPointTorch(const ParametersMap & parameters = ParametersMap());
+
676 SuperPointTorch(const ParametersMap & parameters = ParametersMap());
677 virtual ~SuperPointTorch();
678
-
679 virtual void parseParameters(const ParametersMap & parameters) override;
+
679 virtual void parseParameters(const ParametersMap & parameters) override;
680 virtual Feature2D::Type getType() const override { return kFeatureSuperPointTorch; }
681 virtual bool isGpuAvailable() const override;
682
@@ -769,10 +786,10 @@ $(document).ready(function() { init_codefold(0); });
697class RTABMAP_CORE_EXPORT SuperPointRpautrat : public Feature2D
698{
699public:
-
700 SuperPointRpautrat(const ParametersMap & parameters = ParametersMap());
+
700 SuperPointRpautrat(const ParametersMap & parameters = ParametersMap());
701 virtual ~SuperPointRpautrat();
702
-
703 virtual void parseParameters(const ParametersMap & parameters) override;
+
703 virtual void parseParameters(const ParametersMap & parameters) override;
704 virtual Feature2D::Type getType() const override { return kFeatureSuperPointRpautrat; }
705 virtual bool isGpuAvailable() const override;
706
@@ -796,10 +813,10 @@ $(document).ready(function() { init_codefold(0); });
723class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
724{
725public:
-
726 GFTT_DAISY(const ParametersMap & parameters = ParametersMap());
+
726 GFTT_DAISY(const ParametersMap & parameters = ParametersMap());
727 virtual ~GFTT_DAISY();
728
-
729 virtual void parseParameters(const ParametersMap & parameters) override;
+
729 virtual void parseParameters(const ParametersMap & parameters) override;
730 virtual Feature2D::Type getType() const override {return kFeatureGfttDaisy;}
731
732private:
@@ -821,10 +838,10 @@ $(document).ready(function() { init_codefold(0); });
747class RTABMAP_CORE_EXPORT SURF_DAISY : public SURF
748{
749public:
-
750 SURF_DAISY(const ParametersMap & parameters = ParametersMap());
+
750 SURF_DAISY(const ParametersMap & parameters = ParametersMap());
751 virtual ~SURF_DAISY();
752
-
753 virtual void parseParameters(const ParametersMap & parameters) override;
+
753 virtual void parseParameters(const ParametersMap & parameters) override;
754 virtual Feature2D::Type getType() const override {return kFeatureSurfDaisy;}
755
756private:
@@ -887,10 +904,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SuperPointTorch
SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).
Definition Features2d.h:674
rtabmap::SuperPointTorch::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/FlannIndex_8h_source.html b/preview/pr-1492/api/latest/FlannIndex_8h_source.html index 540fa877..4453854d 100644 --- a/preview/pr-1492/api/latest/FlannIndex_8h_source.html +++ b/preview/pr-1492/api/latest/FlannIndex_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
FlannIndex.h
@@ -220,9 +237,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::FlannIndex
Definition FlannIndex.h:38
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GPS_8h_source.html b/preview/pr-1492/api/latest/GPS_8h_source.html index 43aa7284..0aea4b42 100644 --- a/preview/pr-1492/api/latest/GPS_8h_source.html +++ b/preview/pr-1492/api/latest/GPS_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GPS.h
@@ -182,9 +199,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GeodeticCoords
WGS84 geodetic latitude, longitude and altitude with coordinate conversions.
Definition GeodeticCoords.h:62
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GainCompensator_8h_source.html b/preview/pr-1492/api/latest/GainCompensator_8h_source.html index d1a095e7..450b4594 100644 --- a/preview/pr-1492/api/latest/GainCompensator_8h_source.html +++ b/preview/pr-1492/api/latest/GainCompensator_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GainCompensator.h
@@ -196,9 +213,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html b/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html index aebe6091..caf48a23 100644 --- a/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html +++ b/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GeodeticCoords.h
@@ -190,9 +207,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GeodeticCoords::setAltitude
void setAltitude(const double &value)
Sets altitude in meters.
Definition GeodeticCoords.h:86
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html b/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html index a259be50..e3ced902 100644 --- a/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html +++ b/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GlobalDescriptorExtractor.h
@@ -141,19 +158,19 @@ $(document).ready(function() { init_codefold(0); });
53 }
54 }
55
-
56 static GlobalDescriptorExtractor * create(const ParametersMap & parameters = ParametersMap());
-
57 static GlobalDescriptorExtractor * create(GlobalDescriptorExtractor::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
+
56 static GlobalDescriptorExtractor * create(const ParametersMap & parameters = ParametersMap());
+
57 static GlobalDescriptorExtractor * create(GlobalDescriptorExtractor::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
58
59public:
60 virtual ~GlobalDescriptorExtractor();
61
62 virtual GlobalDescriptor extract(const SensorData & data) const = 0;
63
-
64 virtual void parseParameters(const ParametersMap & parameters) {}
+
64 virtual void parseParameters(const ParametersMap & parameters) {}
65 virtual GlobalDescriptorExtractor::Type getType() const = 0;
66
67protected:
-
68 GlobalDescriptorExtractor(const ParametersMap & parameters = ParametersMap());
+
68 GlobalDescriptorExtractor(const ParametersMap & parameters = ParametersMap());
69};
70
@@ -164,10 +181,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html b/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html index ddc0e303..55324745 100644 --- a/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html +++ b/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GlobalDescriptor.h
@@ -149,9 +166,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GlobalMap_8h_source.html b/preview/pr-1492/api/latest/GlobalMap_8h_source.html index 79e262b8..46f6f8de 100644 --- a/preview/pr-1492/api/latest/GlobalMap_8h_source.html +++ b/preview/pr-1492/api/latest/GlobalMap_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GlobalMap.h
@@ -163,7 +180,7 @@ $(document).ready(function() { init_codefold(0); });
112 virtual unsigned long getMemoryUsed() const;
113
114protected:
-
120 GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
120 GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
121
123 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses) = 0;
124
@@ -218,10 +235,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Graph_8h_source.html b/preview/pr-1492/api/latest/Graph_8h_source.html index 29cab14e..48e72c1b 100644 --- a/preview/pr-1492/api/latest/Graph_8h_source.html +++ b/preview/pr-1492/api/latest/Graph_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Graph.h
@@ -127,41 +144,41 @@ $(document).ready(function() { init_codefold(0); });
40namespace rtabmap {
41class Memory;
42
-
61namespace graph {
+
61namespace graph {
62
-
80bool RTABMAP_CORE_EXPORT exportPoses(
+
80bool RTABMAP_CORE_EXPORT exportPoses(
81 const std::string & filePath,
82 int format,
83 const std::map<int, Transform> & poses,
84 const std::multimap<int, Link> & constraints = std::multimap<int, Link>(),
85 const std::map<int, double> & stamps = std::map<int, double>(),
-
86 const ParametersMap & parameters = ParametersMap());
+
86 const ParametersMap & parameters = ParametersMap());
87
-
110bool RTABMAP_CORE_EXPORT importPoses(
+
110bool RTABMAP_CORE_EXPORT importPoses(
111 const std::string & filePath,
112 int format,
113 std::map<int, Transform> & poses,
114 std::multimap<int, Link> * constraints = 0,
115 std::map<int, double> * stamps = 0);
116
-
123bool RTABMAP_CORE_EXPORT exportGPS(
+
123bool RTABMAP_CORE_EXPORT exportGPS(
124 const std::string & filePath,
125 const std::map<int, GPS> & gpsValues,
126 unsigned int rgba = 0xFFFFFFFF);
127
-
144void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(
+
144void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(
145 const std::vector<Transform> &poses_gt,
146 const std::vector<Transform> &poses_result,
147 float & t_err,
148 float & r_err);
149
-
167void RTABMAP_CORE_EXPORT calcRelativeErrors (
+
167void RTABMAP_CORE_EXPORT calcRelativeErrors (
168 const std::vector<Transform> &poses_gt,
169 const std::vector<Transform> &poses_result,
170 float & t_err,
171 float & r_err);
172
-
208Transform RTABMAP_CORE_EXPORT calcRMSE(
+
208Transform RTABMAP_CORE_EXPORT calcRMSE(
209 const std::map<int, Transform> &groundTruth,
210 const std::map<int, Transform> &poses,
211 float & translational_rmse,
@@ -190,174 +207,200 @@ $(document).ready(function() { init_codefold(0); });
239};
240
-
265MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(
+
265MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(
266 const std::map<int, Transform> & poses,
267 const std::multimap<int, Link> & links,
268 bool for3DoF = false);
269
-
280std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap<int, Link> & links);
+
280std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap<int, Link> & links);
281
-
296std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT findLink(
+
296std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT findLink(
297 std::multimap<int, Link> & links,
298 int from,
299 int to,
300 bool checkBothWays = true,
-
301 Link::Type type = Link::kUndef);
-
303std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT findLink(
-
304 std::multimap<int, std::pair<int, Link::Type> > & links,
-
305 int from,
-
306 int to,
-
307 bool checkBothWays = true,
-
308 Link::Type type = Link::kUndef);
-
310std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT findLink(
-
311 std::multimap<int, int> & links,
-
312 int from,
-
313 int to,
-
314 bool checkBothWays = true);
-
316std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT findLink(
-
317 const std::multimap<int, Link> & links,
-
318 int from,
-
319 int to,
-
320 bool checkBothWays = true,
-
321 Link::Type type = Link::kUndef);
-
323std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT findLink(
-
324 const std::multimap<int, std::pair<int, Link::Type> > & links,
-
325 int from,
-
326 int to,
-
327 bool checkBothWays = true,
-
328 Link::Type type = Link::kUndef);
-
330std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT findLink(
-
331 const std::multimap<int, int> & links,
-
332 int from,
-
333 int to,
-
334 bool checkBothWays = true);
-
335
-
347std::list<Link> RTABMAP_CORE_EXPORT findLinks(
-
348 const std::multimap<int, Link> & links,
-
349 int from);
-
350
-
360std::multimap<int, Link> RTABMAP_CORE_EXPORT filterDuplicateLinks(
-
361 const std::multimap<int, Link> & links);
-
362
-
375std::multimap<int, Link> RTABMAP_CORE_EXPORT filterLinks(
-
376 const std::multimap<int, Link> & links,
-
377 Link::Type filteredType,
-
378 bool inverted = false);
-
380std::map<int, Link> RTABMAP_CORE_EXPORT filterLinks(
-
381 const std::map<int, Link> & links,
+
301 Link::Type type = Link::kUndef);
+
304std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT findLink(
+
305 std::multimap<int, std::pair<int, Link::Type> > & links,
+
306 int from,
+
307 int to,
+
308 bool checkBothWays = true,
+
309 Link::Type type = Link::kUndef);
+
312std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT findLink(
+
313 std::multimap<int, int> & links,
+
314 int from,
+
315 int to,
+
316 bool checkBothWays = true);
+
319std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT findLink(
+
320 const std::multimap<int, Link> & links,
+
321 int from,
+
322 int to,
+
323 bool checkBothWays = true,
+
324 Link::Type type = Link::kUndef);
+
327std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT findLink(
+
328 const std::multimap<int, std::pair<int, Link::Type> > & links,
+
329 int from,
+
330 int to,
+
331 bool checkBothWays = true,
+
332 Link::Type type = Link::kUndef);
+
335std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT findLink(
+
336 const std::multimap<int, int> & links,
+
337 int from,
+
338 int to,
+
339 bool checkBothWays = true);
+
340
+
352std::list<Link> RTABMAP_CORE_EXPORT findLinks(
+
353 const std::multimap<int, Link> & links,
+
354 int from);
+
355
+
365std::multimap<int, Link> RTABMAP_CORE_EXPORT filterDuplicateLinks(
+
366 const std::multimap<int, Link> & links);
+
367
+
380std::multimap<int, Link> RTABMAP_CORE_EXPORT filterLinks(
+
381 const std::multimap<int, Link> & links,
382 Link::Type filteredType,
383 bool inverted = false);
-
384
-
400std::map<int, Transform> RTABMAP_CORE_EXPORT frustumPosesFiltering(
-
401 const std::map<int, Transform> & poses,
-
402 const Transform & cameraPose,
-
403 float horizontalFOV = 45.0f,
-
404 float verticalFOV = 45.0f,
-
405 float nearClipPlaneDistance = 0.1f,
-
406 float farClipPlaneDistance = 100.0f,
-
407 bool negative = false);
-
408
-
423std::map<int, Transform> RTABMAP_CORE_EXPORT radiusPosesFiltering(
-
424 const std::map<int, Transform> & poses,
-
425 float radius,
-
426 float angle,
-
427 bool keepLatest = true);
-
428
-
440std::multimap<int, int> RTABMAP_CORE_EXPORT radiusPosesClustering(
-
441 const std::map<int, Transform> & poses,
-
442 float radius,
-
443 float angle);
-
444
-
461void reduceGraph(
-
462 const std::map<int, Transform> & poses,
-
463 const std::multimap<int, Link> & links,
-
464 std::multimap<int, int> & hyperNodes,
-
465 std::multimap<int, Link> & hyperLinks);
-
466
-
480std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
-
481 const std::map<int, rtabmap::Transform> & poses,
-
482 const std::multimap<int, int> & links,
-
483 int from,
-
484 int to,
-
485 bool updateNewCosts = false);
-
486
-
500std::list<int> RTABMAP_CORE_EXPORT computePath(
-
501 const std::multimap<int, Link> & links,
-
502 int from,
-
503 int to,
-
504 bool updateNewCosts = false,
-
505 bool useSameCostForAllLinks = false);
-
506
-
539std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
-
540 int fromId,
-
541 int toId,
-
542 const Memory * memory,
-
543 bool lookInDatabase = true,
-
544 bool updateNewCosts = false,
-
545 float linearVelocity = 0.0f,
-
546 float angularVelocity = 0.0f,
-
547 bool ignoreDirectLinks = false);
-
548
-
559int RTABMAP_CORE_EXPORT findNearestNode(
-
560 const std::map<int, rtabmap::Transform> & poses,
-
561 const rtabmap::Transform & targetPose,
-
562 float * distance = 0);
-
563
-
578std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
-
579 int nodeId,
-
580 const std::map<int, Transform> & poses,
-
581 float radius,
-
582 float angle = 0.0f,
-
583 int k=0);
-
593std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
-
594 const Transform & targetPose,
-
595 const std::map<int, Transform> & poses,
-
596 float radius,
-
597 float angle = 0.0f,
-
598 int k=0);
-
603std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
-
604 int nodeId,
-
605 const std::map<int, Transform> & poses,
-
606 float radius,
-
607 float angle = 0.0f,
-
608 int k=0);
-
610std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
-
611 const Transform & targetPose,
-
612 const std::map<int, Transform> & poses,
-
613 float radius,
-
614 float angle = 0.0f,
-
615 int k=0);
-
616
-
618RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(const std::map<int, rtabmap::Transform> & nodes, const rtabmap::Transform & targetPose, int k);
-
620RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius);
-
622RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius);
-
624RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
-
626RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
-
627
-
636float RTABMAP_CORE_EXPORT computePathLength(
-
637 const std::vector<std::pair<int, Transform> > & path);
-
638
-
648float RTABMAP_CORE_EXPORT computePathLength(
-
649 const std::map<int, Transform> & path);
-
650
-
663std::list<std::map<int, Transform> > RTABMAP_CORE_EXPORT getPaths(
-
664 std::map<int, Transform> poses,
-
665 const std::multimap<int, Link> & links);
-
666
-
674void RTABMAP_CORE_EXPORT computeMinMax(const std::map<int, Transform> & poses,
-
675 cv::Vec3f & min,
-
676 cv::Vec3f & max);
-
677
-
678} /* namespace graph */
-
679
-
680} /* namespace rtabmap */
-
681#endif /* GRAPH_H_ */
+
386std::map<int, Link> RTABMAP_CORE_EXPORT filterLinks(
+
387 const std::map<int, Link> & links,
+
388 Link::Type filteredType,
+
389 bool inverted = false);
+
390
+
406std::map<int, Transform> RTABMAP_CORE_EXPORT frustumPosesFiltering(
+
407 const std::map<int, Transform> & poses,
+
408 const Transform & cameraPose,
+
409 float horizontalFOV = 45.0f,
+
410 float verticalFOV = 45.0f,
+
411 float nearClipPlaneDistance = 0.1f,
+
412 float farClipPlaneDistance = 100.0f,
+
413 bool negative = false);
+
414
+
429std::map<int, Transform> RTABMAP_CORE_EXPORT radiusPosesFiltering(
+
430 const std::map<int, Transform> & poses,
+
431 float radius,
+
432 float angle,
+
433 bool keepLatest = true);
+
434
+
446std::multimap<int, int> RTABMAP_CORE_EXPORT radiusPosesClustering(
+
447 const std::map<int, Transform> & poses,
+
448 float radius,
+
449 float angle);
+
450
+
467void reduceGraph(
+
468 const std::map<int, Transform> & poses,
+
469 const std::multimap<int, Link> & links,
+
470 std::multimap<int, int> & hyperNodes,
+
471 std::multimap<int, Link> & hyperLinks);
+
472
+
486std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
+
487 const std::map<int, rtabmap::Transform> & poses,
+
488 const std::multimap<int, int> & links,
+
489 int from,
+
490 int to,
+
491 bool updateNewCosts = false);
+
492
+
506std::list<int> RTABMAP_CORE_EXPORT computePath(
+
507 const std::multimap<int, Link> & links,
+
508 int from,
+
509 int to,
+
510 bool updateNewCosts = false,
+
511 bool useSameCostForAllLinks = false);
+
512
+
545std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
+
546 int fromId,
+
547 int toId,
+
548 const Memory * memory,
+
549 bool lookInDatabase = true,
+
550 bool updateNewCosts = false,
+
551 float linearVelocity = 0.0f,
+
552 float angularVelocity = 0.0f,
+
553 bool ignoreDirectLinks = false);
+
554
+
565int RTABMAP_CORE_EXPORT findNearestNode(
+
566 const std::map<int, rtabmap::Transform> & poses,
+
567 const rtabmap::Transform & targetPose,
+
568 float * distance = 0);
+
569
+
584std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
+
585 int nodeId,
+
586 const std::map<int, Transform> & poses,
+
587 float radius,
+
588 float angle = 0.0f,
+
589 int k=0);
+
599std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
+
600 const Transform & targetPose,
+
601 const std::map<int, Transform> & poses,
+
602 float radius,
+
603 float angle = 0.0f,
+
604 int k=0);
+
609std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
+
610 int nodeId,
+
611 const std::map<int, Transform> & poses,
+
612 float radius,
+
613 float angle = 0.0f,
+
614 int k=0);
+
617std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
+
618 const Transform & targetPose,
+
619 const std::map<int, Transform> & poses,
+
620 float radius,
+
621 float angle = 0.0f,
+
622 int k=0);
+
623
+
625RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(const std::map<int, rtabmap::Transform> & nodes, const rtabmap::Transform & targetPose, int k);
+
627RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius);
+
629RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius);
+
631RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
+
633RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
+
634
+
643float RTABMAP_CORE_EXPORT computePathLength(
+
644 const std::vector<std::pair<int, Transform> > & path);
+
645
+
655float RTABMAP_CORE_EXPORT computePathLength(
+
656 const std::map<int, Transform> & path);
+
657
+
670std::list<std::map<int, Transform> > RTABMAP_CORE_EXPORT getPaths(
+
671 std::map<int, Transform> poses,
+
672 const std::multimap<int, Link> & links);
+
673
+
681void RTABMAP_CORE_EXPORT computeMinMax(const std::map<int, Transform> & poses,
+
682 cv::Vec3f & min,
+
683 cv::Vec3f & max);
+
684
+
685} /* namespace graph */
+
686
+
687} /* namespace rtabmap */
+
688#endif /* GRAPH_H_ */
+
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
graph
Pose-graph I/O, trajectory metrics, link utilities, and path planning.
+
rtabmap::graph::getPaths
std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT getPaths(std::map< int, Transform > poses, const std::multimap< int, Link > &links)
Splits poses into chains connected only by neighbor links.
+
rtabmap::graph::radiusPosesFiltering
std::map< int, Transform > RTABMAP_CORE_EXPORT radiusPosesFiltering(const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)
Subsamples poses that are spatially (and optionally angularly) redundant.
+
rtabmap::graph::findLinks
std::list< Link > RTABMAP_CORE_EXPORT findLinks(const std::multimap< int, Link > &links, int from)
Lists all links incident on node from.
+
rtabmap::graph::computeMinMax
void RTABMAP_CORE_EXPORT computeMinMax(const std::map< int, Transform > &poses, cv::Vec3f &min, cv::Vec3f &max)
Axis-aligned bounding box of pose positions.
+
rtabmap::graph::calcKittiSequenceErrors
void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
KITTI odometry benchmark error over fixed trajectory segments.
+
rtabmap::graph::computePathLength
float RTABMAP_CORE_EXPORT computePathLength(const std::vector< std::pair< int, Transform > > &path)
Path length along an ordered list of poses.
+
rtabmap::graph::findNearestNode
int RTABMAP_CORE_EXPORT findNearestNode(const std::map< int, rtabmap::Transform > &poses, const rtabmap::Transform &targetPose, float *distance=0)
Id of the nearest pose to targetPose.
+
rtabmap::graph::computeMaxGraphErrors
MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, bool for3DoF=false)
Finds the worst pose-graph constraint residuals after optimization.
+
rtabmap::graph::filterLinks
std::multimap< int, Link > RTABMAP_CORE_EXPORT filterLinks(const std::multimap< int, Link > &links, Link::Type filteredType, bool inverted=false)
Filters links by type or self-reference.
+
rtabmap::graph::importPoses
bool RTABMAP_CORE_EXPORT importPoses(const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)
Loads poses (and optional constraints) from disk.
+
rtabmap::graph::calcRMSE
Transform RTABMAP_CORE_EXPORT calcRMSE(const std::map< int, Transform > &groundTruth, const std::map< int, Transform > &poses, float &translational_rmse, float &translational_mean, float &translational_median, float &translational_std, float &translational_min, float &translational_max, float &rotational_rmse, float &rotational_mean, float &rotational_median, float &rotational_std, float &rotational_min, float &rotational_max, bool align2D=false)
Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).
+
rtabmap::graph::filterDuplicateLinks
std::multimap< int, Link > RTABMAP_CORE_EXPORT filterDuplicateLinks(const std::multimap< int, Link > &links)
Removes duplicate undirected links.
+
rtabmap::graph::computePath
std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT computePath(const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)
A* shortest path on a pose graph with Euclidean edge costs.
+
rtabmap::graph::getMaxOdomInf
std::vector< double > RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap< int, Link > &links)
Maximum information-matrix diagonal over odometry neighbor links.
+
rtabmap::graph::frustumPosesFiltering
std::map< int, Transform > RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)
Keeps poses inside (or outside) a camera frustum.
+
rtabmap::graph::calcRelativeErrors
void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
Mean frame-to-frame relative pose error (RPE-style, one step).
+
rtabmap::graph::findNearestPoses
std::map< int, Transform > RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
Like findNearestNodes(int,const std::map<int,Transform>&,float,float,int) but returns full Transform ...
+
rtabmap::graph::findNearestNodes
std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
Spatial neighbors of a node (KD-tree radius or k-NN search).
+
rtabmap::graph::exportGPS
bool RTABMAP_CORE_EXPORT exportGPS(const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF)
Exports GPS samples to a PLY point cloud.
+
rtabmap::graph::findLink
std::multimap< int, Link >::iterator RTABMAP_CORE_EXPORT findLink(std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
Finds the first link from from to to in a multimap keyed by source id.
+
rtabmap::graph::reduceGraph
void reduceGraph(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks)
Reduces a pose graph into hyper-nodes and hyper-links.
+
rtabmap::graph::radiusPosesClustering
std::multimap< int, int > RTABMAP_CORE_EXPORT radiusPosesClustering(const std::map< int, Transform > &poses, float radius, float angle)
Radius-neighbor clustering of poses.
+
rtabmap::graph::getPosesInRadius
RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
+
rtabmap::graph::exportPoses
bool RTABMAP_CORE_EXPORT exportPoses(const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())
Writes poses (and optional constraints) to disk.
+
rtabmap::graph::getNodesInRadius
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius)
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
rtabmap::graph::MaxGraphErrors::angular
float angular
Absolute angular error (rad) of the worst link.
Definition Graph.h:234
rtabmap::graph::MaxGraphErrors::linearRatio
float linearRatio
linear / sqrt(trans variance) of the worst link.
Definition Graph.h:235
@@ -366,9 +409,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::graph::MaxGraphErrors::angularRatio
float angularRatio
angular / sqrt(rot variance) of the worst link.
Definition Graph.h:236
rtabmap::graph::MaxGraphErrors::linearLink
Link linearLink
Link with largest linearRatio.
Definition Graph.h:237
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/GridMap_8h_source.html b/preview/pr-1492/api/latest/GridMap_8h_source.html index d27bf086..3c84a844 100644 --- a/preview/pr-1492/api/latest/GridMap_8h_source.html +++ b/preview/pr-1492/api/latest/GridMap_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
GridMap.h
@@ -132,7 +149,7 @@ $(document).ready(function() { init_codefold(0); });
44class RTABMAP_CORE_EXPORT GridMap : public GlobalMap
45{
46public:
-
47 GridMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
47 GridMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
48
49 virtual ~GridMap();
50 virtual void clear();
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::GridMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/IMUFilter_8h_source.html b/preview/pr-1492/api/latest/IMUFilter_8h_source.html index 87a88ea7..c923cc70 100644 --- a/preview/pr-1492/api/latest/IMUFilter_8h_source.html +++ b/preview/pr-1492/api/latest/IMUFilter_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
IMUFilter.h
@@ -128,57 +145,64 @@ $(document).ready(function() { init_codefold(0); });
64 enum Type {
65 kMadgwick = 0,
-
66 kComplementaryFilter = 1};
+
66 kComplementaryFilter = 1
+
67 };
-
73 static IMUFilter * create(const ParametersMap & parameters = ParametersMap());
-
74
-
82 static IMUFilter * create(IMUFilter::Type type, const ParametersMap & parameters = ParametersMap());
-
83
-
84 virtual ~IMUFilter() {}
-
85
-
90 virtual void parseParameters(const ParametersMap & parameters) {}
-
91
-
102 void update(
-
103 double gx, double gy, double gz,
-
104 double ax, double ay, double az,
-
105 double stamp);
-
106
-
108 virtual IMUFilter::Type type() const = 0;
-
109
-
117 virtual void getOrientation(double & qx, double & qy, double & qz, double & qw) const = 0;
-
118
-
126 virtual void reset(double qx = 0.0, double qy = 0.0, double qz = 0.0, double qw = 1.0) = 0;
-
127
-
128protected:
-
129 IMUFilter(const ParametersMap & parameters = ParametersMap()) : previousStamp_(0) {}
-
130
-
131private:
-
132 virtual void updateImpl(
-
133 double gx, double gy, double gz,
-
134 double ax, double ay, double az,
-
135 double dt) = 0;
-
136
-
137 double previousStamp_;
-
138};
+
68
+
74 static IMUFilter * create(const ParametersMap & parameters = ParametersMap());
+
75
+
83 static IMUFilter * create(IMUFilter::Type type, const ParametersMap & parameters = ParametersMap());
+
84
+
85 virtual ~IMUFilter() {}
+
86
+
91 virtual void parseParameters(const ParametersMap & parameters) {}
+
92
+
103 void update(
+
104 double gx, double gy, double gz,
+
105 double ax, double ay, double az,
+
106 double stamp);
+
107
+
109 virtual IMUFilter::Type type() const = 0;
+
110
+
118 virtual void getOrientation(double & qx, double & qy, double & qz, double & qw) const = 0;
+
119
+
127 virtual void reset(double qx = 0.0, double qy = 0.0, double qz = 0.0, double qw = 1.0) = 0;
+
128
+
129protected:
+
130 IMUFilter(const ParametersMap & parameters = ParametersMap()) : previousStamp_(0) {}
+
131
+
132private:
+
133 virtual void updateImpl(
+
134 double gx, double gy, double gz,
+
135 double ax, double ay, double az,
+
136 double dt) = 0;
+
137
+
138 double previousStamp_;
+
139};
-
139
-
140} // namespace rtabmap
-
141
-
142#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */
+
140
+
141} // namespace rtabmap
+
142
+
143#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */
rtabmap::IMUFilter
Fuses gyroscope and accelerometer samples into an orientation quaternion.
Definition IMUFilter.h:59
rtabmap::IMUFilter::Type
Type
Orientation fusion algorithm.
Definition IMUFilter.h:64
rtabmap::IMUFilter::create
static IMUFilter * create(const ParametersMap &parameters=ParametersMap())
Creates a filter using type parsed from parameters.
-
rtabmap::IMUFilter::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Re-reads filter parameters from parameters.
Definition IMUFilter.h:90
+
rtabmap::IMUFilter::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Re-reads filter parameters from parameters.
Definition IMUFilter.h:91
rtabmap::IMUFilter::reset
virtual void reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0
Resets internal state to the given orientation.
rtabmap::IMUFilter::create
static IMUFilter * create(IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
Creates a filter of the given type.
rtabmap::IMUFilter::update
void update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)
Integrates one IMU sample and updates the internal orientation estimate.
rtabmap::IMUFilter::type
virtual IMUFilter::Type type() const =0
rtabmap::IMUFilter::getOrientation
virtual void getOrientation(double &qx, double &qy, double &qz, double &qw) const =0
Current orientation estimate.
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/IMUThread_8h_source.html b/preview/pr-1492/api/latest/IMUThread_8h_source.html index 00529e5c..017bc842 100644 --- a/preview/pr-1492/api/latest/IMUThread_8h_source.html +++ b/preview/pr-1492/api/latest/IMUThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
IMUThread.h
@@ -141,7 +158,7 @@ $(document).ready(function() { init_codefold(0); });
84
86 void setRate(int rate);
87
-
94 void enableIMUFiltering(int filteringStrategy = 1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
+
94 void enableIMUFiltering(int filteringStrategy = 1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
95
97 void disableIMUFiltering();
98
@@ -174,10 +191,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::IMUThread::init
bool init(const std::string &path)
Opens and validates an IMU CSV file.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/IMU_8h_source.html b/preview/pr-1492/api/latest/IMU_8h_source.html index d5cc4bfd..26812d80 100644 --- a/preview/pr-1492/api/latest/IMU_8h_source.html +++ b/preview/pr-1492/api/latest/IMU_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
IMU.h
@@ -248,9 +265,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Image_8h_source.html b/preview/pr-1492/api/latest/Image_8h_source.html index 141db235..52a73a9a 100644 --- a/preview/pr-1492/api/latest/Image_8h_source.html +++ b/preview/pr-1492/api/latest/Image_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Image.h
@@ -125,9 +142,13 @@ $(document).ready(function() { init_codefold(0); });
38#endif /* IMAGE_H_ */
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LASWriter_8h_source.html b/preview/pr-1492/api/latest/LASWriter_8h_source.html index 366b42b3..0dfb8e29 100644 --- a/preview/pr-1492/api/latest/LASWriter_8h_source.html +++ b/preview/pr-1492/api/latest/LASWriter_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LASWriter.h
@@ -145,9 +162,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::saveLASFile
int RTABMAP_CORE_EXPORT saveLASFile(const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Landmark_8h_source.html b/preview/pr-1492/api/latest/Landmark_8h_source.html index bc155c5d..ea691a51 100644 --- a/preview/pr-1492/api/latest/Landmark_8h_source.html +++ b/preview/pr-1492/api/latest/Landmark_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Landmark.h
@@ -212,9 +229,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LaserScan_8h_source.html b/preview/pr-1492/api/latest/LaserScan_8h_source.html index 7406e901..27f4a4f9 100644 --- a/preview/pr-1492/api/latest/LaserScan_8h_source.html +++ b/preview/pr-1492/api/latest/LaserScan_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LaserScan.h
@@ -235,67 +252,72 @@ $(document).ready(function() { init_codefold(0); });
179 bool hasIntensity() const {return isScanHasIntensity(format_);}
180 bool hasTime() const {return isScanHasTime(format_);}
181 bool hasRing() const {return isScanHasRing(format_);}
-
182 bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
-
183 bool isOrganized() const {return data_.rows > 1;}
-
184 LaserScan clone() const;
-
185 LaserScan densify() const;
-
187
-
190 int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
-
191 int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
-
192 int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
-
193 int getRingOffset() const {return format_==kXYZIRT?4:-1;}
-
194 int getTimeOffset() const {return format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}
-
195
-
203 float & field(unsigned int pointIndex, unsigned int channelOffset);
-
204
-
208 void clear() {data_ = cv::Mat();}
-
209
-
213 LaserScan & operator+=(const LaserScan &);
-
217 LaserScan operator+(const LaserScan &);
-
219
-
220private:
-
221 void init(const cv::Mat & data,
-
222 Format format,
-
223 float minRange,
-
224 float maxRange,
-
225 float angleMin,
-
226 float angleMax,
-
227 float angleIncrement,
-
228 int maxPoints,
-
229 const Transform & localTransform = Transform::getIdentity());
-
230
-
231private:
-
232 cv::Mat data_;
-
233 Format format_;
-
234 int maxPoints_;
-
235 float rangeMin_;
-
236 float rangeMax_;
-
237 float angleMin_;
-
238 float angleMax_;
-
239 float angleIncrement_;
-
240 Transform localTransform_;
-
241};
+
183 bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
+
184 bool isOrganized() const {return data_.rows > 1;}
+
185 LaserScan clone() const;
+
186 LaserScan densify() const;
+
188
+
191 int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
+
192 int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
+
193 int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
+
194 int getRingOffset() const {return format_==kXYZIRT?4:-1;}
+
195 int getTimeOffset() const {return format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}
+
196
+
204 float & field(unsigned int pointIndex, unsigned int channelOffset);
+
205
+
209 void clear() {data_ = cv::Mat();}
+
210
+
214 LaserScan & operator+=(const LaserScan &);
+
218 LaserScan operator+(const LaserScan &);
+
220
+
221private:
+
222 void init(const cv::Mat & data,
+
223 Format format,
+
224 float minRange,
+
225 float maxRange,
+
226 float angleMin,
+
227 float angleMax,
+
228 float angleIncrement,
+
229 int maxPoints,
+
230 const Transform & localTransform = Transform::getIdentity());
+
231
+
232private:
+
233 cv::Mat data_;
+
234 Format format_;
+
235 int maxPoints_;
+
236 float rangeMin_;
+
237 float rangeMax_;
+
238 float angleMin_;
+
239 float angleMax_;
+
240 float angleIncrement_;
+
241 Transform localTransform_;
+
242};
-
242
-
243} // namespace rtabmap
-
244
-
245#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */
+
243
+
244} // namespace rtabmap
+
245
+
246#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
rtabmap::LaserScan::LaserScan
RTABMAP_DEPRECATED LaserScan(const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
+
rtabmap::LaserScan::isCompressed
bool isCompressed() const
True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.
Definition LaserScan.h:183
rtabmap::LaserScan::Format
Format
Enumeration of possible formats for laser scan data.
Definition LaserScan.h:55
rtabmap::LaserScan::field
float & field(unsigned int pointIndex, unsigned int channelOffset)
Access a specific field value of a point.
rtabmap::LaserScan::backwardCompatibility
static LaserScan backwardCompatibility(const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())
Converts legacy scan format with additional metadata to a LaserScan.
rtabmap::LaserScan::LaserScan
RTABMAP_DEPRECATED LaserScan(const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
rtabmap::LaserScan::backwardCompatibility
static LaserScan backwardCompatibility(const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
Converts legacy scan format to a LaserScan object.
rtabmap::LaserScan::operator+
LaserScan operator+(const LaserScan &)
Concatenate scan's data (localTransform is ignored).
-
rtabmap::LaserScan::clear
void clear()
Clear the scan data.
Definition LaserScan.h:208
+
rtabmap::LaserScan::clear
void clear()
Clear the scan data.
Definition LaserScan.h:209
rtabmap::LaserScan::operator+=
LaserScan & operator+=(const LaserScan &)
Concatenate scan's data (localTransform is ignored).
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LidarVLP16_8h_source.html b/preview/pr-1492/api/latest/LidarVLP16_8h_source.html index ba0f0644..67deda68 100644 --- a/preview/pr-1492/api/latest/LidarVLP16_8h_source.html +++ b/preview/pr-1492/api/latest/LidarVLP16_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LidarVLP16.h
@@ -243,9 +260,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::PointXYZIT
Definition LidarVLP16.h:53
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Lidar_8h_source.html b/preview/pr-1492/api/latest/Lidar_8h_source.html index e07d2ce2..58fe982c 100644 --- a/preview/pr-1492/api/latest/Lidar_8h_source.html +++ b/preview/pr-1492/api/latest/Lidar_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Lidar.h
@@ -142,9 +159,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Link_8h_source.html b/preview/pr-1492/api/latest/Link_8h_source.html index 2ac772db..10639721 100644 --- a/preview/pr-1492/api/latest/Link_8h_source.html +++ b/preview/pr-1492/api/latest/Link_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Link.h
@@ -138,73 +155,80 @@ $(document).ready(function() { init_codefold(0); });
72 kPosePrior,
73 kLandmark,
74 kGravity,
-
75 kEnd,
+
75 kEnd,
76 kSelfRefLink = 97,
77 kAllWithLandmarks = 98,
78 kAllWithoutLandmarks = 99,
-
79 kUndef = 99};
+
79 kUndef = 99
+
80 };
-
82 static std::string typeName(Type type);
-
83
-
85 Link();
-
95 Link(int from,
-
96 int to,
-
97 Type type,
-
98 const Transform & transform,
-
99 const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),
-
100 const cv::Mat & userData = cv::Mat());
-
101
-
103 bool isValid() const {return from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}
-
104
-
105 int from() const {return from_;}
-
106 int to() const {return to_;}
-
107 const Transform & transform() const {return transform_;}
-
108 Type type() const {return type_;}
-
109 std::string typeName() const {return typeName(type_);}
-
110 const cv::Mat & infMatrix() const {return infMatrix_;}
-
111
-
117 double rotVariance(bool minimum = true) const;
-
122 double transVariance(bool minimum = true) const;
-
123
-
124 void setFrom(int from) {from_ = from;}
-
125 void setTo(int to) {to_ = to;}
-
126 void setTransform(const Transform & transform) {transform_ = transform;}
-
127 void setType(Type type) {type_ = type;}
-
129 void setInfMatrix(const cv::Mat & infMatrix);
-
130
-
131 const cv::Mat & userDataRaw() const {return _userDataRaw;}
-
132 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
-
134 void uncompressUserData();
-
136 cv::Mat uncompressUserDataConst() const;
-
137
-
150 Link merge(const Link & link, Type outputType) const;
-
152 Link inverse() const;
-
153
-
154private:
-
155 int from_;
-
156 int to_;
-
157 Transform transform_;
-
158 Type type_;
-
159 cv::Mat infMatrix_; // Information matrix = covariance matrix ^ -1
+
81
+
83 static std::string typeName(Type type);
+
84
+
86 Link();
+
96 Link(int from,
+
97 int to,
+
98 Type type,
+
99 const Transform & transform,
+
100 const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),
+
101 const cv::Mat & userData = cv::Mat());
+
102
+
104 bool isValid() const {return from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}
+
105
+
107 int from() const {return from_;}
+
109 int to() const {return to_;}
+
111 const Transform & transform() const {return transform_;}
+
113 Type type() const {return type_;}
+
114 std::string typeName() const {return typeName(type_);}
+
115 const cv::Mat & infMatrix() const {return infMatrix_;}
+
116
+
122 double rotVariance(bool minimum = true) const;
+
127 double transVariance(bool minimum = true) const;
+
128
+
129 void setFrom(int from) {from_ = from;}
+
130 void setTo(int to) {to_ = to;}
+
131 void setTransform(const Transform & transform) {transform_ = transform;}
+
132 void setType(Type type) {type_ = type;}
+
134 void setInfMatrix(const cv::Mat & infMatrix);
+
135
+
137 const cv::Mat & userDataRaw() const {return _userDataRaw;}
+
139 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
+
141 void uncompressUserData();
+
143 cv::Mat uncompressUserDataConst() const;
+
144
+
157 Link merge(const Link & link, Type outputType) const;
+
159 Link inverse() const;
160
-
161 // user data
-
162 cv::Mat _userDataCompressed; // compressed data
-
163 cv::Mat _userDataRaw;
-
164};
- -
165
-
166}
+
161private:
+
162 int from_;
+
163 int to_;
+
164 Transform transform_;
+
165 Type type_;
+
166 cv::Mat infMatrix_; // Information matrix = covariance matrix ^ -1
167
-
168
-
169#endif /* LINK_H_ */
+
168 // user data
+
169 cv::Mat _userDataCompressed; // compressed data
+
170 cv::Mat _userDataRaw;
+
171};
+ +
172
+
173}
+
174
+
175
+
176#endif /* LINK_H_ */
+ + + - + + + @@ -214,18 +238,24 @@ $(document).ready(function() { init_codefold(0); }); + +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html b/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html index 18712abe..334cc781 100644 --- a/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html +++ b/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LocalGridMaker.h
@@ -130,10 +147,10 @@ $(document).ready(function() { init_codefold(0); });
64class RTABMAP_CORE_EXPORT LocalGridMaker
65{
66public:
-
68 LocalGridMaker(const ParametersMap & parameters = ParametersMap());
+
68 LocalGridMaker(const ParametersMap & parameters = ParametersMap());
69 virtual ~LocalGridMaker();
70
-
72 virtual void parseParameters(const ParametersMap & parameters);
+
72 virtual void parseParameters(const ParametersMap & parameters);
73
75 float getCellSize() const {return cellSize_;}
77 bool isGridFromDepth() const {return occupancySensor_;}
@@ -165,7 +182,7 @@ $(document).ready(function() { init_codefold(0); });
149 cv::Point3f & viewPointInOut) const;
150
151protected:
-
152 ParametersMap parameters_;
+
152 ParametersMap parameters_;
153
154 unsigned int cloudDecimation_;
155 float rangeMax_;
@@ -215,10 +232,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LocalGrid_8h_source.html b/preview/pr-1492/api/latest/LocalGrid_8h_source.html index b2fe3bc5..9cc77f75 100644 --- a/preview/pr-1492/api/latest/LocalGrid_8h_source.html +++ b/preview/pr-1492/api/latest/LocalGrid_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LocalGrid.h
@@ -197,9 +214,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::LocalGrid::is3D
bool is3D() const
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html b/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html index 641b5a1f..d42a353d 100644 --- a/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html +++ b/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
LocalMapMaker.hpp
@@ -258,7 +275,7 @@ $(document).ready(function() { init_codefold(0); });
170 if(indices->size())
171 {
172 notObstacles = util3d::extractIndices(cloud, indices, true);
-
173 notObstacles = util3d::concatenate(notObstacles, groundIndices);
+
173 notObstacles = util3d::concatenate(notObstacles, groundIndices);
174 }
175 obstaclesIndices = rtabmap::util3d::extractIndices(cloud, notObstacles, true);
176 }
@@ -286,7 +303,7 @@ $(document).ready(function() { init_codefold(0); });
198 groundIndices = rtabmap::util3d::radiusFiltering(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
199 if(farIndices.get())
200 {
-
201 groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);
+
201 groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);
202 }
203 }
204 if(obstaclesIndices->size())
@@ -302,7 +319,7 @@ $(document).ready(function() { init_codefold(0); });
214 obstaclesIndices = rtabmap::util3d::radiusFiltering(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
215 if(farIndices.get())
216 {
-
217 obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);
+
217 obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);
218 }
219 }
220 if(flatObstacles && (*flatObstacles)->size())
@@ -318,7 +335,7 @@ $(document).ready(function() { init_codefold(0); });
230 *flatObstacles = rtabmap::util3d::radiusFiltering(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
231 if(farIndices.get())
232 {
-
233 *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);
+
233 *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);
234 }
235 }
236 UDEBUG("Radius filtering end (%ld ground %ld obstacles)",
@@ -360,11 +377,16 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::util3d::radiusFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
Radius filtering for point cloud of type pcl::PointXYZ.
rtabmap::util3d::transformPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
Transforms pcl::PointXYZ point cloud type.
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
+
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenates multiple sets of indices into a single index vector.
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/MarkerDetector_8h_source.html b/preview/pr-1492/api/latest/MarkerDetector_8h_source.html index fe168942..c5635441 100644 --- a/preview/pr-1492/api/latest/MarkerDetector_8h_source.html +++ b/preview/pr-1492/api/latest/MarkerDetector_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
MarkerDetector.h
@@ -155,9 +172,9 @@ $(document).ready(function() { init_codefold(0); });
65 };
66
67public:
-
68 MarkerDetector(const ParametersMap & parameters = ParametersMap());
+
68 MarkerDetector(const ParametersMap & parameters = ParametersMap());
69 virtual ~MarkerDetector();
-
70 void parseParameters(const ParametersMap & parameters);
+
70 void parseParameters(const ParametersMap & parameters);
71
72 std::map<int, MarkerInfo> detect(const cv::Mat & image,
73 const std::vector<CameraModel> & models,
@@ -199,10 +216,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::MarkerInfo
Definition MarkerDetector.h:43
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Memory_8h_source.html b/preview/pr-1492/api/latest/Memory_8h_source.html index 9274a248..27f16f13 100644 --- a/preview/pr-1492/api/latest/Memory_8h_source.html +++ b/preview/pr-1492/api/latest/Memory_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Memory.h
@@ -161,11 +178,11 @@ $(document).ready(function() { init_codefold(0); });
109 static const int kIdInvalid;
110
111public:
-
119 Memory(const ParametersMap & parameters = ParametersMap());
+
119 Memory(const ParametersMap & parameters = ParametersMap());
120 virtual ~Memory();
121
-
128 virtual void parseParameters(const ParametersMap & parameters);
-
130 virtual const ParametersMap & getParameters() const {return parameters_;}
+
128 virtual void parseParameters(const ParametersMap & parameters);
+
130 virtual const ParametersMap & getParameters() const {return parameters_;}
141 bool update(const SensorData & data,
142 Statistics * stats = 0);
157 bool update(const SensorData & data,
@@ -175,7 +192,7 @@ $(document).ready(function() { init_codefold(0); });
161 Statistics * stats = 0);
172 bool init(const std::string & dbUrl,
173 bool dbOverwritten = false,
-
174 const ParametersMap & parameters = ParametersMap(),
+
174 const ParametersMap & parameters = ParametersMap(),
175 bool postInitClosingEvents = false);
186 void close(bool databaseSaved = true, bool postInitClosingEvents = false, const std::string & ouputDatabasePath = "");
197 std::map<int, float> computeLikelihood(const Signature * signature,
@@ -385,7 +402,7 @@ $(document).ready(function() { init_codefold(0); });
820
821private:
822 // parameters
-
823 ParametersMap parameters_;
+
823 ParametersMap parameters_;
824 float _similarityThreshold;
825 bool _binDataKept;
826 bool _rawDescriptorsKept;
@@ -500,7 +517,7 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Memory::emptyTrash
void emptyTrash()
Forces the database driver to flush any queued signature/word saves.
rtabmap::Memory::loadOptimizedMesh
cv::Mat loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
Loads the optimized mesh previously written by saveOptimizedMesh().
rtabmap::Memory::getNeighborsIdRadius
std::map< int, float > getNeighborsIdRadius(int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const
Returns neighbor ids within a Euclidean radius using optimized poses.
-
rtabmap::Memory::kIdStart
static const int kIdStart
First valid signature id assigned by getNextId() (positive integer).
Definition Memory.h:105
+
rtabmap::Memory::kIdStart
static const int kIdStart
First valid signature id assigned to a new signature (positive integer).
Definition Memory.h:105
rtabmap::Memory::getSignature
const Signature * getSignature(int id) const
rtabmap::Memory::getNeighborLinks
std::multimap< int, Link > getNeighborLinks(int signatureId, bool lookInDatabase=false) const
Returns neighbor (sequential) links of signatureId; lookInDatabase also checks LTM.
rtabmap::Memory::isBinDataKept
bool isBinDataKept() const
Definition Memory.h:432
@@ -611,10 +628,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
rtabmap
Definition BayesFilter.h:39
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html b/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html index f016cd67..669fe00e 100644 --- a/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html +++ b/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OccupancyGrid.h
@@ -124,9 +141,13 @@ $(document).ready(function() { init_codefold(0); });
37
38#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_ */
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OctoMap_8h_source.html b/preview/pr-1492/api/latest/OctoMap_8h_source.html index ada8f0fb..7270632f 100644 --- a/preview/pr-1492/api/latest/OctoMap_8h_source.html +++ b/preview/pr-1492/api/latest/OctoMap_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OctoMap.h
@@ -124,9 +141,13 @@ $(document).ready(function() { init_codefold(0); });
37
38#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_ */
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html b/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html index 23f1c593..c841243f 100644 --- a/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryCuVSLAM.h
@@ -133,7 +150,7 @@ $(document).ready(function() { init_codefold(0); });
45class RTABMAP_CORE_EXPORT OdometryCuVSLAM : public Odometry
46{
47public:
-
48 OdometryCuVSLAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
48 OdometryCuVSLAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
49 virtual ~OdometryCuVSLAM();
50
51 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -191,16 +208,21 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryCuVSLAM
Definition OdometryCuVSLAM.h:46
rtabmap::OdometryCuVSLAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryCuVSLAM::getType
virtual Odometry::Type getType()
Definition OdometryCuVSLAM.h:52
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryDVO_8h_source.html b/preview/pr-1492/api/latest/OdometryDVO_8h_source.html index 50c47bec..083c5334 100644 --- a/preview/pr-1492/api/latest/OdometryDVO_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryDVO_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryDVO.h
@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
43class RTABMAP_CORE_EXPORT OdometryDVO : public Odometry
44{
45public:
-
46 OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
46 OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
47 virtual ~OdometryDVO();
48
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -159,16 +176,21 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryDVO
Definition OdometryDVO.h:44
rtabmap::OdometryDVO::getType
virtual Odometry::Type getType()
Definition OdometryDVO.h:50
rtabmap::OdometryDVO::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryEvent_8h_source.html b/preview/pr-1492/api/latest/OdometryEvent_8h_source.html index 4ca1f262..37c72780 100644 --- a/preview/pr-1492/api/latest/OdometryEvent_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryEvent.h
@@ -123,93 +140,112 @@ $(document).ready(function() { init_codefold(0); });
36
37namespace rtabmap {
38
-
-
39class OdometryEvent : public UEvent
-
40{
-
41public:
-
42 OdometryEvent()
-
43 {
-
44 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
-
45 }
-
46 OdometryEvent(
-
47 const SensorData & data,
-
48 const Transform & pose,
-
49 const OdometryInfo & info = OdometryInfo()) :
-
50 _data(data),
-
51 _pose(pose),
-
52 _info(info)
-
53 {
-
54 if(_info.reg.covariance.empty())
-
55 {
-
56 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
-
57 }
-
58 UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
-
59 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-
60 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-
61 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
-
62 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-
63 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-
64 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
-
65 }
-
66 virtual ~OdometryEvent() {}
-
67 virtual std::string getClassName() const {return "OdometryEvent";}
-
68
-
69 SensorData & data() {return _data;}
-
70 const SensorData & data() const {return _data;}
-
71 const Transform & pose() const {return _pose;}
-
72 const cv::Mat & covariance() const {return _info.reg.covariance;}
-
73 std::vector<float> velocity() const {
-
74 if(_info.interval>0.0)
-
75 {
-
76 std::vector<float> velocity(6,0);
-
77 float x,y,z,roll,pitch,yaw;
-
78 _info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
-
79 velocity[0] = x/_info.interval;
-
80 velocity[1] = y/_info.interval;
-
81 velocity[2] = z/_info.interval;
-
82 velocity[3] = roll/_info.interval;
-
83 velocity[4] = pitch/_info.interval;
-
84 velocity[5] = yaw/_info.interval;
-
85 return velocity;
-
86 }
-
87 return std::vector<float>();
-
88 }
-
89 const OdometryInfo & info() const {return _info;}
-
90
-
91private:
-
92 SensorData _data;
-
93 Transform _pose;
-
94 OdometryInfo _info;
-
95};
+
+
56class OdometryEvent : public UEvent
+
57{
+
58public:
+
+
60 OdometryEvent()
+
61 {
+
62 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
+
63 }
-
96
-
-
97class OdometryResetEvent : public UEvent
-
98{
-
99public:
-
100 OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
-
101 virtual ~OdometryResetEvent() {}
-
102 virtual std::string getClassName() const {return "OdometryResetEvent";}
-
103 const Transform & getPose() const {return _pose;}
-
104private:
-
105 Transform _pose;
-
106};
+
+
73 OdometryEvent(
+
74 const SensorData & data,
+
75 const Transform & pose,
+
76 const OdometryInfo & info = OdometryInfo()) :
+
77 _data(data),
+
78 _pose(pose),
+
79 _info(info)
+
80 {
+
81 if(_info.reg.covariance.empty())
+
82 {
+
83 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
+
84 }
+
85 UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
+
86 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
87 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
88 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
89 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
90 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
91 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
92 }
-
107
-
108}
-
109
-
110
-
111#endif /* ODOMETRYEVENT_H_ */
+
93 virtual ~OdometryEvent() {}
+
94 virtual std::string getClassName() const {return "OdometryEvent";}
+
95
+
97 SensorData & data() {return _data;}
+
99 const SensorData & data() const {return _data;}
+
101 const Transform & pose() const {return _pose;}
+
103 const cv::Mat & covariance() const {return _info.reg.covariance;}
+
+
109 std::vector<float> velocity() const {
+
110 if(_info.interval>0.0)
+
111 {
+
112 std::vector<float> velocity(6,0);
+
113 float x,y,z,roll,pitch,yaw;
+
114 _info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
+
115 velocity[0] = x/_info.interval;
+
116 velocity[1] = y/_info.interval;
+
117 velocity[2] = z/_info.interval;
+
118 velocity[3] = roll/_info.interval;
+
119 velocity[4] = pitch/_info.interval;
+
120 velocity[5] = yaw/_info.interval;
+
121 return velocity;
+
122 }
+
123 return std::vector<float>();
+
124 }
+
+
126 const OdometryInfo & info() const {return _info;}
+
127
+
128private:
+
129 SensorData _data;
+
130 Transform _pose;
+
131 OdometryInfo _info;
+
132};
+
+
133
+
+
144class OdometryResetEvent : public UEvent
+
145{
+
146public:
+
148 OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
+
149 virtual ~OdometryResetEvent() {}
+
150 virtual std::string getClassName() const {return "OdometryResetEvent";}
+
152 const Transform & getPose() const {return _pose;}
+
153private:
+
154 Transform _pose;
+
155};
+
+
156
+
157}
+
158
+
159
+
160#endif /* ODOMETRYEVENT_H_ */
ULogger.h
ULogger class and convenient macros.
UASSERT
#define UASSERT(condition)
Definition ULogger.h:66
UMath.h
Basic mathematics functions.
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
- -
rtabmap::OdometryEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:67
- - -
rtabmap::OdometryResetEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:102
+
rtabmap::OdometryEvent
One processed frame with the pose the odometry integrated for it.
Definition OdometryEvent.h:57
+
rtabmap::OdometryEvent::OdometryEvent
OdometryEvent(const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
Constructor.
Definition OdometryEvent.h:73
+
rtabmap::OdometryEvent::covariance
const cv::Mat & covariance() const
Definition OdometryEvent.h:103
+ +
rtabmap::OdometryEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:94
+
rtabmap::OdometryEvent::info
const OdometryInfo & info() const
Definition OdometryEvent.h:126
+
rtabmap::OdometryEvent::OdometryEvent
OdometryEvent()
Creates an empty event, with an identity covariance.
Definition OdometryEvent.h:60
+
rtabmap::OdometryEvent::data
const SensorData & data() const
Definition OdometryEvent.h:99
+
rtabmap::OdometryEvent::pose
const Transform & pose() const
Definition OdometryEvent.h:101
+
rtabmap::OdometryEvent::velocity
std::vector< float > velocity() const
Linear and angular velocity, from the motion and the frame interval.
Definition OdometryEvent.h:109
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
+
rtabmap::OdometryInfo::reg
RegistrationInfo reg
Registration result: matches, inliers, covariance, ICP indicators and timings.
Definition OdometryInfo.h:77
+
rtabmap::OdometryInfo::interval
double interval
Time since the previous processed frame (s); the divisor for velocities.
Definition OdometryInfo.h:95
+
rtabmap::OdometryInfo::transform
Transform transform
Motion since the previous frame, null when lost.
Definition OdometryInfo.h:96
+
rtabmap::OdometryResetEvent
Asks OdometryThread to restart the odometry from a given pose.
Definition OdometryEvent.h:145
+
rtabmap::OdometryResetEvent::OdometryResetEvent
OdometryResetEvent(const Transform &pose=Transform::getIdentity())
Definition OdometryEvent.h:148
+
rtabmap::OdometryResetEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:150
+
rtabmap::OdometryResetEvent::getPose
const Transform & getPose() const
Definition OdometryEvent.h:152
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
@@ -217,9 +253,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Extracts translation and Euler angles (radians).
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryF2F_8h_source.html b/preview/pr-1492/api/latest/OdometryF2F_8h_source.html index e544dc62..5fbcc9bd 100644 --- a/preview/pr-1492/api/latest/OdometryF2F_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryF2F_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryF2F.h
@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
38class RTABMAP_CORE_EXPORT OdometryF2F : public Odometry
39{
40public:
-
41 OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
42 virtual ~OdometryF2F();
43
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -147,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
59 Registration * registrationPipeline_;
60 Signature refFrame_;
61 Transform lastKeyFramePose_;
-
62 ParametersMap parameters_;
+
62 ParametersMap parameters_;
63};
64
@@ -157,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryF2F
Definition OdometryF2F.h:39
rtabmap::OdometryF2F::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryF2F::getType
virtual Odometry::Type getType()
Definition OdometryF2F.h:48
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryF2M_8h_source.html b/preview/pr-1492/api/latest/OdometryF2M_8h_source.html index b75c7212..3dbe59fc 100644 --- a/preview/pr-1492/api/latest/OdometryF2M_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryF2M_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryF2M.h
@@ -132,7 +149,7 @@ $(document).ready(function() { init_codefold(0); });
44class RTABMAP_CORE_EXPORT OdometryF2M : public Odometry
45{
46public:
-
47 OdometryF2M(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
47 OdometryF2M(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
48 virtual ~OdometryF2M();
49
50 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -180,7 +197,7 @@ $(document).ready(function() { init_codefold(0); });
92 std::map<int, int> bundlePoseReferences_;
93 int bundleSeq_;
94 Optimizer * sba_;
-
95 ParametersMap parameters_;
+
95 ParametersMap parameters_;
96};
97
@@ -190,7 +207,7 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryF2M
Definition OdometryF2M.h:45
rtabmap::OdometryF2M::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryF2M::getType
virtual Odometry::Type getType()
Definition OdometryF2M.h:54
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
@@ -199,10 +216,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html b/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html index 59a4ba72..f76b32b7 100644 --- a/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryFLOAM.h
@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
38class RTABMAP_CORE_EXPORT OdometryFLOAM : public Odometry
39{
40public:
-
41 OdometryFLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 OdometryFLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
42 virtual ~OdometryFLOAM();
43
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -154,16 +171,21 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryFLOAM
Definition OdometryFLOAM.h:39
rtabmap::OdometryFLOAM::getType
virtual Odometry::Type getType()
Definition OdometryFLOAM.h:45
rtabmap::OdometryFLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryFovis_8h_source.html b/preview/pr-1492/api/latest/OdometryFovis_8h_source.html index 8156592e..bc5e76b1 100644 --- a/preview/pr-1492/api/latest/OdometryFovis_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryFovis_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryFovis.h
@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
43class RTABMAP_CORE_EXPORT OdometryFovis : public Odometry
44{
45public:
-
46 OdometryFovis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
46 OdometryFovis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
47 virtual ~OdometryFovis();
48
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -149,7 +166,7 @@ $(document).ready(function() { init_codefold(0); });
61 fovis::StereoDepth * stereoDepth_;
62 bool lost_;
63#endif
-
64 ParametersMap fovisParameters_;
+
64 ParametersMap fovisParameters_;
65 Transform previousLocalTransform_;
66};
@@ -160,16 +177,21 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::OdometryFovis
Definition OdometryFovis.h:44
rtabmap::OdometryFovis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryFovis::getType
virtual Odometry::Type getType()
Definition OdometryFovis.h:50
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryInfo_8h_source.html b/preview/pr-1492/api/latest/OdometryInfo_8h_source.html index d9193a4d..ec7a35fc 100644 --- a/preview/pr-1492/api/latest/OdometryInfo_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryInfo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryInfo.h
@@ -129,70 +146,112 @@ $(document).ready(function() { init_codefold(0); });
42
43namespace rtabmap {
44
-
-
45class RTABMAP_CORE_EXPORT OdometryInfo
-
46{
-
47public:
-
48 OdometryInfo();
-
49 OdometryInfo copyWithoutData() const;
-
50 std::map<std::string, float> statistics(const Transform & pose = Transform());
-
51
-
52 bool lost;
-
53 RegistrationInfo reg;
-
54 int features;
-
55 int localMapSize;
-
56 int localScanMapSize;
-
57 int localKeyFrames;
-
58 int localBundleOutliers;
-
59 int localBundleConstraints;
-
60 float localBundleTime;
-
61 std::map<int, Transform> localBundlePoses;
-
62 std::map<int, std::vector<CameraModel> > localBundleModels;
-
63 float localBundleAvgInlierDistance;
-
64 int localBundleMaxKeyFramesForInlier;
-
65 std::vector<int> localBundleOutliersPerCam;
-
66 bool keyFrameAdded;
-
67 float timeDeskewing;
-
68 float timeEstimation;
-
69 float timeParticleFiltering;
-
70 double stamp;
-
71 double interval;
-
72 Transform transform;
-
73 Transform transformFiltered;
-
74 Transform transformGroundTruth;
-
75 Transform guessVelocity; // deprecated, will be removed. Use guess and interval instead.
-
76 Transform guess;
-
77 float distanceTravelled;
-
78 int memoryUsage; //MB
-
79 double gravityRollError;
-
80 double gravityPitchError;
-
81
-
82 int type;
-
83
-
84 // F2M
-
85 std::multimap<int, cv::KeyPoint> words;
-
86 std::map<int, cv::Point3f> localMap;
-
87 LaserScan localScanMap;
-
88
-
89 // F2F
-
90 std::vector<cv::Point2f> refCorners;
-
91 std::vector<cv::Point2f> newCorners;
-
92 std::vector<int> cornerInliers;
-
93};
+
+
63class RTABMAP_CORE_EXPORT OdometryInfo
+
64{
+
65public:
+
66 OdometryInfo();
+
68 OdometryInfo copyWithoutData() const;
+
74 std::map<std::string, float> statistics(const Transform & pose = Transform());
+
75
+
76 bool lost;
+
77 RegistrationInfo reg;
+
78 int features;
+
79 int localMapSize;
+
80 int localScanMapSize;
+
81 int localKeyFrames;
+
82 int localBundleOutliers;
+
83 int localBundleConstraints;
+
84 float localBundleTime;
+
85 std::map<int, Transform> localBundlePoses;
+
86 std::map<int, std::vector<CameraModel> > localBundleModels;
+
87 float localBundleAvgInlierDistance;
+
88 int localBundleMaxKeyFramesForInlier;
+
89 std::vector<int> localBundleOutliersPerCam;
+
90 bool keyFrameAdded;
+
91 float timeDeskewing;
+
92 float timeEstimation;
+
93 float timeParticleFiltering;
+
94 double stamp;
+
95 double interval;
+
96 Transform transform;
+
97 Transform transformFiltered;
+
98 Transform transformGroundTruth;
+
99 Transform guessVelocity;
+
100 Transform guess;
+
101 float distanceTravelled;
+
102 int memoryUsage;
+
103 double gravityRollError;
+
104 double gravityPitchError;
+
105
+
106 int type;
+
107
+
108 // F2M
+
109 std::multimap<int, cv::KeyPoint> words;
+
110 std::map<int, cv::Point3f> localMap;
+
111 LaserScan localScanMap;
+
112
+
113 // F2F
+
114 std::vector<cv::Point2f> refCorners;
+
115 std::vector<cv::Point2f> newCorners;
+
116 std::vector<int> cornerInliers;
+
117};
-
94
-
95}
-
96
-
97#endif /* ODOMETRYINFO_H_ */
+
118
+
119}
+
120
+
121#endif /* ODOMETRYINFO_H_ */
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
+
rtabmap::OdometryInfo::newCorners
std::vector< cv::Point2f > newCorners
Where those corners were found in the current frame (F2F).
Definition OdometryInfo.h:115
+
rtabmap::OdometryInfo::localScanMap
LaserScan localScanMap
Local scan map in the odometry frame (F2M).
Definition OdometryInfo.h:111
+
rtabmap::OdometryInfo::reg
RegistrationInfo reg
Registration result: matches, inliers, covariance, ICP indicators and timings.
Definition OdometryInfo.h:77
+
rtabmap::OdometryInfo::refCorners
std::vector< cv::Point2f > refCorners
Corners of the reference frame (F2F).
Definition OdometryInfo.h:114
+
rtabmap::OdometryInfo::localMap
std::map< int, cv::Point3f > localMap
Local feature map in the odometry frame, by word id (F2M).
Definition OdometryInfo.h:110
+
rtabmap::OdometryInfo::interval
double interval
Time since the previous processed frame (s); the divisor for velocities.
Definition OdometryInfo.h:95
+
rtabmap::OdometryInfo::statistics
std::map< std::string, float > statistics(const Transform &pose=Transform())
Formats the content as the Odometry/... statistics.
+
rtabmap::OdometryInfo::guessVelocity
Transform guessVelocity
Definition OdometryInfo.h:99
+
rtabmap::OdometryInfo::localBundleConstraints
int localBundleConstraints
Feature observations kept by the last local bundle adjustment.
Definition OdometryInfo.h:83
+
rtabmap::OdometryInfo::localMapSize
int localMapSize
Number of 3D points in the local feature map (F2M).
Definition OdometryInfo.h:79
+
rtabmap::OdometryInfo::localKeyFrames
int localKeyFrames
Number of key frames forming the local map (F2M).
Definition OdometryInfo.h:81
+
rtabmap::OdometryInfo::cornerInliers
std::vector< int > cornerInliers
Indices in refCorners / newCorners kept as inliers (F2F).
Definition OdometryInfo.h:116
+
rtabmap::OdometryInfo::distanceTravelled
float distanceTravelled
Distance travelled since the odometry was last reset (m).
Definition OdometryInfo.h:101
+
rtabmap::OdometryInfo::features
int features
Number of features extracted in the current frame.
Definition OdometryInfo.h:78
+
rtabmap::OdometryInfo::gravityRollError
double gravityRollError
Absolute roll difference between the estimated pose and the IMU gravity (rad).
Definition OdometryInfo.h:103
+
rtabmap::OdometryInfo::localBundleMaxKeyFramesForInlier
int localBundleMaxKeyFramesForInlier
Highest number of key frames observing a same inlier.
Definition OdometryInfo.h:88
+
rtabmap::OdometryInfo::stamp
double stamp
Stamp of the processed frame.
Definition OdometryInfo.h:94
+
rtabmap::OdometryInfo::guess
Transform guess
Motion guess given to the front-end (from the velocity model, an external pose or an IMU).
Definition OdometryInfo.h:100
+
rtabmap::OdometryInfo::timeEstimation
float timeEstimation
Time spent estimating the motion (s).
Definition OdometryInfo.h:92
+
rtabmap::OdometryInfo::timeDeskewing
float timeDeskewing
Time spent deskewing the laser scan (s).
Definition OdometryInfo.h:91
+
rtabmap::OdometryInfo::gravityPitchError
double gravityPitchError
Absolute pitch difference between the estimated pose and the IMU gravity (rad).
Definition OdometryInfo.h:104
+
rtabmap::OdometryInfo::keyFrameAdded
bool keyFrameAdded
True if this frame became a key frame of the local map.
Definition OdometryInfo.h:90
+
rtabmap::OdometryInfo::localBundleOutliers
int localBundleOutliers
Features rejected by the last local bundle adjustment.
Definition OdometryInfo.h:82
+
rtabmap::OdometryInfo::lost
bool lost
True when the motion could not be estimated on this frame (transform is then null).
Definition OdometryInfo.h:76
+
rtabmap::OdometryInfo::localBundleModels
std::map< int, std::vector< CameraModel > > localBundleModels
Camera models of localBundlePoses.
Definition OdometryInfo.h:86
+
rtabmap::OdometryInfo::timeParticleFiltering
float timeParticleFiltering
Time spent in the particle filter (s), when enabled.
Definition OdometryInfo.h:93
+
rtabmap::OdometryInfo::localBundleOutliersPerCam
std::vector< int > localBundleOutliersPerCam
Outliers of the last local bundle adjustment, per camera.
Definition OdometryInfo.h:89
+
rtabmap::OdometryInfo::transformGroundTruth
Transform transformGroundTruth
Ground truth motion since the previous frame, when the data provides it.
Definition OdometryInfo.h:98
+
rtabmap::OdometryInfo::copyWithoutData
OdometryInfo copyWithoutData() const
A copy without the heavy members (features, local map, scan).
+
rtabmap::OdometryInfo::words
std::multimap< int, cv::KeyPoint > words
Keypoints of the current frame, by word id (F2M).
Definition OdometryInfo.h:109
+
rtabmap::OdometryInfo::localBundlePoses
std::map< int, Transform > localBundlePoses
Key frame poses optimized by the local bundle adjustment.
Definition OdometryInfo.h:85
+
rtabmap::OdometryInfo::transformFiltered
Transform transformFiltered
transform after Kalman or particle filtering, when enabled.
Definition OdometryInfo.h:97
+
rtabmap::OdometryInfo::localScanMapSize
int localScanMapSize
Number of points in the local scan map (F2M).
Definition OdometryInfo.h:80
+
rtabmap::OdometryInfo::localBundleAvgInlierDistance
float localBundleAvgInlierDistance
Average distance of the bundle adjustment inliers (m).
Definition OdometryInfo.h:87
+
rtabmap::OdometryInfo::type
int type
Odometry strategy that produced this, see Parameters::kOdomStrategy().
Definition OdometryInfo.h:106
+
rtabmap::OdometryInfo::transform
Transform transform
Motion since the previous frame, null when lost.
Definition OdometryInfo.h:96
+
rtabmap::OdometryInfo::memoryUsage
int memoryUsage
Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().
Definition OdometryInfo.h:102
+
rtabmap::OdometryInfo::localBundleTime
float localBundleTime
Time spent in the local bundle adjustment (s).
Definition OdometryInfo.h:84
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html b/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html index 8a70747a..7c50727c 100644 --- a/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryLIOSAM.h
@@ -130,7 +147,7 @@ $(document).ready(function() { init_codefold(0); });
42class RTABMAP_CORE_EXPORT OdometryLIOSAM : public Odometry
43{
44public:
-
45 OdometryLIOSAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
45 OdometryLIOSAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
46 virtual ~OdometryLIOSAM();
47
48 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -151,7 +168,7 @@ $(document).ready(function() { init_codefold(0); });
63 bool lost_;
64 float linVar_;
65 float angVar_;
-
66 ParametersMap parameters_;
+
66 ParametersMap parameters_;
67 Transform imuLocalTransform_; // base_link -> imu_link (cached for deferred init)
68
69 // Buffered IMU samples received before initialization
@@ -169,7 +186,7 @@ $(document).ready(function() { init_codefold(0); });
80}
81
82#endif /* ODOMETRYLIOSAM_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryLIOSAM
Definition OdometryLIOSAM.h:43
rtabmap::OdometryLIOSAM::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryLIOSAM.h:50
rtabmap::OdometryLIOSAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -179,10 +196,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html b/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html index 54fcef4f..c45ff1cd 100644 --- a/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryLOAM.h
@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
43class RTABMAP_CORE_EXPORT OdometryLOAM : public Odometry
44{
45public:
-
46 OdometryLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
46 OdometryLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
47 virtual ~OdometryLOAM();
48
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -162,7 +179,7 @@ $(document).ready(function() { init_codefold(0); });
73}
74
75#endif /* ODOMETRYLOAM_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryLOAM
Definition OdometryLOAM.h:44
rtabmap::OdometryLOAM::getType
virtual Odometry::Type getType()
Definition OdometryLOAM.h:50
rtabmap::OdometryLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -171,10 +188,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html b/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html index 489427c9..ffbb4124 100644 --- a/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryMSCKF.h
@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
38class RTABMAP_CORE_EXPORT OdometryMSCKF : public Odometry
39{
40public:
-
41 OdometryMSCKF(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 OdometryMSCKF(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
42 virtual ~OdometryMSCKF();
43
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -142,7 +159,7 @@ $(document).ready(function() { init_codefold(0); });
54 ImageProcessorNoROS * imageProcessor_;
55 MsckfVioNoROS * msckf_;
56 IMU lastImu_;
-
57 ParametersMap parameters_;
+
57 ParametersMap parameters_;
58 Transform fixPoseRotation_;
59 Transform previousPose_;
60 bool initGravity_;
@@ -154,7 +171,7 @@ $(document).ready(function() { init_codefold(0); });
65
66#endif /* ODOMETRYMSCKF_H_ */
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryMSCKF
Definition OdometryMSCKF.h:39
rtabmap::OdometryMSCKF::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryMSCKF.h:46
rtabmap::OdometryMSCKF::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryMono_8h_source.html b/preview/pr-1492/api/latest/OdometryMono_8h_source.html index f8c8d13e..aaf20056 100644 --- a/preview/pr-1492/api/latest/OdometryMono_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryMono_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryMono.h
@@ -127,7 +144,7 @@ $(document).ready(function() { init_codefold(0); });
39class RTABMAP_CORE_EXPORT OdometryMono : public Odometry
40{
41public:
-
42 OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
43 virtual ~OdometryMono();
44 virtual void reset(const Transform & initialPose);
45 virtual Odometry::Type getType() {return kTypeUndef;}
@@ -172,7 +189,7 @@ $(document).ready(function() { init_codefold(0); });
83#endif /* ODOMETRYMONO_H_ */
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryMono
Definition OdometryMono.h:40
rtabmap::OdometryMono::reset
virtual void reset(const Transform &initialPose)
Resets internal state and sets the initial pose.
rtabmap::OdometryMono::getType
virtual Odometry::Type getType()
Definition OdometryMono.h:45
@@ -181,10 +198,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html b/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html index a86b712d..e6380e5a 100644 --- a/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryORBSLAM2.h
@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
38class RTABMAP_CORE_EXPORT OdometryORBSLAM2 : public Odometry
39{
40public:
-
41 OdometryORBSLAM2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 OdometryORBSLAM2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
42 virtual ~OdometryORBSLAM2();
43
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -149,7 +166,7 @@ $(document).ready(function() { init_codefold(0); });
60}
61
62#endif /* ODOMETRYORBSLAM2_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryORBSLAM2
Definition OdometryORBSLAM2.h:39
rtabmap::OdometryORBSLAM2::getType
virtual Odometry::Type getType()
Definition OdometryORBSLAM2.h:45
rtabmap::OdometryORBSLAM2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -158,10 +175,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html b/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html index d4e8cd2b..d0ac543c 100644 --- a/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryORBSLAM3.h
@@ -127,7 +144,7 @@ $(document).ready(function() { init_codefold(0); });
39class RTABMAP_CORE_EXPORT OdometryORBSLAM3 : public Odometry
40{
41public:
-
42 OdometryORBSLAM3(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 OdometryORBSLAM3(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
43 virtual ~OdometryORBSLAM3();
44
45 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
58 Transform previousPose_;
59 bool useIMU_;
60 Transform imuLocalTransform_;
-
61 ParametersMap parameters_;
+
61 ParametersMap parameters_;
62 std::vector<ORB_SLAM3::IMU::Point> orbslamImus_;
63 double lastImuStamp_;
64 double lastImageStamp_;
@@ -159,7 +176,7 @@ $(document).ready(function() { init_codefold(0); });
70
71#endif /* ODOMETRYORBSLAM_H3_ */
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryORBSLAM3
Definition OdometryORBSLAM3.h:40
rtabmap::OdometryORBSLAM3::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
rtabmap::OdometryORBSLAM3::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -169,10 +186,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html b/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html index aaf0582f..885d3858 100644 --- a/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryOkvis.h
@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
40class RTABMAP_CORE_EXPORT OdometryOkvis : public Odometry
41{
42public:
-
43 OdometryOkvis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
43 OdometryOkvis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
44 virtual ~OdometryOkvis();
45
46 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -147,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
59 int imagesProcessed_;
60 bool initGravity_;
61#endif
-
62 ParametersMap okvisParameters_;
+
62 ParametersMap okvisParameters_;
63 IMU lastImu_; // only used for initialization
64 Transform previousPose_;
65};
@@ -157,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
68
69#endif /* ODOMETRYOKVIS_H_ */
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryOkvis
Definition OdometryOkvis.h:41
rtabmap::OdometryOkvis::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryOkvis.h:49
rtabmap::OdometryOkvis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -168,10 +185,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html b/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html index 196b0163..094cc5a0 100644 --- a/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryOpen3D.h
@@ -123,7 +140,7 @@ $(document).ready(function() { init_codefold(0); });
35class RTABMAP_CORE_EXPORT OdometryOpen3D : public Odometry
36{
37public:
-
38 OdometryOpen3D(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
38 OdometryOpen3D(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
39 virtual ~OdometryOpen3D();
40
41 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
57}
58
59#endif /* ODOMETRYOPEN3D_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryOpen3D
Definition OdometryOpen3D.h:36
rtabmap::OdometryOpen3D::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryOpen3D::getType
virtual Odometry::Type getType()
Definition OdometryOpen3D.h:42
@@ -155,10 +172,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html b/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html index 28da9310..8bd3a5af 100644 --- a/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryOpenVINS.h
@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
40class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
41{
42public:
-
43 OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
43 OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
44
45 virtual void reset(const Transform & initialPose = Transform::getIdentity());
46 virtual Odometry::Type getType() {return Odometry::kTypeOpenVINS;}
@@ -153,7 +170,7 @@ $(document).ready(function() { init_codefold(0); });
64}
65
66#endif /* ODOMETRYOPENVINS_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryOpenVINS
Definition OdometryOpenVINS.h:41
rtabmap::OdometryOpenVINS::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryOpenVINS.h:48
rtabmap::OdometryOpenVINS::getType
virtual Odometry::Type getType()
Definition OdometryOpenVINS.h:46
@@ -164,10 +181,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryThread_8h_source.html b/preview/pr-1492/api/latest/OdometryThread_8h_source.html index 21c0ec9c..e7f3ee93 100644 --- a/preview/pr-1492/api/latest/OdometryThread_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryThread.h
@@ -126,61 +143,65 @@ $(document).ready(function() { init_codefold(0); });
39
40class Odometry;
41
-
-
42class RTABMAP_CORE_EXPORT OdometryThread : public UThread, public UEventsHandler {
-
43public:
-
44 // take ownership of Odometry
-
45 OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
-
46 virtual ~OdometryThread();
-
47
-
48protected:
-
49 virtual bool handleEvent(UEvent * event);
-
50
-
51private:
-
52 virtual void mainLoopBegin();
-
53 virtual void mainLoopKill();
-
54
-
55 //============================================================
-
56 // MAIN LOOP
-
57 //============================================================
-
58 virtual void mainLoop();
-
59 void addData(const SensorEvent & data);
-
60 bool getData(SensorEvent & data);
-
61
-
62private:
-
63 USemaphore _dataAdded;
-
64 UMutex _dataMutex;
-
65 std::list<SensorEvent> _dataBuffer;
-
66 std::list<SensorData> _imuBuffer;
-
67 Odometry * _odometry;
-
68 unsigned int _dataBufferMaxSize;
-
69 bool _resetOdometry;
-
70 Transform _resetPose;
-
71 Transform _previousGuessPose;
-
72 double _oldestAsyncImuStamp;
-
73 double _newestAsyncImuStamp;
-
74};
+
+
80class RTABMAP_CORE_EXPORT OdometryThread : public UThread, public UEventsHandler {
+
81public:
+
90 OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
+
91 virtual ~OdometryThread();
+
92
+
93protected:
+
103 virtual bool handleEvent(UEvent * event);
+
104
+
105private:
+
106 virtual void mainLoopBegin();
+
107 virtual void mainLoopKill();
+
108
+
109 //============================================================
+
110 // MAIN LOOP
+
111 //============================================================
+
112 virtual void mainLoop();
+
113 void addData(const SensorEvent & data);
+
114 bool getData(SensorEvent & data);
+
115
+
116private:
+
117 USemaphore _dataAdded;
+
118 UMutex _dataMutex;
+
119 std::list<SensorEvent> _dataBuffer;
+
120 std::list<SensorData> _imuBuffer;
+
121 Odometry * _odometry;
+
122 unsigned int _dataBufferMaxSize;
+
123 bool _resetOdometry;
+
124 Transform _resetPose;
+
125 Transform _previousGuessPose;
+
126 double _oldestAsyncImuStamp;
+
127 double _newestAsyncImuStamp;
+
128};
-
75
-
76} // namespace rtabmap
-
77
-
78
-
79#endif /* ODOMETRYTHREAD_H_ */
+
129
+
130} // namespace rtabmap
+
131
+
132
+
133#endif /* ODOMETRYTHREAD_H_ */
UEvent
Definition UEvent.h:57
UEventsHandler
Definition UEventsHandler.h:128
UMutex
Definition UMutex.h:55
USemaphore
Definition USemaphore.h:56
UThread
Definition UThread.h:87
-
rtabmap::OdometryThread
Definition OdometryThread.h:42
-
rtabmap::OdometryThread::handleEvent
virtual bool handleEvent(UEvent *event)
+
rtabmap::OdometryThread
Runs an Odometry front-end in its own thread, driven by events.
Definition OdometryThread.h:80
+
rtabmap::OdometryThread::handleEvent
virtual bool handleEvent(UEvent *event)
Receives the events listed in the class description.
+
rtabmap::OdometryThread::OdometryThread
OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)
Constructor.
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::SensorEvent
Event class for sensor data communication in RTAB-Map's event system.
Definition SensorEvent.h:65
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html b/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html index 5a6cc3ae..239d829f 100644 --- a/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryVINSFusion.h
@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
37class RTABMAP_CORE_EXPORT OdometryVINSFusion : public Odometry
38{
39public:
-
40 OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
40 OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
41 virtual ~OdometryVINSFusion();
42
43 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -152,7 +169,7 @@ $(document).ready(function() { init_codefold(0); });
63
64#endif /* ODOMETRYVINSFUSION_H_ */
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryVINSFusion
Definition OdometryVINSFusion.h:38
rtabmap::OdometryVINSFusion::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryVINSFusion.h:46
rtabmap::OdometryVINSFusion::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryVINSFusion.h:45
@@ -163,10 +180,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryVINS_8h_source.html b/preview/pr-1492/api/latest/OdometryVINS_8h_source.html index ec6aff03..25016cb0 100644 --- a/preview/pr-1492/api/latest/OdometryVINS_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryVINS_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryVINS.h
@@ -117,9 +134,13 @@ $(document).ready(function() { init_codefold(0); });
30
31#include "rtabmap/core/odometry/OdometryVINSFusion.h"
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OdometryViso2_8h_source.html b/preview/pr-1492/api/latest/OdometryViso2_8h_source.html index d79cb324..50421dd0 100644 --- a/preview/pr-1492/api/latest/OdometryViso2_8h_source.html +++ b/preview/pr-1492/api/latest/OdometryViso2_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OdometryViso2.h
@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
37class RTABMAP_CORE_EXPORT OdometryViso2 : public Odometry
38{
39public:
-
40 OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
40 OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
41 virtual ~OdometryViso2();
42
43 virtual void reset(const Transform & initialPose = Transform::getIdentity());
@@ -145,14 +162,14 @@ $(document).ready(function() { init_codefold(0); });
57#endif
58 Transform reference_motion_;
59 Transform previousLocalTransform_;
-
60 ParametersMap viso2Parameters_;
+
60 ParametersMap viso2Parameters_;
61};
62
63}
64
65#endif /* ODOMETRYVISO2_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::OdometryViso2
Definition OdometryViso2.h:38
rtabmap::OdometryViso2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
rtabmap::OdometryViso2::getType
virtual Odometry::Type getType()
Definition OdometryViso2.h:44
@@ -161,10 +178,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Odometry_8h_source.html b/preview/pr-1492/api/latest/Odometry_8h_source.html index a97046d4..6c7dcdfc 100644 --- a/preview/pr-1492/api/latest/Odometry_8h_source.html +++ b/preview/pr-1492/api/latest/Odometry_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Odometry.h
@@ -151,8 +168,8 @@ $(document).ready(function() { init_codefold(0); });
77 };
78
-
84 static Odometry * create(const ParametersMap & parameters = ParametersMap());
-
90 static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
+
84 static Odometry * create(const ParametersMap & parameters = ParametersMap());
+
90 static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
91
92 virtual ~Odometry();
101 Transform process(SensorData & data, OdometryInfo * info = 0);
@@ -173,7 +190,7 @@ $(document).ready(function() { init_codefold(0); });
136protected:
138 const std::map<double, Transform> & imus() const {return imus_;}
139
-
141 Odometry(const rtabmap::ParametersMap & parameters);
+
141 Odometry(const rtabmap::ParametersMap & parameters);
142
143private:
151 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -222,7 +239,7 @@ $(document).ready(function() { init_codefold(0); });
193
194} /* namespace rtabmap */
195#endif /* ODOMETRY_H_ */
-
rtabmap::OdometryInfo
Definition OdometryInfo.h:46
+
rtabmap::OdometryInfo
What one Odometry iteration produced, beyond the pose.
Definition OdometryInfo.h:64
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
rtabmap::Odometry::process
Transform process(SensorData &data, OdometryInfo *info=0)
Processes a sensor frame and updates the integrated pose.
rtabmap::Odometry::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
@@ -245,10 +262,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html b/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html index cc25319c..be81a536 100644 --- a/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html +++ b/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OptimizerCVSBA.h
@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
43 bool slam2d = Parameters::defaultRegForce3DoF(),
44 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
45 Optimizer(iterations, slam2d, covarianceIgnored) {}
-
46 OptimizerCVSBA(const ParametersMap & parameters) :
+
46 OptimizerCVSBA(const ParametersMap & parameters) :
47 Optimizer(parameters) {}
48 virtual ~OptimizerCVSBA() {}
49
@@ -156,10 +173,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html b/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html index b9fff3e2..97d31d1e 100644 --- a/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html +++ b/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OptimizerCeres.h
@@ -136,12 +153,12 @@ $(document).ready(function() { init_codefold(0); });
48 disparityVariance_(Parameters::defaultOptimizerDisparityVariance()),
49 robustKernelDelta_(Parameters::defaultOptimizerRobustKernelDelta()),
50 baseline_(Parameters::defaultOptimizerBaseline()) {}
-
51 OptimizerCeres(const ParametersMap & parameters);
+
51 OptimizerCeres(const ParametersMap & parameters);
52 virtual ~OptimizerCeres() {}
53
54 virtual Type type() const {return kTypeCeres;}
55
-
56 virtual void parseParameters(const ParametersMap & parameters);
+
56 virtual void parseParameters(const ParametersMap & parameters);
57
58 virtual std::map<int, Transform> optimize(
59 int rootId,
@@ -179,10 +196,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html b/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html index e1c8a462..6974bfd1 100644 --- a/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html +++ b/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OptimizerG2O.h
@@ -136,12 +153,12 @@ $(document).ready(function() { init_codefold(0); });
48 std::multimap<int, Link> & edgeConstraints);
49
50public:
-
51 OptimizerG2O(const ParametersMap & parameters = ParametersMap());
+
51 OptimizerG2O(const ParametersMap & parameters = ParametersMap());
52 virtual ~OptimizerG2O() {}
53
54 virtual Type type() const {return kTypeG2O;}
55
-
56 virtual void parseParameters(const ParametersMap & parameters);
+
56 virtual void parseParameters(const ParametersMap & parameters);
57
58 virtual std::map<int, Transform> optimize(
59 int rootId,
@@ -186,10 +203,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html b/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html index db77397c..ad67507a 100644 --- a/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html +++ b/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OptimizerGTSAM.h
@@ -130,12 +147,12 @@ $(document).ready(function() { init_codefold(0); });
42 static bool available();
43
44public:
-
45 OptimizerGTSAM(const ParametersMap & parameters = ParametersMap());
+
45 OptimizerGTSAM(const ParametersMap & parameters = ParametersMap());
46 virtual ~OptimizerGTSAM();
47
48 virtual Type type() const {return kTypeGTSAM;}
49
-
50 virtual void parseParameters(const ParametersMap & parameters);
+
50 virtual void parseParameters(const ParametersMap & parameters);
51
52 virtual std::map<int, Transform> optimize(
53 int rootId,
@@ -193,10 +210,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html b/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html index c1276ab4..a77a4b1a 100644 --- a/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html +++ b/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
OptimizerTORO.h
@@ -138,7 +155,7 @@ $(document).ready(function() { init_codefold(0); });
50 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
51 double epsilon = Parameters::defaultOptimizerEpsilon()) :
52 Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
-
53 OptimizerTORO(const ParametersMap & parameters) :
+
53 OptimizerTORO(const ParametersMap & parameters) :
54 Optimizer(parameters) {}
55 virtual ~OptimizerTORO() {}
56
@@ -168,10 +185,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Optimizer_8h_source.html b/preview/pr-1492/api/latest/Optimizer_8h_source.html index 658332c5..99022b4d 100644 --- a/preview/pr-1492/api/latest/Optimizer_8h_source.html +++ b/preview/pr-1492/api/latest/Optimizer_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Optimizer.h
@@ -161,9 +178,9 @@ $(document).ready(function() { init_codefold(0); });
99
106 static bool isAvailable(Optimizer::Type type);
107
-
114 static Optimizer * create(const ParametersMap & parameters);
+
114 static Optimizer * create(const ParametersMap & parameters);
115
-
117 static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
+
117 static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
118
127 void getConnectedGraph(
128 int fromId,
@@ -202,7 +219,7 @@ $(document).ready(function() { init_codefold(0); });
160 void setLandmarksIgnored(bool enabled) {landmarksIgnored_ = enabled;}
161 void setGravitySigma(float value) {gravitySigma_ = value;}
163
-
170 virtual void parseParameters(const ParametersMap & parameters);
+
170 virtual void parseParameters(const ParametersMap & parameters);
171
189 std::map<int, Transform> optimizeIncremental(
190 int rootId,
@@ -246,7 +263,7 @@ $(document).ready(function() { init_codefold(0); });
279 std::map<int, cv::Point3f> & points3DMap,
280 std::map<int, std::map<int, FeatureBA> > & wordReferences,
281 bool rematchFeatures = false,
-
282 const ParametersMap & registrationParameters = ParametersMap());
+
282 const ParametersMap & registrationParameters = ParametersMap());
283
286 std::map<int, Transform> optimizeBA(
287 int rootId,
@@ -254,7 +271,7 @@ $(document).ready(function() { init_codefold(0); });
289 const std::multimap<int, Link> & links,
290 const std::map<int, Signature> & signatures,
291 bool rematchFeatures = false,
-
292 const ParametersMap & registrationParameters = ParametersMap());
+
292 const ParametersMap & registrationParameters = ParametersMap());
293
301 Transform optimizeBA(
302 const Link & link,
@@ -271,7 +288,7 @@ $(document).ready(function() { init_codefold(0); });
328 std::map<int, std::map<int, FeatureBA > > & wordReferences,
329 bool rematchFeatures = false,
330 bool useLinkTransformAsGuess = false,
-
331 ParametersMap registrationParameters = ParametersMap());
+
331 ParametersMap registrationParameters = ParametersMap());
332
333protected:
334 Optimizer(
@@ -283,7 +300,7 @@ $(document).ready(function() { init_codefold(0); });
340 bool priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),
341 bool landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),
342 float gravitySigma = Parameters::defaultOptimizerGravitySigma());
-
343 Optimizer(const ParametersMap & parameters);
+
343 Optimizer(const ParametersMap & parameters);
344
345private:
346 int iterations_;
@@ -339,10 +356,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Optimizer::isAvailable
static bool isAvailable(Optimizer::Type type)
Returns whether type was compiled in (its third-party dependency was found).
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/PDALWriter_8h_source.html b/preview/pr-1492/api/latest/PDALWriter_8h_source.html index e412c1f9..2f41893d 100644 --- a/preview/pr-1492/api/latest/PDALWriter_8h_source.html +++ b/preview/pr-1492/api/latest/PDALWriter_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
PDALWriter.h
@@ -134,9 +151,13 @@ $(document).ready(function() { init_codefold(0); });
47#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/ParamEvent_8h_source.html b/preview/pr-1492/api/latest/ParamEvent_8h_source.html index 438238f1..4961234e 100644 --- a/preview/pr-1492/api/latest/ParamEvent_8h_source.html +++ b/preview/pr-1492/api/latest/ParamEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
ParamEvent.h
@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
41class ParamEvent : public UEvent
42{
43public:
-
44 ParamEvent(const ParametersMap & parameters) : UEvent(0), parameters_(parameters) {}
+
44 ParamEvent(const ParametersMap & parameters) : UEvent(0), parameters_(parameters) {}
45 ParamEvent(const std::string & parameterKey, const std::string & parameterValue) : UEvent(0)
46 {
47 parameters_.insert(std::pair<std::string, std::string>(parameterKey, parameterValue));
@@ -133,10 +150,10 @@ $(document).ready(function() { init_codefold(0); });
49 ~ParamEvent() {}
50 virtual std::string getClassName() const {return "ParamEvent";}
51
-
52 const ParametersMap & getParameters() const {return parameters_;}
+
52 const ParametersMap & getParameters() const {return parameters_;}
53
54private:
-
55 ParametersMap parameters_;
+
55 ParametersMap parameters_;
56};
57
@@ -148,10 +165,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::ParamEvent
Definition ParamEvent.h:42
rtabmap::ParamEvent::getClassName
virtual std::string getClassName() const
Definition ParamEvent.h:50
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Parameters_8h_source.html b/preview/pr-1492/api/latest/Parameters_8h_source.html index e146907c..07dab180 100644 --- a/preview/pr-1492/api/latest/Parameters_8h_source.html +++ b/preview/pr-1492/api/latest/Parameters_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Parameters.h
@@ -127,919 +144,928 @@ $(document).ready(function() { init_codefold(0); });
40namespace rtabmap
41{
42
-
43typedef std::map<std::string, std::string> ParametersMap; // Key, value
-
44typedef std::pair<std::string, std::string> ParametersPair;
-
45
-
64#define RTABMAP_PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
-
65 public: \
-
66 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
-
67 static TYPE default##PREFIX##NAME() {return (TYPE)DEFAULT_VALUE;} \
-
68 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
-
69 private: \
-
70 class Dummy##PREFIX##NAME { \
-
71 public: \
-
72 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, #DEFAULT_VALUE)); \
-
73 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
-
74 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
-
75 }; \
-
76 Dummy##PREFIX##NAME dummy##PREFIX##NAME
-
77// end define PARAM
-
78
-
98#define RTABMAP_PARAM_STR(PREFIX, NAME, DEFAULT_VALUE, DESCRIPTION) \
-
99 public: \
-
100 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
-
101 static std::string default##PREFIX##NAME() {return DEFAULT_VALUE;} \
-
102 static std::string type##PREFIX##NAME() {return std::string("string");} \
-
103 private: \
-
104 class Dummy##PREFIX##NAME { \
-
105 public: \
-
106 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, DEFAULT_VALUE)); \
-
107 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, "string")); \
-
108 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
-
109 }; \
-
110 Dummy##PREFIX##NAME dummy##PREFIX##NAME
-
111// end define PARAM
-
112
-
131#define RTABMAP_PARAM_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
-
132 public: \
-
133 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
-
134 static TYPE default##PREFIX##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
-
135 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
-
136 private: \
-
137 class Dummy##PREFIX##NAME { \
-
138 public: \
-
139 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, COND?#DEFAULT_VALUE1:#DEFAULT_VALUE2)); \
-
140 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
-
141 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
-
142 }; \
-
143 Dummy##PREFIX##NAME dummy##PREFIX##NAME
-
144// end define PARAM
-
145
-
-
170class RTABMAP_CORE_EXPORT Parameters
-
171{
-
172 // Rtabmap parameters
-
173 RTABMAP_PARAM(Rtabmap, PublishStats, bool, true, "Publishing statistics.");
-
174 RTABMAP_PARAM(Rtabmap, PublishLastSignature, bool, true, "Publishing last signature.");
-
175 RTABMAP_PARAM(Rtabmap, PublishPdf, bool, true, "Publishing pdf.");
-
176 RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
-
177 RTABMAP_PARAM(Rtabmap, PublishRAMUsage, bool, false, "Publishing RAM usage in statistics (may add a small overhead to get info from the system).");
-
178 RTABMAP_PARAM(Rtabmap, ComputeRMSE, bool, true, "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.");
-
179 RTABMAP_PARAM(Rtabmap, SaveWMState, bool, false, "Save working memory state after each update in statistics.");
-
180 RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time.");
-
181 RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()));
-
182 RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");
-
183 RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
-
184 RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));
-
185 RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, "", "Working directory.");
-
186 RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum nodes retrieved at the same time from LTM.");
-
187 RTABMAP_PARAM(Rtabmap, MaxRepublished, unsigned int, 2, uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()));
-
188 RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
-
189 RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
-
190 RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
-
191 RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
-
192 RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
-
193 RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
-
194 RTABMAP_PARAM(Rtabmap, RectifyOnlyFeatures, bool, false, uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()));
-
195
-
196 // Hypotheses selection
-
197 RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
-
198 RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
-
199 RTABMAP_PARAM(Rtabmap, LoopGPS, bool, true, uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()));
-
200 RTABMAP_PARAM(Rtabmap, VirtualPlaceLikelihoodRatio, int, 0, "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)");
-
201
-
202 // Memory
-
203 RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
-
204 RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
-
205 RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
-
206 RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
-
207 RTABMAP_PARAM(Mem, LoadVisualLocalFeaturesOnInit, bool, true, "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.");
-
208 RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
-
209 RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
-
210 RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
-
211 RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
-
212 RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
-
213 RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, ".rvl", "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
-
214 RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
-
215 RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
-
216 RTABMAP_PARAM(Mem, LocalizationReadOnly, bool, false, uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
-
217 RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
-
218 RTABMAP_PARAM(Mem, ReduceGraph, bool, false, uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
-
219 RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
-
220 RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
-
221 RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
-
222 RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
-
223 RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
-
224 RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
-
225 RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
-
226 RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
-
227 RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
-
228 RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
-
229 RTABMAP_PARAM(Mem, ImagePreDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
-
230 RTABMAP_PARAM(Mem, ImagePostDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
-
231 RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
-
232 RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
-
233 RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()));
-
234 RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
-
235 RTABMAP_PARAM(Mem, LaserScanNormalRadius, float, 0.0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
-
236 RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features instead of regenerating them.");
-
237 RTABMAP_PARAM(Mem, UseOdomGravity, bool, false, uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()));
-
238 RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");
-
239 RTABMAP_PARAM(Mem, GlobalDescriptorStrategy, int, 0, "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor");
-
240 RTABMAP_PARAM(Mem, RotateImagesUpsideUp, bool, false, "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.");
-
241
-
242 // KeypointMemory (Keypoint-based)
-
243 RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
-
244 RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
-
245 RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
-
246 RTABMAP_PARAM(Kp, FlannRebalancingFactor, float, 2.0, uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
-
247 RTABMAP_PARAM(Kp, ByteToFloat, bool, false, uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
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248 RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
-
249 RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
-
250 RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
-
251 RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-
252 RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()));
-
253 RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
-
254#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
-
255 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-
256 RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
257#else
-
258 RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
259#endif
-
260 RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
-
261 RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
-
262 RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-
263 RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
-
264 RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
-
265 RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
-
266 RTABMAP_PARAM(Kp, SerializeWithChecksum, bool, true, "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
-
267 RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
-
268 RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
-
269 RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
-
270 RTABMAP_PARAM(Kp, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
-
271 RTABMAP_PARAM(Kp, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
-
272
-
273 //Database
-
274 RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
-
275 RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000,
-
276 "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). "
-
277 "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.");
-
278 RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3,
-
279 "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. "
-
280 "0=DELETE (SQLite default): journal file deleted after each commit. "
-
281 "1=TRUNCATE: journal truncated to zero length. "
-
282 "2=PERSIST: journal file kept, header zeroed after commit. "
-
283 "3=MEMORY: journal in RAM only; faster, weaker crash safety. "
-
284 "4=OFF: no journal; fastest, risk of corruption on crash.");
-
285 RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0,
-
286 "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. "
-
287 "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. "
-
288 "1=NORMAL: sync at critical moments (common SQLite default with WAL). "
-
289 "2=FULL (SQLite safest default): sync after every commit; slowest.");
-
290 RTABMAP_PARAM(DbSqlite3, TempStore, int, 2,
-
291 "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. "
-
292 "0=DEFAULT: SQLite compile-time default (often on-disk temp files). "
-
293 "1=FILE: temporary files in the system temp directory. "
-
294 "2=MEMORY: temporary data in RAM when possible.");
-
295 RTABMAP_PARAM_STR(Db, TargetVersion, "", "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).");
-
296
-
297 // Keypoints descriptors/detectors
-
298 RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
-
299 RTABMAP_PARAM(SURF, HessianThreshold, float, 500, "Threshold for hessian keypoint detector used in SURF.");
-
300 RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
-
301 RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
-
302 RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
-
303 RTABMAP_PARAM(SURF, GpuVersion, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
-
304 RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
-
305
-
306 RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically.");
-
307 RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()));
-
308 RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
-
309 RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
-
310 RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
-
311 RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
-
312 RTABMAP_PARAM(SIFT, Gpu, bool, false, "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
-
313 RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
-
314 RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0, uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
-
315 RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
-
316
-
317 RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
-
318
-
319 RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
-
320 RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
-
321 RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
-
322 RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
-
323 RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
-
324 RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
-
325 RTABMAP_PARAM(FAST, GridRows, int, 0, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
-
326 RTABMAP_PARAM(FAST, GridCols, int, 0, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
-
327 RTABMAP_PARAM(FAST, CV, int, 0, "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
+
44typedef std::map<std::string, std::string> ParametersMap; // Key, value
+
46typedef std::pair<std::string, std::string> ParametersPair;
+
47
+
66#define RTABMAP_PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
+
67 public: \
+
68 \
+
69 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
70 \
+
71 static TYPE default##PREFIX##NAME() {return (TYPE)DEFAULT_VALUE;} \
+
72 \
+
73 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
+
74 private: \
+
75 class Dummy##PREFIX##NAME { \
+
76 public: \
+
77 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, #DEFAULT_VALUE)); \
+
78 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
+
79 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
80 }; \
+
81 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
82// end define PARAM
+
83
+
103#define RTABMAP_PARAM_STR(PREFIX, NAME, DEFAULT_VALUE, DESCRIPTION) \
+
104 public: \
+
105 \
+
106 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
107 \
+
108 static std::string default##PREFIX##NAME() {return DEFAULT_VALUE;} \
+
109 \
+
110 static std::string type##PREFIX##NAME() {return std::string("string");} \
+
111 private: \
+
112 class Dummy##PREFIX##NAME { \
+
113 public: \
+
114 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, DEFAULT_VALUE)); \
+
115 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, "string")); \
+
116 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
117 }; \
+
118 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
119// end define PARAM
+
120
+
139#define RTABMAP_PARAM_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
+
140 public: \
+
141 \
+
142 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
143 \
+
144 static TYPE default##PREFIX##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
+
145 \
+
146 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
+
147 private: \
+
148 class Dummy##PREFIX##NAME { \
+
149 public: \
+
150 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, COND?#DEFAULT_VALUE1:#DEFAULT_VALUE2)); \
+
151 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
+
152 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
153 }; \
+
154 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
155// end define PARAM
+
156
+
+
182class RTABMAP_CORE_EXPORT Parameters
+
183{
+
184 // Rtabmap parameters
+
185 RTABMAP_PARAM(Rtabmap, PublishStats, bool, true, "Publishing statistics.");
+
186 RTABMAP_PARAM(Rtabmap, PublishLastSignature, bool, true, "Publishing last signature.");
+
187 RTABMAP_PARAM(Rtabmap, PublishPdf, bool, true, "Publishing pdf.");
+
188 RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
+
189 RTABMAP_PARAM(Rtabmap, PublishRAMUsage, bool, false, "Publishing RAM usage in statistics (may add a small overhead to get info from the system).");
+
190 RTABMAP_PARAM(Rtabmap, ComputeRMSE, bool, true, "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.");
+
191 RTABMAP_PARAM(Rtabmap, SaveWMState, bool, false, "Save working memory state after each update in statistics.");
+
192 RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time.");
+
193 RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()));
+
194 RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");
+
195 RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
196 RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));
+
197 RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, "", "Working directory.");
+
198 RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum nodes retrieved at the same time from LTM.");
+
199 RTABMAP_PARAM(Rtabmap, MaxRepublished, unsigned int, 2, uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()));
+
200 RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
+
201 RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
+
202 RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
+
203 RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
+
204 RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
+
205 RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
+
206 RTABMAP_PARAM(Rtabmap, RectifyOnlyFeatures, bool, false, uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()));
+
207
+
208 // Hypotheses selection
+
209 RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
+
210 RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
+
211 RTABMAP_PARAM(Rtabmap, LoopGPS, bool, true, uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()));
+
212 RTABMAP_PARAM(Rtabmap, VirtualPlaceLikelihoodRatio, int, 0, "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)");
+
213
+
214 // Memory
+
215 RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
+
216 RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
+
217 RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
+
218 RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
+
219 RTABMAP_PARAM(Mem, LoadVisualLocalFeaturesOnInit, bool, true, "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.");
+
220 RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
+
221 RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
+
222 RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
+
223 RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
+
224 RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
+
225 RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, ".rvl", "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
+
226 RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
+
227 RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
+
228 RTABMAP_PARAM(Mem, LocalizationReadOnly, bool, false, uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
+
229 RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
+
230 RTABMAP_PARAM(Mem, ReduceGraph, bool, false, uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
+
231 RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
+
232 RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
+
233 RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
+
234 RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
+
235 RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
+
236 RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
+
237 RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
+
238 RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
+
239 RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
+
240 RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
+
241 RTABMAP_PARAM(Mem, ImagePreDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
+
242 RTABMAP_PARAM(Mem, ImagePostDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
+
243 RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
+
244 RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
+
245 RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()));
+
246 RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
+
247 RTABMAP_PARAM(Mem, LaserScanNormalRadius, float, 0.0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
+
248 RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features instead of regenerating them.");
+
249 RTABMAP_PARAM(Mem, UseOdomGravity, bool, false, uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()));
+
250 RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");
+
251 RTABMAP_PARAM(Mem, GlobalDescriptorStrategy, int, 0, "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor");
+
252 RTABMAP_PARAM(Mem, RotateImagesUpsideUp, bool, false, "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.");
+
253
+
254 // KeypointMemory (Keypoint-based)
+
255 RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
+
256 RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
+
257 RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
+
258 RTABMAP_PARAM(Kp, FlannRebalancingFactor, float, 2.0, uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
+
259 RTABMAP_PARAM(Kp, ByteToFloat, bool, false, uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
+
260 RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
+
261 RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
+
262 RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
+
263 RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
264 RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()));
+
265 RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
+
266#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
267 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
268 RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
269#else
+
270 RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
271#endif
+
272 RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
+
273 RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
+
274 RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
275 RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
+
276 RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
+
277 RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
+
278 RTABMAP_PARAM(Kp, SerializeWithChecksum, bool, true, "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
+
279 RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
280 RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
281 RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
+
282 RTABMAP_PARAM(Kp, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
+
283 RTABMAP_PARAM(Kp, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
+
284
+
285 //Database
+
286 RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
+
287 RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000,
+
288 "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). "
+
289 "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.");
+
290 RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3,
+
291 "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. "
+
292 "0=DELETE (SQLite default): journal file deleted after each commit. "
+
293 "1=TRUNCATE: journal truncated to zero length. "
+
294 "2=PERSIST: journal file kept, header zeroed after commit. "
+
295 "3=MEMORY: journal in RAM only; faster, weaker crash safety. "
+
296 "4=OFF: no journal; fastest, risk of corruption on crash.");
+
297 RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0,
+
298 "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. "
+
299 "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. "
+
300 "1=NORMAL: sync at critical moments (common SQLite default with WAL). "
+
301 "2=FULL (SQLite safest default): sync after every commit; slowest.");
+
302 RTABMAP_PARAM(DbSqlite3, TempStore, int, 2,
+
303 "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. "
+
304 "0=DEFAULT: SQLite compile-time default (often on-disk temp files). "
+
305 "1=FILE: temporary files in the system temp directory. "
+
306 "2=MEMORY: temporary data in RAM when possible.");
+
307 RTABMAP_PARAM_STR(Db, TargetVersion, "", "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).");
+
308
+
309 // Keypoints descriptors/detectors
+
310 RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
+
311 RTABMAP_PARAM(SURF, HessianThreshold, float, 500, "Threshold for hessian keypoint detector used in SURF.");
+
312 RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
+
313 RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
+
314 RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
+
315 RTABMAP_PARAM(SURF, GpuVersion, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
316 RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
+
317
+
318 RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically.");
+
319 RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()));
+
320 RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
+
321 RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
+
322 RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
+
323 RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
+
324 RTABMAP_PARAM(SIFT, Gpu, bool, false, "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
+
325 RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
+
326 RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0, uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
+
327 RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
328
-
329 RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
-
330 RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
-
331 RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
-
332 RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
-
333 RTABMAP_PARAM(GFTT, K, double, 0.04, "");
-
334 RTABMAP_PARAM(GFTT, Gpu, bool, false, "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected.");
-
335
-
336 RTABMAP_PARAM(ORB, ScaleFactor, float, 2, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
-
337 RTABMAP_PARAM(ORB, NLevels, int, 3, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
-
338 RTABMAP_PARAM(ORB, EdgeThreshold, int, 19, "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
-
339 RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
-
340 RTABMAP_PARAM(ORB, WTA_K, int, 2, "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
-
341 RTABMAP_PARAM(ORB, ScoreType, int, 0, "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
-
342 RTABMAP_PARAM(ORB, PatchSize, int, 31, "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.");
-
343 RTABMAP_PARAM(ORB, Gpu, bool, false, "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
-
344
-
345 RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true, "Enable orientation normalization.");
-
346 RTABMAP_PARAM(FREAK, ScaleNormalized, bool, true, "Enable scale normalization.");
-
347 RTABMAP_PARAM(FREAK, PatternScale, float, 22, "Scaling of the description pattern.");
-
348 RTABMAP_PARAM(FREAK, NOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
-
349
-
350 RTABMAP_PARAM(BRISK, Thresh, int, 30, "FAST/AGAST detection threshold score.");
-
351 RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
-
352 RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
-
353
-
354 RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
-
355 RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
-
356 RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept keypoint.");
-
357 RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
-
358 RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
-
359 RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
-
360
-
361 RTABMAP_PARAM_STR(SuperPoint, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
-
362 RTABMAP_PARAM(SuperPoint, Threshold, float, 0.010, "Detector response threshold to accept keypoint.");
-
363 RTABMAP_PARAM(SuperPoint, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
-
364 RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
-
365 RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
-
366
-
367 RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "", "[Required] SuperPoint weights file (*.pth).");
-
368 RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "", "[Required] SuperPoint python model file (superpoint_pytorch.py).");
-
369 RTABMAP_PARAM(SuperPointRpautrat, Threshold, float, 0.005, "Detector response threshold to accept keypoint.");
-
370 RTABMAP_PARAM(SuperPointRpautrat, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
-
371 RTABMAP_PARAM(SuperPointRpautrat, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
-
372 RTABMAP_PARAM(SuperPointRpautrat, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
-
373
-
374 RTABMAP_PARAM_STR(PyDetector, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
-
375 RTABMAP_PARAM(PyDetector, Cuda, bool, true, "Use cuda.");
-
376
-
377 // BayesFilter
-
378 RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations).");
-
379 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.");
-
380 RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
-
381
-
382 // Verify hypotheses
-
383 RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
-
384 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
-
385 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
-
386 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
-
387
-
388 // RGB-D SLAM
-
389 RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
-
390 RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
-
391 RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
-
392 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
-
393 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
-
394 RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
-
395 RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
-
396 RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
-
397 RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 3.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
-
398 RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0, uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
-
399 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
-
400 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
-
401 RTABMAP_PARAM(RGBD, StartAtOrigin, bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
-
402 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
-
403 RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
-
404 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
-
405 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
-
406 RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
-
407 RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
-
408 RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
-
409 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
-
410 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
-
411 RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
-
412 RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
-
413 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
-
414 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
-
415 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
-
416 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
-
417 RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
-
418 RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
-
419 RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
-
420 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
-
421 RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
-
422 RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
-
423
-
424 // Local/Proximity loop closure detection
-
425 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
-
426 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
-
427 RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
-
428 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
-
429 RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 1, "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.");
-
430 RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).");
-
431 RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
-
432 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
-
433 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
-
434 RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
-
435 RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
-
436
-
437 // Graph optimization
-
438#ifdef RTABMAP_GTSAM
-
439 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
440 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
441 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
442#else
-
443#ifdef RTABMAP_G2O
-
444 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
445 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
446 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
-
447#else
-
448#ifdef RTABMAP_CERES
-
449 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
450 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
451 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
-
452#else
-
453 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
454 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
-
455 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
456#endif
-
457#endif
-
458#endif
-
459 RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
-
460 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
-
461 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
-
462 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
-
463#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
-
464 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
-
465#else
-
466 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
-
467#endif
-
468
-
469#ifdef RTABMAP_ORB_SLAM
-
470 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
471#else
-
472 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
473#endif
-
474 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
-
475
-
476 RTABMAP_PARAM(Optimizer, Baseline, double, 0.075, "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.");
-
477 RTABMAP_PARAM(Optimizer, PixelVariance, double, 1.0, "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.");
-
478 RTABMAP_PARAM(Optimizer, DisparityVariance, double, 1.0, "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).");
-
479 RTABMAP_PARAM(Optimizer, RobustKernelDelta, double, 8, "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.");
+
329 RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
+
330
+
331 RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
+
332 RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
+
333 RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
334 RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
+
335 RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
336 RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
337 RTABMAP_PARAM(FAST, GridRows, int, 0, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+
338 RTABMAP_PARAM(FAST, GridCols, int, 0, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+
339 RTABMAP_PARAM(FAST, CV, int, 0, "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
+
340
+
341 RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
+
342 RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
+
343 RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
+
344 RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
+
345 RTABMAP_PARAM(GFTT, K, double, 0.04, "");
+
346 RTABMAP_PARAM(GFTT, Gpu, bool, false, "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected.");
+
347
+
348 RTABMAP_PARAM(ORB, ScaleFactor, float, 2, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
+
349 RTABMAP_PARAM(ORB, NLevels, int, 3, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
+
350 RTABMAP_PARAM(ORB, EdgeThreshold, int, 19, "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
+
351 RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
+
352 RTABMAP_PARAM(ORB, WTA_K, int, 2, "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
+
353 RTABMAP_PARAM(ORB, ScoreType, int, 0, "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
+
354 RTABMAP_PARAM(ORB, PatchSize, int, 31, "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.");
+
355 RTABMAP_PARAM(ORB, Gpu, bool, false, "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
356
+
357 RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true, "Enable orientation normalization.");
+
358 RTABMAP_PARAM(FREAK, ScaleNormalized, bool, true, "Enable scale normalization.");
+
359 RTABMAP_PARAM(FREAK, PatternScale, float, 22, "Scaling of the description pattern.");
+
360 RTABMAP_PARAM(FREAK, NOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
+
361
+
362 RTABMAP_PARAM(BRISK, Thresh, int, 30, "FAST/AGAST detection threshold score.");
+
363 RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
+
364 RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
+
365
+
366 RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
+
367 RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
+
368 RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept keypoint.");
+
369 RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
+
370 RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
+
371 RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
+
372
+
373 RTABMAP_PARAM_STR(SuperPoint, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
+
374 RTABMAP_PARAM(SuperPoint, Threshold, float, 0.010, "Detector response threshold to accept keypoint.");
+
375 RTABMAP_PARAM(SuperPoint, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
376 RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
+
377 RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
378
+
379 RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "", "[Required] SuperPoint weights file (*.pth).");
+
380 RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "", "[Required] SuperPoint python model file (superpoint_pytorch.py).");
+
381 RTABMAP_PARAM(SuperPointRpautrat, Threshold, float, 0.005, "Detector response threshold to accept keypoint.");
+
382 RTABMAP_PARAM(SuperPointRpautrat, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
383 RTABMAP_PARAM(SuperPointRpautrat, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
+
384 RTABMAP_PARAM(SuperPointRpautrat, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
385
+
386 RTABMAP_PARAM_STR(PyDetector, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
+
387 RTABMAP_PARAM(PyDetector, Cuda, bool, true, "Use cuda.");
+
388
+
389 // BayesFilter
+
390 RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations).");
+
391 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.");
+
392 RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
+
393
+
394 // Verify hypotheses
+
395 RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
+
396 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
+
397 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
+
398 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
+
399
+
400 // RGB-D SLAM
+
401 RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
+
402 RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
403 RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
404 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
+
405 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
+
406 RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
+
407 RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
+
408 RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
+
409 RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 3.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
+
410 RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0, uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
+
411 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
+
412 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
+
413 RTABMAP_PARAM(RGBD, StartAtOrigin, bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
+
414 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
+
415 RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
+
416 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
+
417 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
+
418 RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
+
419 RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
+
420 RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
+
421 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
+
422 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
+
423 RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
+
424 RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
+
425 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
+
426 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
+
427 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
+
428 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
+
429 RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
+
430 RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
+
431 RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
+
432 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
433 RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
434 RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
+
435
+
436 // Local/Proximity loop closure detection
+
437 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
+
438 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
+
439 RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
+
440 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
+
441 RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 1, "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.");
+
442 RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).");
+
443 RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
+
444 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
+
445 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
+
446 RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
+
447 RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
+
448
+
449 // Graph optimization
+
450#ifdef RTABMAP_GTSAM
+
451 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
452 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
453 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
454#else
+
455#ifdef RTABMAP_G2O
+
456 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
457 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
458 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
+
459#else
+
460#ifdef RTABMAP_CERES
+
461 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
462 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
463 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
+
464#else
+
465 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
466 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
+
467 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
468#endif
+
469#endif
+
470#endif
+
471 RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
+
472 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
+
473 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
+
474 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
+
475#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
+
476 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
477#else
+
478 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
479#endif
480
-
481 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
-
482 RTABMAP_PARAM(GTSAM, Incremental, bool, false, uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()));
-
483 RTABMAP_PARAM(GTSAM, IncRelinearizeThreshold, double, 0.01, "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.");
-
484 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
-
485
-
486 // Odometry
-
487 RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
-
488 RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
-
489 RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
-
490 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
-
491 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
-
492 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
-
493 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
-
494 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
-
495 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
-
496 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
-
497 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
-
498 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
-
499 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
-
500 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
-
501 RTABMAP_PARAM(Odom, GuessSmoothingDelay, float, 0, uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()));
-
502 RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
503 RTABMAP_PARAM(Odom, VisKeyFrameThr, int, 150, "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
504 RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.9, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
-
505 RTABMAP_PARAM(Odom, ImageDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()));
-
506 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
-
507 RTABMAP_PARAM(Odom, Deskewing, bool, true, "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).");
-
508
-
509 // Odometry Frame-to-Map
-
510 RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
-
511 RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
-
512 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
-
513 RTABMAP_PARAM(OdomF2M, FloorThreshold, float, 0.0, "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.");
-
514 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
-
515 RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
-
516 RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
-
517 RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
-
518 RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
-
519#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
520 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
521#else
-
522 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
523#endif
-
524 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
-
525 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
-
526 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
-
527 RTABMAP_PARAM(OdomF2M, BundleUpdateFeatureMapOnAllFrames, bool, false, uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=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).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()));
-
528
-
529 // Odometry Mono
-
530 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
-
531 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
-
532 RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
-
533 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
-
534
-
535 // Odometry Fovis
-
536 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
-
537 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
-
538 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
-
539 RTABMAP_PARAM(OdomFovis, TargetPixelsPerFeature, int, 250, "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.");
-
540 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
-
541 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
-
542 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
-
543 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
-
544
-
545 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
-
546 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
-
547 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
-
548 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
-
549 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
-
550
-
551 RTABMAP_PARAM(OdomFovis, InlierMaxReprojectionError, double, 1.5, "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.");
-
552 RTABMAP_PARAM(OdomFovis, CliqueInlierThreshold, double, 0.1, "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.");
-
553 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
-
554 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
-
555 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
-
556 RTABMAP_PARAM(OdomFovis, FeatureSearchWindow, int, 25, "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.");
-
557 RTABMAP_PARAM(OdomFovis, UpdateTargetFeaturesWithRefined, bool, false, "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.");
-
558
-
559 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
-
560 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
-
561 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
-
562 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
-
563
-
564 // Odometry viso2
-
565 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
-
566 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
-
567 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
-
568 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
-
569 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
-
570 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
-
571 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
-
572 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
-
573 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
-
574 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
-
575 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
-
576 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
-
577 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
-
578 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
-
579 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
-
580 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
-
581
-
582 // Odometry ORB_SLAM
-
583 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
-
584 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
-
585 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
-
586 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
-
587 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
-
588 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
-
589 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
-
590 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
-
591 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
-
592 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
-
593 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
-
594 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
-
595
-
596
-
597 // Odometry OKVIS
-
598 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
-
599
-
600 // Odometry LOAM
-
601 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
-
602 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
-
603 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
-
604 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
-
605 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
-
606 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
481#ifdef RTABMAP_ORB_SLAM
+
482 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
483#else
+
484 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
485#endif
+
486 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
+
487
+
488 RTABMAP_PARAM(Optimizer, Baseline, double, 0.075, "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.");
+
489 RTABMAP_PARAM(Optimizer, PixelVariance, double, 1.0, "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.");
+
490 RTABMAP_PARAM(Optimizer, DisparityVariance, double, 1.0, "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).");
+
491 RTABMAP_PARAM(Optimizer, RobustKernelDelta, double, 8, "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.");
+
492
+
493 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
+
494 RTABMAP_PARAM(GTSAM, Incremental, bool, false, uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()));
+
495 RTABMAP_PARAM(GTSAM, IncRelinearizeThreshold, double, 0.01, "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.");
+
496 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
+
497
+
498 // Odometry
+
499 RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
+
500 RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
+
501 RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
+
502 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
+
503 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
504 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
+
505 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
+
506 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
+
507 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
+
508 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
+
509 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
+
510 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
+
511 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
+
512 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
+
513 RTABMAP_PARAM(Odom, GuessSmoothingDelay, float, 0, uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()));
+
514 RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
515 RTABMAP_PARAM(Odom, VisKeyFrameThr, int, 150, "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
516 RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.9, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
517 RTABMAP_PARAM(Odom, ImageDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()));
+
518 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
+
519 RTABMAP_PARAM(Odom, Deskewing, bool, true, "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).");
+
520
+
521 // Odometry Frame-to-Map
+
522 RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
+
523 RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
+
524 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
+
525 RTABMAP_PARAM(OdomF2M, FloorThreshold, float, 0.0, "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.");
+
526 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
+
527 RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
+
528 RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
+
529 RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
+
530 RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
+
531#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
532 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
533#else
+
534 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
535#endif
+
536 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
+
537 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
+
538 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
+
539 RTABMAP_PARAM(OdomF2M, BundleUpdateFeatureMapOnAllFrames, bool, false, uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=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).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()));
+
540
+
541 // Odometry Mono
+
542 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
+
543 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
+
544 RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
+
545 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
+
546
+
547 // Odometry Fovis
+
548 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
+
549 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
+
550 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
+
551 RTABMAP_PARAM(OdomFovis, TargetPixelsPerFeature, int, 250, "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.");
+
552 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
+
553 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
+
554 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
+
555 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
+
556
+
557 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
+
558 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
+
559 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
+
560 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
+
561 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
+
562
+
563 RTABMAP_PARAM(OdomFovis, InlierMaxReprojectionError, double, 1.5, "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.");
+
564 RTABMAP_PARAM(OdomFovis, CliqueInlierThreshold, double, 0.1, "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.");
+
565 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
+
566 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
+
567 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
+
568 RTABMAP_PARAM(OdomFovis, FeatureSearchWindow, int, 25, "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.");
+
569 RTABMAP_PARAM(OdomFovis, UpdateTargetFeaturesWithRefined, bool, false, "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.");
+
570
+
571 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
+
572 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
+
573 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
+
574 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
+
575
+
576 // Odometry viso2
+
577 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
+
578 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
+
579 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
+
580 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
+
581 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
+
582 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
+
583 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
+
584 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
+
585 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
+
586 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
+
587 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
+
588 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
+
589 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
+
590 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
+
591 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
+
592 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
+
593
+
594 // Odometry ORB_SLAM
+
595 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
+
596 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
+
597 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
+
598 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
+
599 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
+
600 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
+
601 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
+
602 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
+
603 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
+
604 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
+
605 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
+
606 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
607
-
608 // Odometry MSCKF_VIO
-
609 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
-
610 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
-
611 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
-
612 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
-
613 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
-
614 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
-
615 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
-
616 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
-
617 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
-
618 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
-
619 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
-
620 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
-
621 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
-
622 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
-
623 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
-
624 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
-
625 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
-
626 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
-
627 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
-
628 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
-
629 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
-
630 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
-
631 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
-
632 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
-
633 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
-
634 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
-
635 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
-
636
-
637 // Odometry VINS-Fusion
-
638 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
-
639
-
640 // Odometry OpenVINS
-
641 RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath, "", "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
-
642 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
-
643 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
-
644 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
-
645 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
-
646 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
-
647 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
-
648 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
-
649 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
-
650 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
608
+
609 // Odometry OKVIS
+
610 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
+
611
+
612 // Odometry LOAM
+
613 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+
614 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
+
615 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
+
616 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
+
617 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
+
618 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
619
+
620 // Odometry MSCKF_VIO
+
621 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
+
622 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
+
623 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
+
624 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
+
625 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
+
626 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
+
627 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
+
628 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
+
629 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
+
630 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
+
631 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
+
632 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
+
633 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
+
634 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
+
635 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
+
636 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
+
637 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
+
638 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
+
639 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
+
640 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
+
641 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
+
642 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
+
643 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
+
644 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
+
645 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
+
646 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
+
647 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
+
648
+
649 // Odometry VINS-Fusion
+
650 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
651
-
652 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
-
653 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
-
654 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
-
655 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
-
656 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
-
657 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
-
658 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
-
659 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
-
660 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
-
661 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
-
662 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
-
663 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
-
664 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
-
665 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
-
666 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
-
667 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
-
668 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
-
669
-
670 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
-
671 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
-
672 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
-
673 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
-
674 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
-
675 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
-
676 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
-
677 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
-
678 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
-
679 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
-
680 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
-
681 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
-
682 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
-
683 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
-
684 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
-
685 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
-
686
-
687 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
-
688 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
-
689 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy, double, 0.1, "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-
690 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
-
691 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity, double, 0.5, "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
-
692 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
-
693
-
694 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
-
695 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
-
696 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
-
697 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
-
698 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
-
699 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
-
700 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
-
701 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
-
702
-
703 // Odometry Open3D
-
704 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
-
705 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
-
706
-
707 // Odometry cuVSLAM
-
708 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
-
709
-
710 // Odometry LIO-SAM
-
711 RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath, "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
-
712 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
-
713 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
-
714 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
-
715 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
-
716 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
-
717 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
-
718 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
-
719 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
-
720 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
-
721 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
-
722 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
-
723 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
-
724
-
725 // Common registration parameters
-
726 RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
-
727 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
-
728 RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
-
729
-
730 // Visual registration parameters
-
731 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
-
732 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
-
733 RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
-
734 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
-
735 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
-
736#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
737 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
-
738#else
-
739 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
-
740#endif
-
741 RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
-
742 RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
-
743 RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
-
744 RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
-
745
-
746 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
-
747 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
-
748 RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
-
749 RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
-
750
-
751 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
-
752#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
-
753 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-
754 RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
755#else
-
756 RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
-
757#endif
-
758 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
-
759 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-
760 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
-
761 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
-
762 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
-
763 RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
-
764 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-
765 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
-
766 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
-
767 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
-
768 RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
-
769 RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
-
770 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
-
771 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
-
772 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
-
773 RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
-
774 RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
-
775 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
776 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
777 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
778 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
779 RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
-
780 RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
-
781 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
-
782 RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
-
783 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
784 RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
785#else
-
786 RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
-
787#endif
-
788
-
789 // Features matching approaches
-
790 RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
-
791 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
-
792 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
-
793 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
-
794 RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
-
795
-
796 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
-
797 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
-
798 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
-
799
-
800 // Global descriptor approaches
-
801 RTABMAP_PARAM_STR(PyDescriptor, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.");
-
802 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
-
803
-
804 // ICP registration parameters
-
805#ifdef RTABMAP_POINTMATCHER
-
806 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
807#else
-
808 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
809#endif
-
810 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
-
811 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
-
812 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
-
813 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
-
814 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
-
815 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
-
816#ifdef RTABMAP_POINTMATCHER
-
817 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
-
818#else
-
819 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
-
820#endif
-
821 RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true, "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
-
822 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
-
823 RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
-
824 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
-
825 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
-
826 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
-
827#ifdef RTABMAP_POINTMATCHER
-
828 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
-
829#else
-
830 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
-
831#endif
-
832 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
-
833 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
-
834 RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
-
835 RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
-
836 RTABMAP_PARAM(Icp, PointToPlaneComplexityCentered, bool, false, uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()));
-
837 RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()));
-
838 RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()));
-
839 RTABMAP_PARAM_STR(Icp, DebugExportFormat, "", "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.");
-
840
-
841 // libpointmatcher
-
842 RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
-
843 RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
-
844 RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
-
845 RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
-
846
-
847 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
-
848 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
-
849 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
-
850
-
851 // Stereo disparity
-
852 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
-
853 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
-
854 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
-
855 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
-
856 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
-
857 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
-
858 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
-
859 RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
-
860 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-
861 RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
-
862 RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
-
863 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
-
864 RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
-
865
-
866 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
-
867
-
868 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
-
869 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
-
870 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
-
871 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
-
872 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
-
873 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
-
874 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
-
875 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
-
876 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
-
877 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
-
878
-
879 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
-
880 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
-
881 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
-
882 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
-
883 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
-
884 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
-
885 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
-
886 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
-
887 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
-
888 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
-
889#if CV_MAJOR_VERSION < 3
-
890 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
-
891#else
-
892 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
-
893#endif
-
894
-
895 // Occupancy Grid
-
896 RTABMAP_PARAM(Grid, Sensor, int, 1, "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).");
-
897 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
-
898 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
-
899 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
-
900 RTABMAP_PARAM_STR(Grid, DepthRoiRatios, "0.0 0.0 0.0 0.0", uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()));
-
901 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
-
902 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
-
903 RTABMAP_PARAM(Grid, FootprintHeight, float, 0.0, "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.");
-
904 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
-
905 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
-
906 RTABMAP_PARAM(Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()));
-
907 RTABMAP_PARAM(Grid, MapFrameProjection, bool, false, "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.");
-
908 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
-
909 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
-
910 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
-
911 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
-
912 RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
-
913 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
-
914 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
-
915 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
-
916 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
-
917#ifdef RTABMAP_OCTOMAP
-
918 RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
-
919#else
-
920 RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
-
921#endif
-
922 RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
-
923 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
-
924 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
-
925 RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
-
926 RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
-
927 RTABMAP_PARAM(GridGlobal, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
-
928 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
-
929 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
-
930 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
-
931 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
-
932 RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
-
933 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
-
934 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
-
935 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
-
936 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
-
937 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
-
938 RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
-
939
-
940 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
-
941 RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
-
942 RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
-
943 RTABMAP_PARAM_STR(Marker, Lengths, "", uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
-
944 RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
-
945 RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
-
946 RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
-
947 RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
-
948 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
-
949 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-
950 RTABMAP_PARAM_STR(Marker, Priors, "", "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
-
951 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
-
952 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
-
953
-
954 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
-
955 RTABMAP_PARAM(MarkerAprilTag, QuadDecimate, float, 1.0, "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
-
956 RTABMAP_PARAM(MarkerAprilTag, QuadSigma, float, 0.0, "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).");
-
957 RTABMAP_PARAM(MarkerAprilTag, RefineEdges, bool, true, uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
-
958 RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double, 0.25, "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
-
959 RTABMAP_PARAM(MarkerAprilTag, Debug, bool, false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
-
960
-
961 RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int, 0, "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
-
962
-
963 RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
-
964 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
652 // Odometry OpenVINS
+
653 RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath, "", "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
+
654 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+
655 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+
656 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
+
657 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
+
658 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
+
659 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
+
660 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
+
661 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
+
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
663
+
664 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
+
665 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+
666 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
+
667 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
+
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
+
669 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
+
670 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+
671 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
+
672 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
+
673 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
+
674 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
+
675 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
+
676 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
+
677 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+
678 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+
679 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
+
680 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
+
681
+
682 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
+
683 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
+
684 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
+
685 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
+
686 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
+
687 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
+
688 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
+
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
+
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
+
691 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
+
692 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
+
693 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
+
694 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
+
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
+
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
+
697 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
+
698
+
699 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
+
700 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
+
701 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy, double, 0.1, "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
702 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+
703 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity, double, 0.5, "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
704 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
+
705
+
706 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+
707 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+
708 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+
709 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+
710 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
+
711 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
+
712 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
+
713 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
+
714
+
715 // Odometry Open3D
+
716 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
+
717 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
+
718
+
719 // Odometry cuVSLAM
+
720 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
721
+
722 // Odometry LIO-SAM
+
723 RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath, "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
+
724 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+
725 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
+
726 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+
727 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
+
728 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
+
729 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
+
730 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
+
731 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
+
732 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
+
733 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
+
734 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
+
735 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
+
736
+
737 // Common registration parameters
+
738 RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
+
739 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
+
740 RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
+
741
+
742 // Visual registration parameters
+
743 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
+
744 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
+
745 RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
+
746 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
+
747 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
+
748#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
749 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
750#else
+
751 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
752#endif
+
753 RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
+
754 RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
+
755 RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
+
756 RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
+
757
+
758 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+
759 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
+
760 RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
+
761 RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
+
762
+
763 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
+
764#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
765 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
766 RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
767#else
+
768 RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
769#endif
+
770 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
+
771 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
772 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
+
773 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
+
774 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
+
775 RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
+
776 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
777 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
778 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
779 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
+
780 RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
781 RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
782 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
+
783 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
+
784 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
+
785 RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
+
786 RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
+
787 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
788 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
789 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
790 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
791 RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
+
792 RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
+
793 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+
794 RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
+
795 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
796 RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
797#else
+
798 RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
799#endif
+
800
+
801 // Features matching approaches
+
802 RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
+
803 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
+
804 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
+
805 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
+
806 RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
+
807
+
808 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
+
809 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
+
810 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
+
811
+
812 // Global descriptor approaches
+
813 RTABMAP_PARAM_STR(PyDescriptor, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.");
+
814 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
+
815
+
816 // ICP registration parameters
+
817#ifdef RTABMAP_POINTMATCHER
+
818 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
819#else
+
820 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
821#endif
+
822 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
+
823 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
+
824 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
+
825 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+
826 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
+
827 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
+
828#ifdef RTABMAP_POINTMATCHER
+
829 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
+
830#else
+
831 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
+
832#endif
+
833 RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true, "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
+
834 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
+
835 RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
+
836 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
+
837 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
+
838 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
+
839#ifdef RTABMAP_POINTMATCHER
+
840 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
+
841#else
+
842 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
+
843#endif
+
844 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+
845 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+
846 RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
+
847 RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
+
848 RTABMAP_PARAM(Icp, PointToPlaneComplexityCentered, bool, false, uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()));
+
849 RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()));
+
850 RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()));
+
851 RTABMAP_PARAM_STR(Icp, DebugExportFormat, "", "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.");
+
852
+
853 // libpointmatcher
+
854 RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
+
855 RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
+
856 RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
+
857 RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
+
858
+
859 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
+
860 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
+
861 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
+
862
+
863 // Stereo disparity
+
864 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
+
865 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
+
866 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
+
867 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
+
868 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
+
869 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
+
870 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
+
871 RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
+
872 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
+
873 RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
+
874 RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
+
875 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+
876 RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
+
877
+
878 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
+
879
+
880 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
+
881 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
+
882 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
+
883 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
+
884 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
+
885 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
+
886 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
+
887 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
+
888 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
+
889 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
+
890
+
891 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
+
892 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
+
893 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
+
894 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
+
895 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
+
896 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
+
897 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
+
898 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
+
899 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
+
900 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
+
901#if CV_MAJOR_VERSION < 3
+
902 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
+
903#else
+
904 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
+
905#endif
+
906
+
907 // Occupancy Grid
+
908 RTABMAP_PARAM(Grid, Sensor, int, 1, "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).");
+
909 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
+
910 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
+
911 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
+
912 RTABMAP_PARAM_STR(Grid, DepthRoiRatios, "0.0 0.0 0.0 0.0", uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()));
+
913 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
+
914 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
+
915 RTABMAP_PARAM(Grid, FootprintHeight, float, 0.0, "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.");
+
916 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
+
917 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
+
918 RTABMAP_PARAM(Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()));
+
919 RTABMAP_PARAM(Grid, MapFrameProjection, bool, false, "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.");
+
920 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
+
921 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
+
922 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
+
923 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
+
924 RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
+
925 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+
926 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
+
927 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
+
928 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
+
929#ifdef RTABMAP_OCTOMAP
+
930 RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
931#else
+
932 RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
933#endif
+
934 RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
+
935 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
+
936 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
+
937 RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
+
938 RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
+
939 RTABMAP_PARAM(GridGlobal, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
+
940 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
+
941 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
+
942 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
+
943 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
+
944 RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
+
945 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
+
946 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
+
947 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
+
948 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
+
949 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
+
950 RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
+
951
+
952 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+
953 RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
+
954 RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
+
955 RTABMAP_PARAM_STR(Marker, Lengths, "", uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
+
956 RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
+
957 RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
+
958 RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
+
959 RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
+
960 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
+
961 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
+
962 RTABMAP_PARAM_STR(Marker, Priors, "", "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
+
963 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
+
964 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
965
-
966 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
-
967 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
-
968 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
-
969 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
-
970
-
971public:
-
972 virtual ~Parameters();
-
973
-
-
978 static const ParametersMap & getDefaultParameters()
-
979 {
-
980 return parameters_;
-
981 }
-
+
966 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
+
967 RTABMAP_PARAM(MarkerAprilTag, QuadDecimate, float, 1.0, "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
+
968 RTABMAP_PARAM(MarkerAprilTag, QuadSigma, float, 0.0, "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).");
+
969 RTABMAP_PARAM(MarkerAprilTag, RefineEdges, bool, true, uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
+
970 RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double, 0.25, "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
+
971 RTABMAP_PARAM(MarkerAprilTag, Debug, bool, false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
+
972
+
973 RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int, 0, "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
+
974
+
975 RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
+
976 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
977
+
978 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
+
979 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
+
980 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
+
981 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
982
-
987 static std::string getType(const std::string & paramKey);
-
988
-
993 static std::string getDescription(const std::string & paramKey);
-
994
-
995 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
-
996 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
-
997 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
-
998 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
-
999 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
-
1000 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
-
1001 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
-
1002
-
1003 static const char * showUsage();
-
1004 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
-
1005
-
1006 static std::string getVersion();
-
1007 static std::string getDefaultDatabaseName();
-
1008
-
1009 static std::string serialize(const ParametersMap & parameters);
-
1010 static ParametersMap deserialize(const std::string & parameters);
-
1011
-
1012 static bool isFeatureParameter(const std::string & param);
-
1013 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
-
1014 static ParametersMap getDefaultParameters(const std::string & group);
-
1019 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
-
1020
-
1021 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
-
1022 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
-
1023 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
-
1024
-
1029 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
-
1030
-
1034 static const ParametersMap & getBackwardCompatibilityMap();
-
1035
-
1036 static std::string createDefaultWorkingDirectory();
-
1037
-
1038private:
-
1039 Parameters();
-
1040
-
1041private:
-
1042 static ParametersMap parameters_;
-
1043 static ParametersMap parametersType_;
-
1044 static ParametersMap descriptions_;
-
1045 static Parameters instance_;
-
1046
-
1047 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
-
1048 static ParametersMap backwardCompatibilityMap_;
-
1049};
+
983public:
+
984 virtual ~Parameters();
+
985
+
+
990 static const ParametersMap & getDefaultParameters()
+
991 {
+
992 return parameters_;
+
993 }
-
1050
-
1051}
+
994
+
999 static std::string getType(const std::string & paramKey);
+
1000
+
1005 static std::string getDescription(const std::string & paramKey);
+
1006
+
1007 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
+
1008 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
+
1009 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
+
1010 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
+
1011 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
+
1012 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
+
1013 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
+
1014
+
1015 static const char * showUsage();
+
1016 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
+
1017
+
1018 static std::string getVersion();
+
1019 static std::string getDefaultDatabaseName();
+
1020
+
1021 static std::string serialize(const ParametersMap & parameters);
+
1022 static ParametersMap deserialize(const std::string & parameters);
+
1023
+
1024 static bool isFeatureParameter(const std::string & param);
+
1025 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
+
1026 static ParametersMap getDefaultParameters(const std::string & group);
+
1031 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
+
1032
+
1033 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
+
1034 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
+
1035 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
+
1036
+
1041 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
+
1042
+
1046 static const ParametersMap & getBackwardCompatibilityMap();
+
1047
+
1048 static std::string createDefaultWorkingDirectory();
+
1049
+
1050private:
+
1051 Parameters();
1052
-
1053#endif /* PARAMETERS_H_ */
+
1053private:
+
1054 static ParametersMap parameters_;
+
1055 static ParametersMap parametersType_;
+
1056 static ParametersMap descriptions_;
+
1057 static Parameters instance_;
+
1058
+
1059 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
+
1060 static ParametersMap backwardCompatibilityMap_;
+
1061};
+
+
1062
+
1063}
+
1064
+
1065#endif /* PARAMETERS_H_ */
UConversion.h
Some conversion functions.
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
rtabmap::BRISK
BRISK detector and descriptor.
Definition Features2d.h:599
@@ -1048,10 +1074,10 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::KAZE
KAZE detector and descriptor (OpenCV 3+).
Definition Features2d.h:621
rtabmap::ORB
ORB detector and descriptor (optional GPU).
Definition Features2d.h:384
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
-
rtabmap::Parameters
Definition Parameters.h:171
+
rtabmap::Parameters
Definition Parameters.h:183
rtabmap::Parameters::getType
static std::string getType(const std::string &paramKey)
rtabmap::Parameters::filterParameters
static ParametersMap filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)
-
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:978
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:990
rtabmap::Parameters::getBackwardCompatibilityMap
static const ParametersMap & getBackwardCompatibilityMap()
rtabmap::Parameters::getDescription
static std::string getDescription(const std::string &paramKey)
rtabmap::Parameters::getRemovedParameters
static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters()
@@ -1063,10 +1089,16 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Stereo
Sparse stereo matching using block matching.
Definition Stereo.h:55
rtabmap::SuperPointRpautrat
SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).
Definition Features2d.h:698
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersPair
std::pair< std::string, std::string > ParametersPair
A single parameter key/value pair, the entry type of ParametersMap.
Definition Parameters.h:46
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/ParticleFilter_8h_source.html b/preview/pr-1492/api/latest/ParticleFilter_8h_source.html index 68a23bb0..7829b339 100644 --- a/preview/pr-1492/api/latest/ParticleFilter_8h_source.html +++ b/preview/pr-1492/api/latest/ParticleFilter_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
ParticleFilter.h
@@ -272,9 +289,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::ParticleFilter
Definition ParticleFilter.h:116
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html b/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html index 39997b45..3bcb74c6 100644 --- a/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html +++ b/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UThreadC.h
@@ -497,9 +514,13 @@ $(document).ready(function() { init_codefold(0); });
USemaphore::release
int release(int n=1)
Definition USemaphore.h:197
UThreadC
Definition UThreadC.h:67
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/ProgressState_8h_source.html b/preview/pr-1492/api/latest/ProgressState_8h_source.html index 3495fd6f..b8afa469 100644 --- a/preview/pr-1492/api/latest/ProgressState_8h_source.html +++ b/preview/pr-1492/api/latest/ProgressState_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
ProgressState.h
@@ -154,9 +171,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::ProgressState
Definition ProgressState.h:36
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/PythonInterface_8h_source.html b/preview/pr-1492/api/latest/PythonInterface_8h_source.html index 2bf6d8a3..75ee7eaf 100644 --- a/preview/pr-1492/api/latest/PythonInterface_8h_source.html +++ b/preview/pr-1492/api/latest/PythonInterface_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
PythonInterface.h
@@ -135,9 +152,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::PythonInterface
Definition PythonInterface.h:29
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Recovery_8h_source.html b/preview/pr-1492/api/latest/Recovery_8h_source.html index d3a58cf3..f5336c08 100644 --- a/preview/pr-1492/api/latest/Recovery_8h_source.html +++ b/preview/pr-1492/api/latest/Recovery_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Recovery.h
@@ -137,9 +154,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::databaseRecovery
bool RTABMAP_CORE_EXPORT databaseRecovery(const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html b/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html index e08bacd4..d2f5d5bc 100644 --- a/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html +++ b/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
RegistrationIcp.h
@@ -143,11 +160,11 @@ $(document).ready(function() { init_codefold(0); });
64 static const char * strategyName(IcpStrategy strategy);
65
66 // take ownership of child
-
67 RegistrationIcp(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
-
68 RegistrationIcp(IcpStrategy strategy, const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
67 RegistrationIcp(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
68 RegistrationIcp(IcpStrategy strategy, const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
69 virtual ~RegistrationIcp();
70
-
71 virtual void parseParameters(const ParametersMap & parameters);
+
71 virtual void parseParameters(const ParametersMap & parameters);
72
73protected:
74 virtual Transform computeTransformationImpl(
@@ -204,17 +221,22 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::RegistrationIcp::IcpStrategy
IcpStrategy
Definition RegistrationIcp.h:42
rtabmap::RegistrationIcp::available
static bool available(IcpStrategy strategy)
Returns true if strategy is built into this rtabmap binary.
rtabmap::RegistrationIcp::computeTransformationImpl
virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
Strategy-specific registration.
-
rtabmap::RegistrationIcp::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
+
rtabmap::RegistrationIcp::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.
rtabmap::RegistrationIcp::strategyName
static const char * strategyName(IcpStrategy strategy)
Human-readable name for strategy ("PCL", "libpointmatcher", "CCCoreLib", or "Unknown").
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html b/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html index ed1e5f7a..d36960a0 100644 --- a/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html +++ b/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
RegistrationInfo.h
@@ -224,9 +241,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::RegistrationInfo::rejectedMsg
std::string rejectedMsg
Definition RegistrationInfo.h:96
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/RegistrationVis_8h_source.html b/preview/pr-1492/api/latest/RegistrationVis_8h_source.html index 44961ecc..edbdc079 100644 --- a/preview/pr-1492/api/latest/RegistrationVis_8h_source.html +++ b/preview/pr-1492/api/latest/RegistrationVis_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
RegistrationVis.h
@@ -132,10 +149,10 @@ $(document).ready(function() { init_codefold(0); });
60class RTABMAP_CORE_EXPORT RegistrationVis : public Registration
61{
62public:
-
64 RegistrationVis(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
64 RegistrationVis(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
65 virtual ~RegistrationVis();
66
-
68 virtual void parseParameters(const ParametersMap & parameters);
+
68 virtual void parseParameters(const ParametersMap & parameters);
69
71 float getInlierDistance() const {return _inlierDistance;}
73 int getIterations() const {return _iterations;}
@@ -193,8 +210,8 @@ $(document).ready(function() { init_codefold(0); });
130 float _minInliersDistributionThr;
131 float _maxInliersMeanDistance;
132
-
133 ParametersMap _featureParameters;
-
134 ParametersMap _bundleParameters;
+
133 ParametersMap _featureParameters;
+
134 ParametersMap _bundleParameters;
135
136 Feature2D * _detectorFrom;
137 Feature2D * _detectorTo;
@@ -225,10 +242,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Registration_8h_source.html b/preview/pr-1492/api/latest/Registration_8h_source.html index dc54d155..a17c5332 100644 --- a/preview/pr-1492/api/latest/Registration_8h_source.html +++ b/preview/pr-1492/api/latest/Registration_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Registration.h
@@ -129,22 +146,22 @@ $(document).ready(function() { init_codefold(0); });
62public:
64 enum Type {
-
65 kTypeUndef = -1,
-
66 kTypeVis = 0,
-
67 kTypeIcp = 1,
-
68 kTypeVisIcp = 2
-
69 };
+
65 kTypeUndef = -1,
+
66 kTypeVis = 0,
+
67 kTypeIcp = 1,
+
68 kTypeVisIcp = 2
+
69 };
71 static double COVARIANCE_LINEAR_EPSILON;
73 static double COVARIANCE_ANGULAR_EPSILON;
74
75public:
-
77 static Registration * create(const ParametersMap & parameters);
-
79 static Registration * create(Type & type, const ParametersMap & parameters = ParametersMap());
+
77 static Registration * create(const ParametersMap & parameters);
+
79 static Registration * create(Type & type, const ParametersMap & parameters = ParametersMap());
80
81public:
82 virtual ~Registration();
-
84 virtual void parseParameters(const ParametersMap & parameters);
+
84 virtual void parseParameters(const ParametersMap & parameters);
85
87 bool isImageRequired() const;
89 bool isScanRequired() const;
@@ -178,7 +195,7 @@ $(document).ready(function() { init_codefold(0); });
127 RegistrationInfo * info = 0) const;
128
129protected:
-
131 Registration(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
131 Registration(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
132
138 virtual Transform computeTransformationImpl(
139 Signature & from,
@@ -206,7 +223,7 @@ $(document).ready(function() { init_codefold(0); });
160#endif /* RTABMAP_REGISTRATION_H_ */
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
-
rtabmap::Registration::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
+
rtabmap::Registration::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.
rtabmap::Registration::create
static Registration * create(Type &type, const ParametersMap &parameters=ParametersMap())
Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
rtabmap::Registration::computeTransformationImpl
virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0
Strategy-specific registration.
rtabmap::Registration::isUserDataRequired
bool isUserDataRequired() const
True if user data is needed (parent or child).
@@ -221,7 +238,7 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Registration::canUseGuess
bool canUseGuess() const
True if the strategy can refine an initial guess (parent or child).
rtabmap::Registration::force3DoF
bool force3DoF() const
Definition Registration.h:104
rtabmap::Registration::getMinVisualCorrespondences
int getMinVisualCorrespondences() const
Minimum visual inliers required (max of parent and child thresholds).
-
rtabmap::Registration::setChildRegistration
void setChildRegistration(Registration *child)
Replaces child_; takes ownership of child.
+
rtabmap::Registration::setChildRegistration
void setChildRegistration(Registration *child)
Replaces the current child registration; takes ownership of child.
rtabmap::Registration::getMinGeometryCorrespondencesRatio
float getMinGeometryCorrespondencesRatio() const
Minimum geometry inlier ratio required (max of parent and child thresholds).
rtabmap::Registration::isImageRequired
bool isImageRequired() const
True if images are needed (parent or child).
rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON
static double COVARIANCE_ANGULAR_EPSILON
Minimum diagonal value for angular covariance (rad²).
Definition Registration.h:73
@@ -230,10 +247,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html b/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html index 3fd995a4..4e113fd7 100644 --- a/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html +++ b/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
RtabmapEvent.h
@@ -142,251 +159,278 @@ $(document).ready(function() { init_codefold(0); });
55};
56
-
-
57class RtabmapEventCmd : public UEvent
-
58{
-
59public:
-
60 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Cmd enum ?!
-
61 enum Cmd {
-
62 kCmdUndef,
-
63 kCmdInit, // params: [string] database path + ParametersMap
-
64 kCmdResetMemory,
-
65 kCmdClose, // params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true)
-
66 kCmdUpdateParams, // params: ParametersMap
-
67 kCmdDumpMemory,
-
68 kCmdDumpPrediction,
-
69 kCmdGenerateDOTGraph, // params: [bool] global, [string] path, if global=false: [int] id, [int] margin
-
70 kCmdExportPoses, // params: [bool] global, [bool] optimized, [string] path, [int] type (0=raw format, 1=RGBD-SLAM format, 2=KITTI format, 3=TORO, 4=g2o)
-
71 kCmdCleanDataBuffer,
-
72 kCmdPublish3DMap, // params: [bool] global, [bool] optimized, [bool] graphOnly
-
73 kCmdRepublishData, // params: [vector<int>] ids
-
74 kCmdTriggerNewMap,
-
75 kCmdPause,
-
76 kCmdResume,
-
77 kCmdGoal, // params: [string] label or [int] location ID
-
78 kCmdCancelGoal,
-
79 kCmdLabel, // params: [string] label, [int] location ID
-
80 kCmdRemoveLabel // params: [string] label
-
81 };
-
82public:
-
83 RtabmapEventCmd(Cmd cmd, const ParametersMap & parameters = ParametersMap()) :
-
84 UEvent(0),
-
85 cmd_(cmd),
-
86 parameters_(parameters){}
-
87 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const ParametersMap & parameters = ParametersMap()) :
-
88 UEvent(0),
-
89 cmd_(cmd),
-
90 value1_(value1),
-
91 parameters_(parameters){}
-
92 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const ParametersMap & parameters = ParametersMap()) :
-
93 UEvent(0),
-
94 cmd_(cmd),
-
95 value1_(value1),
-
96 value2_(value2),
+
+
67class RtabmapEventCmd : public UEvent
+
68{
+
69public:
+
70 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Cmd enum ?!
+ +
93public:
+
94 RtabmapEventCmd(Cmd cmd, const ParametersMap & parameters = ParametersMap()) :
+
95 UEvent(0),
+
96 cmd_(cmd),
97 parameters_(parameters){}
-
98 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const ParametersMap & parameters = ParametersMap()) :
+
98 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const ParametersMap & parameters = ParametersMap()) :
99 UEvent(0),
100 cmd_(cmd),
101 value1_(value1),
-
102 value2_(value2),
-
103 value3_(value3),
-
104 parameters_(parameters){}
-
105 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const UVariant & value4, const ParametersMap & parameters = ParametersMap()) :
-
106 UEvent(0),
-
107 cmd_(cmd),
-
108 value1_(value1),
-
109 value2_(value2),
-
110 value3_(value3),
-
111 value4_(value4),
-
112 parameters_(parameters){}
-
113
-
114 virtual ~RtabmapEventCmd() {}
-
115 Cmd getCmd() const {return cmd_;}
-
116
-
117 const UVariant & value1() const {return value1_;}
-
118 const UVariant & value2() const {return value2_;}
-
119 const UVariant & value3() const {return value3_;}
-
120 const UVariant & value4() const {return value4_;}
-
121
-
122 const ParametersMap & getParameters() const {return parameters_;}
-
123
-
124 virtual std::string getClassName() const {return std::string("RtabmapEventCmd");}
-
125
-
126private:
-
127 Cmd cmd_;
-
128 UVariant value1_;
-
129 UVariant value2_;
-
130 UVariant value3_;
-
131 UVariant value4_;
-
132 ParametersMap parameters_;
-
133};
-
+
102 parameters_(parameters){}
+
103 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const ParametersMap & parameters = ParametersMap()) :
+
104 UEvent(0),
+
105 cmd_(cmd),
+
106 value1_(value1),
+
107 value2_(value2),
+
108 parameters_(parameters){}
+
109 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const ParametersMap & parameters = ParametersMap()) :
+
110 UEvent(0),
+
111 cmd_(cmd),
+
112 value1_(value1),
+
113 value2_(value2),
+
114 value3_(value3),
+
115 parameters_(parameters){}
+
116 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const UVariant & value4, const ParametersMap & parameters = ParametersMap()) :
+
117 UEvent(0),
+
118 cmd_(cmd),
+
119 value1_(value1),
+
120 value2_(value2),
+
121 value3_(value3),
+
122 value4_(value4),
+
123 parameters_(parameters){}
+
124
+
125 virtual ~RtabmapEventCmd() {}
+
126 Cmd getCmd() const {return cmd_;}
+
127
+
128 const UVariant & value1() const {return value1_;}
+
129 const UVariant & value2() const {return value2_;}
+
130 const UVariant & value3() const {return value3_;}
+
131 const UVariant & value4() const {return value4_;}
+
132
+
133 const ParametersMap & getParameters() const {return parameters_;}
134
-
-
135class RtabmapEventInit : public UEvent
-
136{
-
137public:
-
138 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Status enum ?!
-
139 enum Status {
-
140 kInitializing,
-
141 kInitialized,
-
142 kClosing,
-
143 kClosed,
-
144 kInfo,
-
145 kError
-
146 };
-
147
+
135 virtual std::string getClassName() const {return std::string("RtabmapEventCmd");}
+
136
+
137private:
+
138 Cmd cmd_;
+
139 UVariant value1_;
+
140 UVariant value2_;
+
141 UVariant value3_;
+
142 UVariant value4_;
+
143 ParametersMap parameters_;
+
144};
+
+
145
+
+
146class RtabmapEventInit : public UEvent
+
147{
148public:
-
149 RtabmapEventInit(Status status, const std::string & info = std::string()) :
-
150 UEvent(0),
-
151 _status(status),
-
152 _info(info)
-
153 {}
-
154
-
155 // for convenience
-
156 RtabmapEventInit(const std::string & info) :
-
157 UEvent(0),
-
158 _status(kInfo),
-
159 _info(info)
-
160 {}
-
161
-
162 Status getStatus() const {return _status;}
-
163 const std::string & getInfo() const {return _info;}
-
164
-
165 virtual ~RtabmapEventInit() {}
-
166 virtual std::string getClassName() const {return std::string("RtabmapEventInit");}
-
167private:
-
168 Status _status;
-
169 std::string _info; // "Loading signatures", "Loading words" ...
-
170};
+
149 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Status enum ?!
+
150 enum Status {
+
151 kInitializing,
+
152 kInitialized,
+
153 kClosing,
+
154 kClosed,
+
155 kInfo,
+
156 kError
+
157 };
+
158
+
159public:
+
160 RtabmapEventInit(Status status, const std::string & info = std::string()) :
+
161 UEvent(0),
+
162 _status(status),
+
163 _info(info)
+
164 {}
+
165
+
166 // for convenience
+
167 RtabmapEventInit(const std::string & info) :
+
168 UEvent(0),
+
169 _status(kInfo),
+
170 _info(info)
+
171 {}
+
172
+
173 Status getStatus() const {return _status;}
+
174 const std::string & getInfo() const {return _info;}
+
175
+
176 virtual ~RtabmapEventInit() {}
+
177 virtual std::string getClassName() const {return std::string("RtabmapEventInit");}
+
178private:
+
179 Status _status;
+
180 std::string _info; // "Loading signatures", "Loading words" ...
+
181};
-
171
-
-
172class RtabmapEvent3DMap : public UEvent
-
173{
-
174public:
-
175 RtabmapEvent3DMap(int codeError = 0):
-
176 UEvent(codeError){}
-
177 RtabmapEvent3DMap(
-
178 const std::map<int, Signature> & signatures,
-
179 const std::map<int, Transform> & poses,
-
180 const std::multimap<int, Link> & constraints) :
-
181 UEvent(0),
-
182 _signatures(signatures),
-
183 _poses(poses),
-
184 _constraints(constraints)
-
185 {}
-
186
-
187 virtual ~RtabmapEvent3DMap() {}
-
188
-
189 const std::map<int, Signature> & getSignatures() const {return _signatures;}
-
190 const std::map<int, Transform> & getPoses() const {return _poses;}
-
191 const std::multimap<int, Link> & getConstraints() const {return _constraints;}
-
192
-
193 virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
-
194
-
195private:
-
196 std::map<int, Signature> _signatures;
-
197 std::map<int, Transform> _poses;
-
198 std::multimap<int, Link> _constraints;
-
199};
+
182
+
+
183class RtabmapEvent3DMap : public UEvent
+
184{
+
185public:
+
186 RtabmapEvent3DMap(int codeError = 0):
+
187 UEvent(codeError){}
+
188 RtabmapEvent3DMap(
+
189 const std::map<int, Signature> & signatures,
+
190 const std::map<int, Transform> & poses,
+
191 const std::multimap<int, Link> & constraints) :
+
192 UEvent(0),
+
193 _signatures(signatures),
+
194 _poses(poses),
+
195 _constraints(constraints)
+
196 {}
+
197
+
198 virtual ~RtabmapEvent3DMap() {}
+
199
+
200 const std::map<int, Signature> & getSignatures() const {return _signatures;}
+
201 const std::map<int, Transform> & getPoses() const {return _poses;}
+
202 const std::multimap<int, Link> & getConstraints() const {return _constraints;}
+
203
+
204 virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
+
205
+
206private:
+
207 std::map<int, Signature> _signatures;
+
208 std::map<int, Transform> _poses;
+
209 std::multimap<int, Link> _constraints;
+
210};
-
200
-
-
201class RtabmapGlobalPathEvent : public UEvent
-
202{
-
203public:
-
204 RtabmapGlobalPathEvent():
-
205 UEvent(0),
-
206 _planningTime(0.0) {}
-
207 RtabmapGlobalPathEvent(
-
208 int goalId,
-
209 const std::vector<std::pair<int, Transform> > & poses,
-
210 double planningTime) :
-
211 UEvent(goalId),
-
212 _poses(poses),
-
213 _planningTime(planningTime) {}
-
214 RtabmapGlobalPathEvent(
-
215 int goalId,
-
216 const std::string & goalLabel,
-
217 const std::vector<std::pair<int, Transform> > & poses,
-
218 double planningTime) :
-
219 UEvent(goalId),
-
220 _goalLabel(goalLabel),
-
221 _poses(poses),
-
222 _planningTime(planningTime) {}
-
223
-
224 virtual ~RtabmapGlobalPathEvent() {}
-
225 int getGoal() const {return this->getCode();}
-
226 const std::string & getGoalLabel() const {return _goalLabel;}
-
227 double getPlanningTime() const {return _planningTime;}
-
228 const std::vector<std::pair<int, Transform> > & getPoses() const {return _poses;}
-
229 virtual std::string getClassName() const {return std::string("RtabmapGlobalPathEvent");}
-
230
-
231private:
-
232 std::string _goalLabel;
-
233 std::vector<std::pair<int, Transform> > _poses;
-
234 double _planningTime;
-
235};
+
211
+
+
212class RtabmapGlobalPathEvent : public UEvent
+
213{
+
214public:
+
215 RtabmapGlobalPathEvent():
+
216 UEvent(0),
+
217 _planningTime(0.0) {}
+
218 RtabmapGlobalPathEvent(
+
219 int goalId,
+
220 const std::vector<std::pair<int, Transform> > & poses,
+
221 double planningTime) :
+
222 UEvent(goalId),
+
223 _poses(poses),
+
224 _planningTime(planningTime) {}
+
225 RtabmapGlobalPathEvent(
+
226 int goalId,
+
227 const std::string & goalLabel,
+
228 const std::vector<std::pair<int, Transform> > & poses,
+
229 double planningTime) :
+
230 UEvent(goalId),
+
231 _goalLabel(goalLabel),
+
232 _poses(poses),
+
233 _planningTime(planningTime) {}
+
234
+
235 virtual ~RtabmapGlobalPathEvent() {}
+
236 int getGoal() const {return this->getCode();}
+
237 const std::string & getGoalLabel() const {return _goalLabel;}
+
238 double getPlanningTime() const {return _planningTime;}
+
239 const std::vector<std::pair<int, Transform> > & getPoses() const {return _poses;}
+
240 virtual std::string getClassName() const {return std::string("RtabmapGlobalPathEvent");}
+
241
+
242private:
+
243 std::string _goalLabel;
+
244 std::vector<std::pair<int, Transform> > _poses;
+
245 double _planningTime;
+
246};
-
236
-
-
237class RtabmapLabelErrorEvent : public UEvent
-
238{
-
239public:
-
240 RtabmapLabelErrorEvent(int id, const std::string & label):
-
241 UEvent(id),
-
242 _label(label){}
-
243
-
244 virtual ~RtabmapLabelErrorEvent() {}
-
245 int id() const {return this->getCode();}
-
246 const std::string & label() const {return _label;}
-
247 virtual std::string getClassName() const {return std::string("RtabmapLabelErrorEvent");}
-
248
-
249private:
-
250 std::string _label;
-
251};
+
247
+
+
248class RtabmapLabelErrorEvent : public UEvent
+
249{
+
250public:
+
251 RtabmapLabelErrorEvent(int id, const std::string & label):
+
252 UEvent(id),
+
253 _label(label){}
+
254
+
255 virtual ~RtabmapLabelErrorEvent() {}
+
256 int id() const {return this->getCode();}
+
257 const std::string & label() const {return _label;}
+
258 virtual std::string getClassName() const {return std::string("RtabmapLabelErrorEvent");}
+
259
+
260private:
+
261 std::string _label;
+
262};
-
252
-
-
253class RtabmapGoalStatusEvent : public UEvent
-
254{
-
255public:
-
256 RtabmapGoalStatusEvent(int status):
-
257 UEvent(status){}
-
258
-
259 virtual ~RtabmapGoalStatusEvent() {}
-
260 virtual std::string getClassName() const {return std::string("RtabmapGoalStatusEvent");}
-
261};
+
263
+
+
264class RtabmapGoalStatusEvent : public UEvent
+
265{
+
266public:
+
267 RtabmapGoalStatusEvent(int status):
+
268 UEvent(status){}
+
269
+
270 virtual ~RtabmapGoalStatusEvent() {}
+
271 virtual std::string getClassName() const {return std::string("RtabmapGoalStatusEvent");}
+
272};
-
262
-
263} // namespace rtabmap
-
264
-
265#endif /* RTABMAPEVENT_H_ */
+
273
+
274} // namespace rtabmap
+
275
+
276#endif /* RTABMAPEVENT_H_ */
UVariant.h
UVariant class for storing and converting between different data types.
UEvent::getCode
int getCode() const
Definition UEvent.h:74
UVariant
A variant type that can hold values of different types.
Definition UVariant.h:54
- -
rtabmap::RtabmapEvent3DMap::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:193
- -
rtabmap::RtabmapEventCmd::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:124
- -
rtabmap::RtabmapEventInit::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:166
+ +
rtabmap::RtabmapEvent3DMap::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:204
+
rtabmap::RtabmapEventCmd
Command sent to RtabmapThread, with its parameters.
Definition RtabmapEvent.h:68
+
rtabmap::RtabmapEventCmd::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:135
+
rtabmap::RtabmapEventCmd::Cmd
Cmd
What the receiving RtabmapThread should do.
Definition RtabmapEvent.h:72
+ + + + + + + + + + + + + + + + + + + + +
rtabmap::RtabmapEventInit::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:177
rtabmap::RtabmapEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:51
- -
rtabmap::RtabmapGlobalPathEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:229
- -
rtabmap::RtabmapGoalStatusEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:260
- -
rtabmap::RtabmapLabelErrorEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:247
+ +
rtabmap::RtabmapGlobalPathEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:240
+ +
rtabmap::RtabmapGoalStatusEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:271
+ +
rtabmap::RtabmapLabelErrorEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:258
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+
-
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/RtabmapThread_8h_source.html b/preview/pr-1492/api/latest/RtabmapThread_8h_source.html index 50b7fbf0..227b0825 100644 --- a/preview/pr-1492/api/latest/RtabmapThread_8h_source.html +++ b/preview/pr-1492/api/latest/RtabmapThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ +
+
+ +
+
+
+ +
- -
RtabmapThread.h
@@ -117,7 +134,7 @@ $(document).ready(function() { init_codefold(0); });
30
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32
-
33#include <rtabmap/utilite/UThreadNode.h>
+
33#include <rtabmap/utilite/UThreadNode.h>
34#include <rtabmap/utilite/UEventsHandler.h>
35#include <rtabmap/utilite/USemaphore.h>
36#include <rtabmap/utilite/UMutex.h>
@@ -135,90 +152,106 @@ $(document).ready(function() { init_codefold(0); });
48
49class Rtabmap;
50
-
-
51class RTABMAP_CORE_EXPORT RtabmapThread :
-
52 public UThreadNode,
-
53 public UEventsHandler
-
54{
-
55public:
-
56 enum State {
-
57 kStateDetecting,
-
58 kStateProcessCommand
-
59 };
-
60
-
61public:
-
62 // take ownership
-
63 RtabmapThread(Rtabmap * rtabmap);
-
64 virtual ~RtabmapThread();
-
65
-
66 void clearBufferedData();
-
67 void setDetectorRate(float rate);
-
68 void setDataBufferSize(unsigned int bufferSize);
-
69 void createIntermediateNodes(bool enabled);
-
70
-
71 float getDetectorRate() const {return _rate;}
-
72 unsigned int getDataBufferSize() const {return _dataBufferMaxSize;}
-
73 bool getCreateIntermediateNodes() const {return _createIntermediateNodes;}
-
74
-
82 void close(bool databaseSaved, const std::string & databasePath = "");
-
83
-
84protected:
-
85 virtual bool handleEvent(UEvent * anEvent);
-
86
-
87private:
-
88 virtual void mainLoopBegin();
-
89 virtual void mainLoop();
-
90 virtual void mainLoopKill();
-
91 void process();
-
92 void addData(const OdometryEvent & odomEvent);
-
93 bool getData(OdometryEvent & data);
-
94 void pushNewState(State newState, const RtabmapEventCmd & cmdEvent = RtabmapEventCmd(RtabmapEventCmd::kCmdUndef));
-
95 void publishMap(bool optimized, bool full, bool graphOnly) const;
-
96
-
97private:
-
98 UMutex _stateMutex;
-
99 std::queue<State> _state;
-
100 std::queue<RtabmapEventCmd> _stateParam;
-
101
-
102 std::list<OdometryEvent> _dataBuffer;
-
103 std::list<double> _newMapEvents;
-
104 UMutex _dataMutex;
-
105 USemaphore _dataAdded;
-
106 unsigned int _dataBufferMaxSize;
-
107 float _rate;
-
108 bool _createIntermediateNodes;
-
109 double _previousStamp;
-
110
-
111 Rtabmap * _rtabmap;
-
112 bool _paused;
-
113 Transform lastPose_;
-
114 cv::Mat covariance_;
-
115
-
116 cv::Mat _userData;
-
117 UMutex _userDataMutex;
-
118};
+
+
104class RTABMAP_CORE_EXPORT RtabmapThread :
+
105 public UThreadNode,
+
106 public UEventsHandler
+
107{
+
108public:
+
+
110 enum State {
+
111 kStateDetecting,
+
112 kStateProcessCommand
+
113 };
-
119
-
120} /* namespace rtabmap */
-
121#endif /* RTABMAPTHREAD_H_ */
+
114
+
115public:
+
126 RtabmapThread(Rtabmap * rtabmap);
+
127 virtual ~RtabmapThread();
+
128
+
130 void clearBufferedData();
+
138 void setDetectorRate(float rate);
+
145 void setDataBufferSize(unsigned int bufferSize);
+
152 void createIntermediateNodes(bool enabled);
+
153
+
155 float getDetectorRate() const {return _rate;}
+
157 unsigned int getDataBufferSize() const {return _dataBufferMaxSize;}
+
159 bool getCreateIntermediateNodes() const {return _createIntermediateNodes;}
+
160
+
171 void close(bool databaseSaved, const std::string & databasePath = "");
+
172
+
173protected:
+
183 virtual bool handleEvent(UEvent * anEvent);
+
184
+
185private:
+
186 virtual void mainLoopBegin();
+
187 virtual void mainLoop();
+
188 virtual void mainLoopKill();
+
189 void process();
+
190 void addData(const OdometryEvent & odomEvent);
+
191 bool getData(OdometryEvent & data);
+
192 void pushNewState(State newState, const RtabmapEventCmd & cmdEvent = RtabmapEventCmd(RtabmapEventCmd::kCmdUndef));
+
193 void publishMap(bool optimized, bool full, bool graphOnly) const;
+
194
+
195private:
+
196 UMutex _stateMutex;
+
197 std::queue<State> _state;
+
198 std::queue<RtabmapEventCmd> _stateParam;
+
199
+
200 std::list<OdometryEvent> _dataBuffer;
+
201 std::list<double> _newMapEvents;
+
202 UMutex _dataMutex;
+
203 USemaphore _dataAdded;
+
204 unsigned int _dataBufferMaxSize;
+
205 float _rate;
+
206 bool _createIntermediateNodes;
+
207 double _previousStamp;
+
208
+
209 Rtabmap * _rtabmap;
+
210 bool _paused;
+
211 Transform lastPose_;
+
212 cv::Mat covariance_;
+
213
+
214 cv::Mat _userData;
+
215 UMutex _userDataMutex;
+
216};
+
+
217
+
218} /* namespace rtabmap */
+
219#endif /* RTABMAPTHREAD_H_ */
+
UThreadNode.h
Backward-compatible alias header for UThread.
- - - -
rtabmap::RtabmapThread::close
void close(bool databaseSaved, const std::string &databasePath="")
-
rtabmap::RtabmapThread::handleEvent
virtual bool handleEvent(UEvent *anEvent)
+
rtabmap::OdometryEvent
One processed frame with the pose the odometry integrated for it.
Definition OdometryEvent.h:57
+
rtabmap::RtabmapEventCmd
Command sent to RtabmapThread, with its parameters.
Definition RtabmapEvent.h:68
+
rtabmap::RtabmapThread
Runs a Rtabmap instance in its own thread, driven by events.
Definition RtabmapThread.h:107
+
rtabmap::RtabmapThread::State
State
What the main loop does on its next wake-up.
Definition RtabmapThread.h:110
+ +
rtabmap::RtabmapThread::getCreateIntermediateNodes
bool getCreateIntermediateNodes() const
Definition RtabmapThread.h:159
+
rtabmap::RtabmapThread::RtabmapThread
RtabmapThread(Rtabmap *rtabmap)
Constructor.
+
rtabmap::RtabmapThread::createIntermediateNodes
void createIntermediateNodes(bool enabled)
Keeps the frames skipped by setDetectorRate() as intermediate nodes.
+
rtabmap::RtabmapThread::setDetectorRate
void setDetectorRate(float rate)
Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).
+
rtabmap::RtabmapThread::getDataBufferSize
unsigned int getDataBufferSize() const
Definition RtabmapThread.h:157
+
rtabmap::RtabmapThread::close
void close(bool databaseSaved, const std::string &databasePath="")
Joins the thread and closes rtabmap. This will delete rtabmap object if set.
+
rtabmap::RtabmapThread::handleEvent
virtual bool handleEvent(UEvent *anEvent)
Receives the events listed in the class description.
+
rtabmap::RtabmapThread::setDataBufferSize
void setDataBufferSize(unsigned int bufferSize)
Sets how many frames may wait in the buffer (0 = unlimited).
+
rtabmap::RtabmapThread::getDetectorRate
float getDetectorRate() const
Definition RtabmapThread.h:155
+
rtabmap::RtabmapThread::clearBufferedData
void clearBufferedData()
Drops the buffered frames, the pending user data and the odometry state.
rtabmap::Rtabmap
Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
Definition Rtabmap.h:194
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Rtabmap_8h_source.html b/preview/pr-1492/api/latest/Rtabmap_8h_source.html index de5fd417..adf417fa 100644 --- a/preview/pr-1492/api/latest/Rtabmap_8h_source.html +++ b/preview/pr-1492/api/latest/Rtabmap_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Rtabmap.h
@@ -171,7 +188,7 @@ $(document).ready(function() { init_codefold(0); });
254 const cv::Mat & image,
255 int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
256
-
271 void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
+
271 void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
282 void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
283
294 void close(bool databaseSaved = true, const std::string & ouputDatabasePath = "");
@@ -221,8 +238,8 @@ $(document).ready(function() { init_codefold(0); });
515 void resetMemory();
517 void dumpPrediction() const;
519 void dumpData() const;
-
524 void parseParameters(const ParametersMap & parameters);
-
526 const ParametersMap & getParameters() const {return _parameters;}
+
524 void parseParameters(const ParametersMap & parameters);
+
526 const ParametersMap & getParameters() const {return _parameters;}
535 void setWorkingDirectory(std::string path);
544 void rejectLastLoopClosure();
553 void deleteLastLocation();
@@ -404,7 +421,7 @@ $(document).ready(function() { init_codefold(0); });
1022 EpipolarGeometry * _epipolarGeometry;
1023 BayesFilter * _bayesFilter;
1024 Optimizer * _graphOptimizer;
-
1025 ParametersMap _parameters;
+
1025 ParametersMap _parameters;
1026
1027 Memory * _memory;
1028
@@ -544,11 +561,16 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html b/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html index 7b8c9a18..597fcd0c 100644 --- a/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html +++ b/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
SensorCaptureInfo.h
@@ -199,9 +216,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::CameraInfo
RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo
Backward compatibility typedef.
Definition SensorCaptureInfo.h:133
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html b/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html index af749afd..86b9b044 100644 --- a/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html +++ b/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
SensorCaptureThread.h
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
101public:
113 SensorCaptureThread(
114 Camera * camera,
-
115 const ParametersMap & parameters = ParametersMap());
+
115 const ParametersMap & parameters = ParametersMap());
116
136 SensorCaptureThread(
137 Camera * camera,
@@ -155,16 +172,16 @@ $(document).ready(function() { init_codefold(0); });
140 double poseTimeOffset = 0.0,
141 float poseScaleFactor = 1.0f,
142 double poseWaitTime = 0.1,
-
143 const ParametersMap & parameters = ParametersMap());
+
143 const ParametersMap & parameters = ParametersMap());
144
155 SensorCaptureThread(
156 Lidar * lidar,
-
157 const ParametersMap & parameters = ParametersMap());
+
157 const ParametersMap & parameters = ParametersMap());
158
170 SensorCaptureThread(
171 Lidar * lidar,
172 Camera * camera,
-
173 const ParametersMap & parameters = ParametersMap());
+
173 const ParametersMap & parameters = ParametersMap());
174
194 SensorCaptureThread(
195 Lidar * lidar,
@@ -172,7 +189,7 @@ $(document).ready(function() { init_codefold(0); });
197 double poseTimeOffset = 0.0,
198 float poseScaleFactor = 1.0f,
199 double poseWaitTime = 0.1,
-
200 const ParametersMap & parameters = ParametersMap());
+
200 const ParametersMap & parameters = ParametersMap());
201
224 SensorCaptureThread(
225 Lidar * lidar,
@@ -182,7 +199,7 @@ $(document).ready(function() { init_codefold(0); });
229 double poseTimeOffset = 0.0,
230 float poseScaleFactor = 1.0f,
231 double poseWaitTime = 0.1,
-
232 const ParametersMap & parameters = ParametersMap());
+
232 const ParametersMap & parameters = ParametersMap());
233
239 virtual ~SensorCaptureThread();
240
@@ -210,11 +227,11 @@ $(document).ready(function() { init_codefold(0); });
351
355 void disableBilateralFiltering() {_bilateralFiltering = false;}
356
-
374 void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
+
374 void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
375
379 void disableIMUFiltering();
380
-
394 void enableFeatureDetection(const ParametersMap & parameters = ParametersMap());
+
394 void enableFeatureDetection(const ParametersMap & parameters = ParametersMap());
395
399 void disableFeatureDetection();
400
@@ -349,10 +366,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
rtabmap::CameraThread
RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
Backward compatibility typedef.
Definition SensorCaptureThread.h:565
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/SensorCapture_8h_source.html b/preview/pr-1492/api/latest/SensorCapture_8h_source.html index 05e5a470..f7460081 100644 --- a/preview/pr-1492/api/latest/SensorCapture_8h_source.html +++ b/preview/pr-1492/api/latest/SensorCapture_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
SensorCapture.h
@@ -198,9 +215,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/SensorData_8h_source.html b/preview/pr-1492/api/latest/SensorData_8h_source.html index 99e16f5b..04badfbd 100644 --- a/preview/pr-1492/api/latest/SensorData_8h_source.html +++ b/preview/pr-1492/api/latest/SensorData_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
SensorData.h
@@ -622,9 +639,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/SensorEvent_8h_source.html b/preview/pr-1492/api/latest/SensorEvent_8h_source.html index 2822eee2..5af17c1a 100644 --- a/preview/pr-1492/api/latest/SensorEvent_8h_source.html +++ b/preview/pr-1492/api/latest/SensorEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
SensorEvent.h
@@ -216,9 +233,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::CameraEvent
RTABMAP_DEPRECATED typedef SensorEvent CameraEvent
Backward compatibility typedef.
Definition SensorEvent.h:207
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Signature_8h_source.html b/preview/pr-1492/api/latest/Signature_8h_source.html index 22f154a0..a8311ba9 100644 --- a/preview/pr-1492/api/latest/Signature_8h_source.html +++ b/preview/pr-1492/api/latest/Signature_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Signature.h
@@ -357,9 +374,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Statistics_8h_source.html b/preview/pr-1492/api/latest/Statistics_8h_source.html index e925c5d6..bb993066 100644 --- a/preview/pr-1492/api/latest/Statistics_8h_source.html +++ b/preview/pr-1492/api/latest/Statistics_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Statistics.h
@@ -561,9 +578,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/StereoBM_8h_source.html b/preview/pr-1492/api/latest/StereoBM_8h_source.html index 71832da7..8b967615 100644 --- a/preview/pr-1492/api/latest/StereoBM_8h_source.html +++ b/preview/pr-1492/api/latest/StereoBM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
StereoBM.h
@@ -126,11 +143,11 @@ $(document).ready(function() { init_codefold(0); });
48public:
55 StereoBM(int blockSize, int numDisparities);
56
-
64 StereoBM(const ParametersMap & parameters = ParametersMap());
+
64 StereoBM(const ParametersMap & parameters = ParametersMap());
65
69 virtual ~StereoBM() {}
70
-
89 virtual void parseParameters(const ParametersMap & parameters);
+
89 virtual void parseParameters(const ParametersMap & parameters);
90
104 virtual cv::Mat computeDisparity(
105 const cv::Mat & leftImage,
@@ -161,10 +178,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::StereoBM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html b/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html index 1d49c767..1cc9b05b 100644 --- a/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html +++ b/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
StereoCameraModel.h
@@ -298,9 +315,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/StereoDense_8h_source.html b/preview/pr-1492/api/latest/StereoDense_8h_source.html index b0eff569..1afc9e1e 100644 --- a/preview/pr-1492/api/latest/StereoDense_8h_source.html +++ b/preview/pr-1492/api/latest/StereoDense_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
StereoDense.h
@@ -132,21 +149,21 @@ $(document).ready(function() { init_codefold(0); });
62 };
63
-
75 static StereoDense * create(const ParametersMap & parameters);
+
75 static StereoDense * create(const ParametersMap & parameters);
76
-
87 static StereoDense * create(StereoDense::Type type, const ParametersMap & parameters = ParametersMap());
+
87 static StereoDense * create(StereoDense::Type type, const ParametersMap & parameters = ParametersMap());
88
89public:
93 virtual ~StereoDense() {}
94
-
103 virtual void parseParameters(const ParametersMap & parameters) {}
+
103 virtual void parseParameters(const ParametersMap & parameters) {}
104
119 virtual cv::Mat computeDisparity(
120 const cv::Mat & leftImage,
121 const cv::Mat & rightImage) const = 0;
122
123protected:
-
129 StereoDense(const ParametersMap & parameters = ParametersMap()) {}
+
129 StereoDense(const ParametersMap & parameters = ParametersMap()) {}
130};
131
@@ -162,10 +179,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::StereoDense::create
static StereoDense * create(const ParametersMap &parameters)
Factory method to create a StereoDense instance from parameters.
rtabmap::StereoDense::create
static StereoDense * create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
Factory method to create a StereoDense instance of a specific type.
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/StereoSGBM_8h_source.html b/preview/pr-1492/api/latest/StereoSGBM_8h_source.html index f35c4f1e..04632a58 100644 --- a/preview/pr-1492/api/latest/StereoSGBM_8h_source.html +++ b/preview/pr-1492/api/latest/StereoSGBM_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
StereoSGBM.h
@@ -124,11 +141,11 @@ $(document).ready(function() { init_codefold(0); });
51class RTABMAP_CORE_EXPORT StereoSGBM : public StereoDense {
52public:
-
60 StereoSGBM(const ParametersMap & parameters = ParametersMap());
+
60 StereoSGBM(const ParametersMap & parameters = ParametersMap());
61
65 virtual ~StereoSGBM() {}
66
-
86 virtual void parseParameters(const ParametersMap & parameters);
+
86 virtual void parseParameters(const ParametersMap & parameters);
87
101 virtual cv::Mat computeDisparity(
102 const cv::Mat & leftImage,
@@ -159,10 +176,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::StereoSGBM::StereoSGBM
StereoSGBM(const ParametersMap &parameters=ParametersMap())
Constructor with parameters map.
rtabmap::StereoSGBM::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const
Compute disparity map from stereo image pair.
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Stereo_8h_source.html b/preview/pr-1492/api/latest/Stereo_8h_source.html index 365aa536..d472f6c8 100644 --- a/preview/pr-1492/api/latest/Stereo_8h_source.html +++ b/preview/pr-1492/api/latest/Stereo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Stereo.h
@@ -125,14 +142,14 @@ $(document).ready(function() { init_codefold(0); });
55class RTABMAP_CORE_EXPORT Stereo {
56public:
-
70 static Stereo * create(const ParametersMap & parameters = ParametersMap());
+
70 static Stereo * create(const ParametersMap & parameters = ParametersMap());
71
72public:
-
82 Stereo(const ParametersMap & parameters = ParametersMap());
+
82 Stereo(const ParametersMap & parameters = ParametersMap());
83
87 virtual ~Stereo() {}
88
-
104 virtual void parseParameters(const ParametersMap & parameters);
+
104 virtual void parseParameters(const ParametersMap & parameters);
105
124 virtual std::vector<cv::Point2f> computeCorrespondences(
125 const cv::Mat & leftImage,
@@ -175,11 +192,11 @@ $(document).ready(function() { init_codefold(0); });
219class RTABMAP_CORE_EXPORT StereoOpticalFlow : public Stereo {
220public:
-
230 StereoOpticalFlow(const ParametersMap & parameters = ParametersMap());
+
230 StereoOpticalFlow(const ParametersMap & parameters = ParametersMap());
231
235 virtual ~StereoOpticalFlow() {}
236
-
250 virtual void parseParameters(const ParametersMap & parameters);
+
250 virtual void parseParameters(const ParametersMap & parameters);
251
269 virtual std::vector<cv::Point2f> computeCorrespondences(
270 const cv::Mat & leftImage,
@@ -243,10 +260,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::Stereo::winSSD
bool winSSD() const
Check if SSD (Sum of Squared Differences) is used.
Definition Stereo.h:184
rtabmap::Stereo::computeCorrespondences
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Compute stereo correspondences using block matching.
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/Transform_8h_source.html b/preview/pr-1492/api/latest/Transform_8h_source.html index 9ee9bad4..22a9e365 100644 --- a/preview/pr-1492/api/latest/Transform_8h_source.html +++ b/preview/pr-1492/api/latest/Transform_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
Transform.h
@@ -350,9 +367,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap
Definition BayesFilter.h:39
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UConversion_8h.html b/preview/pr-1492/api/latest/UConversion_8h.html index 3d3d99d2..d8b955de 100644 --- a/preview/pr-1492/api/latest/UConversion_8h.html +++ b/preview/pr-1492/api/latest/UConversion_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Functions
@@ -1042,9 +1059,13 @@ bool UTILITE_EXPORT uStr2B
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UConversion_8h.js b/preview/pr-1492/api/latest/UConversion_8h.js new file mode 100644 index 00000000..34438305 --- /dev/null +++ b/preview/pr-1492/api/latest/UConversion_8h.js @@ -0,0 +1,26 @@ +var UConversion_8h = +[ + [ "uReplaceChar", "UConversion_8h.html#ac17caccd78f21956b7ddb78aa0c0c438", null ], + [ "uReplaceChar", "UConversion_8h.html#a214297200ebabb7a349fb203103d72ef", null ], + [ "uToUpperCase", "UConversion_8h.html#adc98c4d87bc7c13b7fc5b5504f457105", null ], + [ "uToLowerCase", "UConversion_8h.html#a426b88c678e06f77912c006ba02805ec", null ], + [ "uNumber2Str", "UConversion_8h.html#aa2bbc65658f335e92631e9f1d091a698", null ], + [ "uNumber2Str", "UConversion_8h.html#ab3a674443d1d17328488398497380eb0", null ], + [ "uNumber2Str", "UConversion_8h.html#a7d269614a35d90f2ee7eb1204bca0856", null ], + [ "uNumber2Str", "UConversion_8h.html#a863753727325d89d62a941b1e28ec080", null ], + [ "uStr2Int", "UConversion_8h.html#a3cd287c149717691ee36fcd593940f68", null ], + [ "uStr2Float", "UConversion_8h.html#aaa5c2c8be40ec84e20bc6967b6b9b46a", null ], + [ "uStr2Double", "UConversion_8h.html#a9e8508b95f98ab3da0d942ee7d6b2105", null ], + [ "uBool2Str", "UConversion_8h.html#ad80132c4fed005af5c96b39fca453ce6", null ], + [ "uStr2Bool", "UConversion_8h.html#abb8205ea44ccbebab8cf064fed0c7c1b", null ], + [ "uStr2Bytes", "UConversion_8h.html#aa320ef94bde5dd6f9e6ebdb986fc5ca6", null ], + [ "uBytes2Str", "UConversion_8h.html#a00c1115896f3da7c7c025ccbe651c0a3", null ], + [ "uBytes2Hex", "UConversion_8h.html#a51c595b50bcb99186160a9e18df13c60", null ], + [ "uHex2Bytes", "UConversion_8h.html#aafb2c6939780df0241eb35ab4fc8b91b", null ], + [ "uHex2Bytes", "UConversion_8h.html#ab4e6aa72e322c619e4bbaf5b98dba9d3", null ], + [ "uHex2Str", "UConversion_8h.html#a6d66453336bccd040539ac9905a9c409", null ], + [ "uHex2Ascii", "UConversion_8h.html#a03dfb0596b84e5673061561a1388b4ee", null ], + [ "uAscii2Hex", "UConversion_8h.html#a6c8b49faa5c59294f350dda7152f66a4", null ], + [ "uFormatv", "UConversion_8h.html#a9b62bc055b0d262a21af6b9e00b6db5f", null ], + [ "uFormat", "UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UConversion_8h_source.html b/preview/pr-1492/api/latest/UConversion_8h_source.html index 85c78786..5a558724 100644 --- a/preview/pr-1492/api/latest/UConversion_8h_source.html +++ b/preview/pr-1492/api/latest/UConversion_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UConversion.h
@@ -184,9 +201,13 @@ $(document).ready(function() { init_codefold(0); });
uBool2Str
std::string UTILITE_EXPORT uBool2Str(bool boolean)
uToUpperCase
std::string UTILITE_EXPORT uToUpperCase(const std::string &str)
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UDestroyer_8h_source.html b/preview/pr-1492/api/latest/UDestroyer_8h_source.html index 811f5c03..ecc0c251 100644 --- a/preview/pr-1492/api/latest/UDestroyer_8h_source.html +++ b/preview/pr-1492/api/latest/UDestroyer_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UDestroyer.h
@@ -151,9 +168,13 @@ $(document).ready(function() { init_codefold(0); });
UDestroyer::setDoomed
bool setDoomed(T *doomed)
Definition UDestroyer.h:55
UDestroyer::UDestroyer
UDestroyer(T *doomed=0)
Definition UDestroyer.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UDirectory_8h_source.html b/preview/pr-1492/api/latest/UDirectory_8h_source.html index 55bcb711..ee6557f6 100644 --- a/preview/pr-1492/api/latest/UDirectory_8h_source.html +++ b/preview/pr-1492/api/latest/UDirectory_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UDirectory.h
@@ -177,9 +194,13 @@ $(document).ready(function() { init_codefold(0); });
UDirectory::UDirectory
UDirectory(const std::string &path="", const std::string &extensions="")
UDirectory::exists
static bool exists(const std::string &dirPath)
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UEvent_8h_source.html b/preview/pr-1492/api/latest/UEvent_8h_source.html index 5610a9f5..e288a296 100644 --- a/preview/pr-1492/api/latest/UEvent_8h_source.html +++ b/preview/pr-1492/api/latest/UEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UEvent.h
@@ -137,9 +154,13 @@ $(document).ready(function() { init_codefold(0); });
UEvent::getCode
int getCode() const
Definition UEvent.h:74
UEventsHandler
Definition UEventsHandler.h:128
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UEventsHandler_8h_source.html b/preview/pr-1492/api/latest/UEventsHandler_8h_source.html index 8d74efda..3c9eca65 100644 --- a/preview/pr-1492/api/latest/UEventsHandler_8h_source.html +++ b/preview/pr-1492/api/latest/UEventsHandler_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UEventsHandler.h
@@ -144,9 +161,13 @@ $(document).ready(function() { init_codefold(0); });
UEventsManager
Definition UEventsManager.h:78
UEventsSender
Definition UEventsSender.h:16
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UEventsManager_8h_source.html b/preview/pr-1492/api/latest/UEventsManager_8h_source.html index a315cba2..72889b85 100644 --- a/preview/pr-1492/api/latest/UEventsManager_8h_source.html +++ b/preview/pr-1492/api/latest/UEventsManager_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UEventsManager.h
@@ -110,7 +127,7 @@ $(document).ready(function() { init_codefold(0); });
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
24
25#include "rtabmap/utilite/UEventsHandler.h"
-
26#include "rtabmap/utilite/UThreadNode.h"
+
26#include "rtabmap/utilite/UThreadNode.h"
27#include "rtabmap/utilite/ULogger.h"
28#include "rtabmap/utilite/UDestroyer.h"
29
@@ -287,6 +304,7 @@ $(document).ready(function() { init_codefold(0); });
252
253#endif // UEVENTSMANAGER_H
ULogger.h
ULogger class and convenient macros.
+
UThreadNode.h
Backward-compatible alias header for UThread.
UDestroyer
Definition UDestroyer.h:33
UEventDispatcher
Definition UEventsManager.h:35
UEventDispatcher::mainLoop
virtual void mainLoop()
@@ -302,9 +320,13 @@ $(document).ready(function() { init_codefold(0); });
USemaphore
Definition USemaphore.h:56
UThread
Definition UThread.h:87
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UEventsSender_8h_source.html b/preview/pr-1492/api/latest/UEventsSender_8h_source.html index 7eb726e1..b3e956b1 100644 --- a/preview/pr-1492/api/latest/UEventsSender_8h_source.html +++ b/preview/pr-1492/api/latest/UEventsSender_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UEventsSender.h
@@ -118,9 +135,13 @@ $(document).ready(function() { init_codefold(0); });
UEventsSender
Definition UEventsSender.h:16
UEventsSender::post
void post(UEvent *event, bool async=true) const
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UException_8h_source.html b/preview/pr-1492/api/latest/UException_8h_source.html index f750f89c..0af416a6 100644 --- a/preview/pr-1492/api/latest/UException_8h_source.html +++ b/preview/pr-1492/api/latest/UException_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UException.h
@@ -122,9 +139,13 @@ $(document).ready(function() { init_codefold(0); });
33#endif /* UEXCEPTION_H_ */
UException
Definition UException.h:25
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UFile_8h_source.html b/preview/pr-1492/api/latest/UFile_8h_source.html index 85ce117e..c86c1ecf 100644 --- a/preview/pr-1492/api/latest/UFile_8h_source.html +++ b/preview/pr-1492/api/latest/UFile_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UFile.h
@@ -187,9 +204,13 @@ $(document).ready(function() { init_codefold(0); });
UFile::length
static long length(const std::string &filePath)
UFile::getName
std::string getName()
Definition UFile.h:135
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/ULogger_8h.html b/preview/pr-1492/api/latest/ULogger_8h.html index 9c9222a1..71b077a0 100644 --- a/preview/pr-1492/api/latest/ULogger_8h.html +++ b/preview/pr-1492/api/latest/ULogger_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Classes | @@ -592,9 +609,13 @@ Macros
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/ULogger_8h.js b/preview/pr-1492/api/latest/ULogger_8h.js new file mode 100644 index 00000000..469a27b3 --- /dev/null +++ b/preview/pr-1492/api/latest/ULogger_8h.js @@ -0,0 +1,11 @@ +var ULogger_8h = +[ + [ "ULogEvent", "classULogEvent.html", "classULogEvent" ], + [ "ULogger", "classULogger.html", "classULogger" ], + [ "UDEBUG", "ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a", null ], + [ "UINFO", "ULogger_8h.html#a5b63c9a1441181723754c0c6084231a8", null ], + [ "UWARN", "ULogger_8h.html#ab5a739ad9340455e46eaa570f8223d9a", null ], + [ "UERROR", "ULogger_8h.html#a1249ddbc4c9cc43be53048c08dda129b", null ], + [ "UFATAL", "ULogger_8h.html#aabc10368a622911d56a4dd5a4b461385", null ], + [ "UASSERT", "ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/ULogger_8h_source.html b/preview/pr-1492/api/latest/ULogger_8h_source.html index 4a97d210..a5ae2d1a 100644 --- a/preview/pr-1492/api/latest/ULogger_8h_source.html +++ b/preview/pr-1492/api/latest/ULogger_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
ULogger.h
@@ -434,9 +451,13 @@ $(document).ready(function() { init_codefold(0); });
ULogger::setPrintWhere
static void setPrintWhere(bool printWhere)
Definition ULogger.h:302
UMutex
Definition UMutex.h:55
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UMath_8h.html b/preview/pr-1492/api/latest/UMath_8h.html index 70be972e..b7857317 100644 --- a/preview/pr-1492/api/latest/UMath_8h.html +++ b/preview/pr-1492/api/latest/UMath_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Enumerations | @@ -2566,9 +2583,13 @@ template<typename T >
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UMath_8h.js b/preview/pr-1492/api/latest/UMath_8h.js new file mode 100644 index 00000000..3fd639bc --- /dev/null +++ b/preview/pr-1492/api/latest/UMath_8h.js @@ -0,0 +1,58 @@ +var UMath_8h = +[ + [ "UXMatchMethod", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cba", [ + [ "UXCorrRaw", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaa2483c4b5e245cfba48d1f78410d598ff", null ], + [ "UXCorrBiased", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaad2c2d62b2b2e1b76516f85c671a79446", null ], + [ "UXCorrUnbiased", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaa7960218c620140178574ad65c1e0d3ce", null ], + [ "UXCorrCoeff", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaa10113691644078c00d8fe877d72f7e36", null ], + [ "UXCovRaw", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaaacbb3f3ddd6509eb0b654368d9e0a06c", null ], + [ "UXCovBiased", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaae635408335547815e5e17ffe41db9565", null ], + [ "UXCovUnbiased", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaa949e7911c13a3c8a188ac45ddddbdd05", null ], + [ "UXCovCoeff", "UMath_8h.html#ae24d0d5b3a1d44ae8c5e50bb86a15cbaa8ee0bdef5a35952921fc4320681db0d9", null ] + ] ], + [ "uIsNan", "UMath_8h.html#a0ce262f6e3a80f7efafc73052600d309", null ], + [ "uIsFinite", "UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3", null ], + [ "uMin3", "UMath_8h.html#ad653f26bbf08ce113b5a69a49bb4e41d", null ], + [ "uMax3", "UMath_8h.html#a601a7e18acb1512a60cd8ef248271c85", null ], + [ "uMax", "UMath_8h.html#a1362990d0ce7f09ef735292cc480fa23", null ], + [ "uMax", "UMath_8h.html#a429cc62f1ca3c7a00e0062301ae60bcc", null ], + [ "uMax", "UMath_8h.html#a387b43468da220548d025010be075476", null ], + [ "uMax", "UMath_8h.html#a0aef304a0891fafcef581dcfbf3ac792", null ], + [ "uMin", "UMath_8h.html#aa37a66d04825a8834648dbe931bd57e6", null ], + [ "uMin", "UMath_8h.html#a99bd3bc365630c1760432cf810ea5831", null ], + [ "uMin", "UMath_8h.html#a68e11ea992520b98d4e688f8853b5dc4", null ], + [ "uMin", "UMath_8h.html#aeb0652d64e72d115d751f8186ac9016e", null ], + [ "uMinMax", "UMath_8h.html#af9bfdafb6da16f9c6f4691a6d951538b", null ], + [ "uMinMax", "UMath_8h.html#a23b93249fbe3eebc9d95104f4f8cafff", null ], + [ "uMinMax", "UMath_8h.html#a9cc051a73d402e69919d8fcea51c3098", null ], + [ "uMinMax", "UMath_8h.html#af5f7ebda9d440043cd3c57037e81318b", null ], + [ "uSign", "UMath_8h.html#a6e100ed2031a529679a93b9b4bf818af", null ], + [ "uSum", "UMath_8h.html#a81a1c24c0229e6c4dc8d8e09497ad114", null ], + [ "uSum", "UMath_8h.html#a86599e95ecdc91ce2d9497985d5d642b", null ], + [ "uSum", "UMath_8h.html#af15f0fa694931f0f99ba640d52539b09", null ], + [ "uSumSquared", "UMath_8h.html#aeb6a6517666687e509617e6bfaf274d3", null ], + [ "uSumSquared", "UMath_8h.html#a94be0f1c509db2f294048e6d5b16a522", null ], + [ "uMean", "UMath_8h.html#a7376638ab6047306c66a357153a47196", null ], + [ "uMean", "UMath_8h.html#aa4e1e6cf3df49d68d95bbe9981d1600e", null ], + [ "uMean", "UMath_8h.html#a8c8cd8ce7b3d8f32847bb57e9f73a625", null ], + [ "uMeanSquaredError", "UMath_8h.html#a28770817787def2a9165ed070fa17a54", null ], + [ "uMeanSquaredError", "UMath_8h.html#a319bcffddfeab66d5cbb729fa56dd361", null ], + [ "uVariance", "UMath_8h.html#add45b750bab7251ba196079289f17d7d", null ], + [ "uVariance", "UMath_8h.html#aa6ea127b567072434a5616bcc1c1f6e3", null ], + [ "uVariance", "UMath_8h.html#a0aa8de7d20731bcae07d956256e293f6", null ], + [ "uVariance", "UMath_8h.html#a8d443d065900ca7096d08c9431fef71f", null ], + [ "uNormSquared", "UMath_8h.html#aeed14782b35224f70db6b5435dce06a1", null ], + [ "uNorm", "UMath_8h.html#ab5e611c29307d8733cfaebc68bed1ac6", null ], + [ "uNormSquared", "UMath_8h.html#aea5fd5d0bd9afdb11c765584c89a5f8f", null ], + [ "uNorm", "UMath_8h.html#abe92bd5cba3860759c40c322ab1ac995", null ], + [ "uNormSquared", "UMath_8h.html#a0a3b6871504f5a745f8769492f45871c", null ], + [ "uNorm", "UMath_8h.html#a6b6fbb2032ce05eeacdb1b0bc87627e8", null ], + [ "uNormalize", "UMath_8h.html#a2f843f6f6bf0bd59b527aaa8c4731612", null ], + [ "uLocalMaxima", "UMath_8h.html#a2feb416e779b88c4a6a849d609222c99", null ], + [ "uLocalMaxima", "UMath_8h.html#a321ec84227fff8bf26aa85b0d3be5bb7", null ], + [ "uXMatch", "UMath_8h.html#a913829c5228fabff88e4918111c1d424", null ], + [ "uXMatch", "UMath_8h.html#a4694c7d40749b5cb09c596d232720192", null ], + [ "uXMatch", "UMath_8h.html#ac616ce0471d2e35fafd59d88021ccab3", null ], + [ "uXMatch", "UMath_8h.html#a726f4662efa078be30f5320bbb994c7a", null ], + [ "uHamming", "UMath_8h.html#add815f68a7ad0f18c667311826a85a52", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UMath_8h_source.html b/preview/pr-1492/api/latest/UMath_8h_source.html index f9a4e778..e7a427f6 100644 --- a/preview/pr-1492/api/latest/UMath_8h_source.html +++ b/preview/pr-1492/api/latest/UMath_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UMath.h
@@ -866,9 +883,13 @@ $(document).ready(function() { init_codefold(0); });
uNormSquared
T uNormSquared(const std::vector< T > &v)
Definition UMath.h:558
uMinMax
void uMinMax(const T *v, unsigned int size, T &min, T &max, unsigned int &indexMin, unsigned int &indexMax)
Definition UMath.h:224
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UMutex_8h_source.html b/preview/pr-1492/api/latest/UMutex_8h_source.html index a17c03b8..90969acc 100644 --- a/preview/pr-1492/api/latest/UMutex_8h_source.html +++ b/preview/pr-1492/api/latest/UMutex_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UMutex.h
@@ -227,9 +244,13 @@ $(document).ready(function() { init_codefold(0); });
UMutex::lock
int lock() const
Definition UMutex.h:88
UScopeMutex
Definition UMutex.h:165
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html b/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html index e1669cc8..ce958fc0 100644 --- a/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html +++ b/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UObjDeletionThread.h
@@ -107,7 +124,7 @@ $(document).ready(function() { init_codefold(0); });
20#ifndef UOBJDELETIONTHREAD_H
21#define UOBJDELETIONTHREAD_H
22
-
23#include "rtabmap/utilite/UThreadNode.h"
+
23#include "rtabmap/utilite/UThreadNode.h"
24#include "rtabmap/utilite/UEvent.h"
25#include "rtabmap/utilite/UEventsManager.h"
26
@@ -185,6 +202,7 @@ $(document).ready(function() { init_codefold(0); });
128
129#endif /* UOBJDELETIONTHREAD_H */
+
UThreadNode.h
Backward-compatible alias header for UThread.
UEvent
Definition UEvent.h:57
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
UObjDeletedEvent
Definition UObjDeletionThread.h:32
@@ -200,9 +218,13 @@ $(document).ready(function() { init_codefold(0); });
UThread::kill
void kill()
UThread::join
void join(bool killFirst=false)
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h.html b/preview/pr-1492/api/latest/UProcessInfo_8h.html index df8d990c..93b343df 100644 --- a/preview/pr-1492/api/latest/UProcessInfo_8h.html +++ b/preview/pr-1492/api/latest/UProcessInfo_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Classes
@@ -121,9 +138,13 @@ Classes

Definition in file UProcessInfo.h.

+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h.js b/preview/pr-1492/api/latest/UProcessInfo_8h.js new file mode 100644 index 00000000..bea54529 --- /dev/null +++ b/preview/pr-1492/api/latest/UProcessInfo_8h.js @@ -0,0 +1,4 @@ +var UProcessInfo_8h = +[ + [ "UProcessInfo", "classUProcessInfo.html", "classUProcessInfo" ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h_source.html b/preview/pr-1492/api/latest/UProcessInfo_8h_source.html index 07fcf72f..6798bbf7 100644 --- a/preview/pr-1492/api/latest/UProcessInfo_8h_source.html +++ b/preview/pr-1492/api/latest/UProcessInfo_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UProcessInfo.h
@@ -126,9 +143,13 @@ $(document).ready(function() { init_codefold(0); });
UProcessInfo::getMemoryUsage
static long int getMemoryUsage()
Get the memory used by the current process.
UProcessInfo::UProcessInfo
UProcessInfo()
Constructor.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/USemaphore_8h_source.html b/preview/pr-1492/api/latest/USemaphore_8h_source.html index 4d7dd724..fc069dcb 100644 --- a/preview/pr-1492/api/latest/USemaphore_8h_source.html +++ b/preview/pr-1492/api/latest/USemaphore_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
USemaphore.h
@@ -320,9 +337,13 @@ $(document).ready(function() { init_codefold(0); });
USemaphore::value
int value()
Definition USemaphore.h:221
USemaphore::USemaphore
USemaphore(int initValue=0)
Definition USemaphore.h:62
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UStl_8h.html b/preview/pr-1492/api/latest/UStl_8h.html index 76a8fb62..0e08a5de 100644 --- a/preview/pr-1492/api/latest/UStl_8h.html +++ b/preview/pr-1492/api/latest/UStl_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Functions
@@ -2065,9 +2082,13 @@ template<class V >
+ -
-Generated by doxygen 1.9.8 -
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RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UStl.h
@@ -758,9 +775,13 @@ $(document).ready(function() { init_codefold(0); });
uMultimapToMap
std::map< K, V > uMultimapToMap(const std::multimap< K, V > &m)
Definition UStl.h:494
uIsInteger
bool uIsInteger(const std::string &str, bool checkForSign=true)
Definition UStl.h:630
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UThreadC_8h_source.html b/preview/pr-1492/api/latest/UThreadC_8h_source.html index 8ba01981..f14d8a75 100644 --- a/preview/pr-1492/api/latest/UThreadC_8h_source.html +++ b/preview/pr-1492/api/latest/UThreadC_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
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UThreadC.h
@@ -122,9 +139,13 @@ $(document).ready(function() { init_codefold(0); });
35
36#endif // UTHREADC_H
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UThreadNode_8h.html b/preview/pr-1492/api/latest/UThreadNode_8h.html new file mode 100644 index 00000000..ecb176b7 --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h.html @@ -0,0 +1,200 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UThreadNode.h File Reference + + + + + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
Real-Time Appearance-Based Mapping
+
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+ + + + + + + +
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+
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+
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+Typedefs
+
UThreadNode.h File Reference
+
+
+ +

Backward-compatible alias header for UThread. +More...

+
#include "rtabmap/utilite/UThread.h"
+
+Include dependency graph for UThreadNode.h:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + +

+Typedefs

typedef UThread UThreadNode
 Alias for UThread, kept for backward compatibility.
 
+

Detailed Description

+

Backward-compatible alias header for UThread.

+ +

Definition in file UThreadNode.h.

+

Typedef Documentation

+ +

◆ UThreadNode

+ +
+
+ + + + +
typedef UThread UThreadNode
+
+ +

Alias for UThread, kept for backward compatibility.

+ +

Definition at line 31 of file UThreadNode.h.

+ +
+
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+
+ + + + diff --git a/preview/pr-1492/api/latest/UThreadNode_8h.js b/preview/pr-1492/api/latest/UThreadNode_8h.js new file mode 100644 index 00000000..c534a7c5 --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h.js @@ -0,0 +1,4 @@ +var UThreadNode_8h = +[ + [ "UThreadNode", "UThreadNode_8h.html#a82fc8ffe23f95d50f934eb27afd351d6", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.map b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.map new file mode 100644 index 00000000..094f19b1 --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.map @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.md5 b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.md5 new file mode 100644 index 00000000..83efb377 --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.md5 @@ -0,0 +1 @@ +7929548905256604130c7df3c928cfd4 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.png b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.png new file mode 100644 index 00000000..cd050c80 Binary files /dev/null and b/preview/pr-1492/api/latest/UThreadNode_8h__dep__incl.png differ diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__incl.map b/preview/pr-1492/api/latest/UThreadNode_8h__incl.map new file mode 100644 index 00000000..cb11ee4e --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h__incl.map @@ -0,0 +1,25 @@ + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__incl.md5 b/preview/pr-1492/api/latest/UThreadNode_8h__incl.md5 new file mode 100644 index 00000000..4692a86c --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h__incl.md5 @@ -0,0 +1 @@ +ed63a4dbe31851bcf14edcdc8127199f \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UThreadNode_8h__incl.png b/preview/pr-1492/api/latest/UThreadNode_8h__incl.png new file mode 100644 index 00000000..050481f1 Binary files /dev/null and b/preview/pr-1492/api/latest/UThreadNode_8h__incl.png differ diff --git a/preview/pr-1492/api/latest/UThreadNode_8h_source.html b/preview/pr-1492/api/latest/UThreadNode_8h_source.html index 379a6c9e..004abfe9 100644 --- a/preview/pr-1492/api/latest/UThreadNode_8h_source.html +++ b/preview/pr-1492/api/latest/UThreadNode_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UThreadNode.h
-
1/*
+Go to the documentation of this file.
1/*
2* utilite is a cross-platform library with
3* useful utilities for fast and small developing.
4* Copyright (C) 2010 Mathieu Labbe
@@ -109,16 +126,20 @@ $(document).ready(function() { init_codefold(0); });
22
23#include "rtabmap/utilite/UThread.h"
24
-
25//For backward compatibility
-
26typedef UThread UThreadNode;
-
27
-
28
-
29#endif /* UTHREADNODE_H_ */
+
31typedef UThread UThreadNode;
+
32
+
33
+
34#endif /* UTHREADNODE_H_ */
+
UThreadNode
UThread UThreadNode
Alias for UThread, kept for backward compatibility.
Definition UThreadNode.h:31
+
-
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UThread_8h_source.html b/preview/pr-1492/api/latest/UThread_8h_source.html index 055e95da..6e8966f0 100644 --- a/preview/pr-1492/api/latest/UThread_8h_source.html +++ b/preview/pr-1492/api/latest/UThread_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UThread.h
@@ -233,9 +250,13 @@ $(document).ready(function() { init_codefold(0); });
UThread::isCreating
bool isCreating() const
UThread::join
void join(bool killFirst=false)
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UTimer_8h_source.html b/preview/pr-1492/api/latest/UTimer_8h_source.html index 5649e44c..be49e371 100644 --- a/preview/pr-1492/api/latest/UTimer_8h_source.html +++ b/preview/pr-1492/api/latest/UTimer_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UTimer.h
@@ -156,9 +173,13 @@ $(document).ready(function() { init_codefold(0); });
UTimer::restart
double restart()
Definition UTimer.h:86
UTimer::now
static double now()
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UVariant_8h.html b/preview/pr-1492/api/latest/UVariant_8h.html index bc394569..6cb41c60 100644 --- a/preview/pr-1492/api/latest/UVariant_8h.html +++ b/preview/pr-1492/api/latest/UVariant_8h.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
+ +
+
+
+ +
- -
Classes
@@ -137,9 +154,13 @@ Classes

Definition in file UVariant.h.

+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UVariant_8h.js b/preview/pr-1492/api/latest/UVariant_8h.js new file mode 100644 index 00000000..1a35af49 --- /dev/null +++ b/preview/pr-1492/api/latest/UVariant_8h.js @@ -0,0 +1,4 @@ +var UVariant_8h = +[ + [ "UVariant", "classUVariant.html", "classUVariant" ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UVariant_8h_source.html b/preview/pr-1492/api/latest/UVariant_8h_source.html index 0e12e0f8..84d8a89d 100644 --- a/preview/pr-1492/api/latest/UVariant_8h_source.html +++ b/preview/pr-1492/api/latest/UVariant_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UVariant.h
@@ -344,9 +361,13 @@ $(document).ready(function() { init_codefold(0); });
UVariant::isStr
bool isStr() const
Check if the variant is a string.
Definition UVariant.h:272
UVariant::isUChar
bool isUChar() const
Check if the variant is an unsigned char.
Definition UVariant.h:230
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UWin32_8h_source.html b/preview/pr-1492/api/latest/UWin32_8h_source.html index 882339fe..2fc2f252 100644 --- a/preview/pr-1492/api/latest/UWin32_8h_source.html +++ b/preview/pr-1492/api/latest/UWin32_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UWin32.h
@@ -147,9 +164,13 @@ $(document).ready(function() { init_codefold(0); });
61
62#endif // !_U_Win32_
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UserDataEvent_8h_source.html b/preview/pr-1492/api/latest/UserDataEvent_8h_source.html index 7f51bda0..0f2dff50 100644 --- a/preview/pr-1492/api/latest/UserDataEvent_8h_source.html +++ b/preview/pr-1492/api/latest/UserDataEvent_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UserDataEvent.h
@@ -148,9 +165,13 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::UserDataEvent::getClassName
virtual std::string getClassName() const
Definition UserDataEvent.h:48
rtabmap
Definition BayesFilter.h:39
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/UtiLite_8h_source.html b/preview/pr-1492/api/latest/UtiLite_8h_source.html index ffa6cd75..8296a99f 100644 --- a/preview/pr-1492/api/latest/UtiLite_8h_source.html +++ b/preview/pr-1492/api/latest/UtiLite_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
- -
UtiLite.h
@@ -107,33 +124,38 @@ $(document).ready(function() { init_codefold(0); });
20#ifndef UTILITE_H
21#define UTILITE_H
22
-
237#include "rtabmap/utilite/UStl.h"
-
238#include "rtabmap/utilite/UConversion.h"
-
239#include "rtabmap/utilite/UDirectory.h"
-
240#include "rtabmap/utilite/UFile.h"
-
241#include "rtabmap/utilite/ULogger.h"
-
242#include "rtabmap/utilite/UEventsManager.h"
-
243#include "rtabmap/utilite/UEventsHandler.h"
-
244#include "rtabmap/utilite/UEvent.h"
-
245#include "rtabmap/utilite/UProcessInfo.h"
-
246#include "rtabmap/utilite/UMutex.h"
-
247#include "rtabmap/utilite/USemaphore.h"
-
248#include "rtabmap/utilite/UThreadNode.h"
-
249#include "rtabmap/utilite/UTimer.h"
-
250#include "rtabmap/utilite/UVariant.h"
-
251#include "rtabmap/utilite/UMath.h"
-
252
-
253#endif /* UTILITE_H */
+
203#include "rtabmap/utilite/UStl.h"
+
204#include "rtabmap/utilite/UConversion.h"
+
205#include "rtabmap/utilite/UDirectory.h"
+
206#include "rtabmap/utilite/UFile.h"
+
207#include "rtabmap/utilite/ULogger.h"
+
208#include "rtabmap/utilite/UEventsManager.h"
+
209#include "rtabmap/utilite/UEventsHandler.h"
+
210#include "rtabmap/utilite/UEvent.h"
+
211#include "rtabmap/utilite/UProcessInfo.h"
+
212#include "rtabmap/utilite/UMutex.h"
+
213#include "rtabmap/utilite/USemaphore.h"
+
214#include "rtabmap/utilite/UThreadNode.h"
+
215#include "rtabmap/utilite/UTimer.h"
+
216#include "rtabmap/utilite/UVariant.h"
+
217#include "rtabmap/utilite/UMath.h"
+
218
+
219#endif /* UTILITE_H */
UConversion.h
Some conversion functions.
ULogger.h
ULogger class and convenient macros.
UMath.h
Basic mathematics functions.
UProcessInfo.h
UProcessInfo class for getting process information.
UStl.h
Wrappers of STL for convenient functions.
+
UThreadNode.h
Backward-compatible alias header for UThread.
UVariant.h
UVariant class for storing and converting between different data types.
+ -
-Generated by doxygen 1.9.8 -
+ diff --git a/preview/pr-1492/api/latest/VWDictionary_8h_source.html b/preview/pr-1492/api/latest/VWDictionary_8h_source.html index 33c70a0e..2dad83b7 100644 --- a/preview/pr-1492/api/latest/VWDictionary_8h_source.html +++ b/preview/pr-1492/api/latest/VWDictionary_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
@@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
+ +
+
+
+ +
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VWDictionary.h
@@ -174,11 +191,11 @@ $(document).ready(function() { init_codefold(0); });
113
114public:
-
119 VWDictionary(const ParametersMap & parameters = ParametersMap());
+
119 VWDictionary(const ParametersMap & parameters = ParametersMap());
120
126 virtual ~VWDictionary();
127
-
132 virtual void parseParameters(const ParametersMap & parameters);
+
132 virtual void parseParameters(const ParametersMap & parameters);
133
140 virtual void update();
141
@@ -364,10 +381,15 @@ $(document).ready(function() { init_codefold(0); });
rtabmap::VWDictionary::~VWDictionary
virtual ~VWDictionary()
Destructor.
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
rtabmap
Definition BayesFilter.h:39
+
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
+ -
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+ diff --git a/preview/pr-1492/api/latest/Version_8h_source.html b/preview/pr-1492/api/latest/Version_8h_source.html index 117dd65a..f15f8e16 100644 --- a/preview/pr-1492/api/latest/Version_8h_source.html +++ b/preview/pr-1492/api/latest/Version_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
RTAB-Map 0.23.10
+
Real-Time Appearance-Based Mapping
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    @@ -84,9 +105,12 @@ $(function() { UEvent(int code=0)UEventinlineprotected ~UEvent() (defined in UEvent)UEventinlinevirtual + -
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    - + @@ -119,7 +140,7 @@ Inheritance diagram for UEvent: -
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    [legend]
    @@ -281,9 +302,13 @@ Protected Member Functions
  • utilite/include/rtabmap/utilite/UEvent.h
    • + -
    -Generated by doxygen 1.9.8 -
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    @@ -271,9 +292,13 @@ Additional Inherited Members
  • utilite/include/rtabmap/utilite/UEventsManager.h
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    -Generated by doxygen 1.9.8 -
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    -

    Example for a useful combination of an UEventsHandler and a UThreadNode, with safe data modification while not blocking the handleEvent() call on a mutex:

    #include "utilite/UThreadNode.h"
    +

    Example for a useful combination of an UEventsHandler and a UThreadNode, with safe data modification while not blocking the handleEvent() call on a mutex:

    #include "utilite/UThreadNode.h"
    #include "utilite/UEventsHandler.h"
    #include "utilite/UEventsManager.h"
    #include "utilite/UEvent.h"
    @@ -199,6 +220,7 @@ Friends
    counter.join(true); // Kill and wait to finish
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    @@ -343,9 +365,13 @@ UThreadNode
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    -
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  • utilite/include/rtabmap/utilite/UEventsManager.h
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    -
    [legend]
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    @@ -619,9 +636,13 @@ Protected Attributes
  • corelib/include/rtabmap/core/clams/discrete_depth_distortion_model.h
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    @@ -99,9 +116,12 @@ $(function() {

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    total_numerators_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
    undistort(double *z) const (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
    + -
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  • corelib/include/rtabmap/core/clams/discrete_depth_distortion_model.h
    • +
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    @@ -91,9 +108,12 @@ $(function() { RangeIndex typedef (defined in clams::FrameProjector)clams::FrameProjector reproject(const pcl::PointXYZ &pt) const (defined in clams::FrameProjector)clams::FrameProjector + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classclams_1_1FrameProjector.html b/preview/pr-1492/api/latest/classclams_1_1FrameProjector.html index 99356068..d52f92f8 100644 --- a/preview/pr-1492/api/latest/classclams_1_1FrameProjector.html +++ b/preview/pr-1492/api/latest/classclams_1_1FrameProjector.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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  • corelib/include/rtabmap/core/clams/frame_projector.h
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    -Generated by doxygen 1.9.8 -
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    clams::ProjectivePoint Member List
    @@ -88,9 +105,12 @@ $(function() { v_ (defined in clams::ProjectivePoint)clams::ProjectivePoint z_ (defined in clams::ProjectivePoint)clams::ProjectivePoint + -
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  • corelib/include/rtabmap/core/clams/frame_projector.h
    • +
    -
    -Generated by doxygen 1.9.8 -
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    rtabmap::BRISK Member List
    @@ -137,9 +154,12 @@ $(function() { ~BRISK() (defined in rtabmap::BRISK)rtabmap::BRISKvirtual ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual + -
    -Generated by doxygen 1.9.8 -
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    -
    [legend]
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    [legend]
    Collaboration diagram for rtabmap::BRISK:
    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::BRISK:
    -
    [legend]
    +
    [legend]
    +  - + @@ -143,7 +160,7 @@ cv::Mat  - + @@ -184,11 +201,11 @@ Additional Inherited Members +static Feature2D *  +static Feature2D *  + 

    Public Member Functions

    - BRISK (const ParametersMap &parameters=ParametersMap())
    BRISK (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    virtual bool isGpuAvailable () const
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -237,7 +254,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::BRISK::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -306,9 +323,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
    -Generated by doxygen 1.9.8 -
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    rtabmap::BayesFilter Member List
    @@ -96,9 +113,12 @@ $(function() { setPredictionLC(const std::string &prediction)rtabmap::BayesFilter ~BayesFilter() (defined in rtabmap::BayesFilter)rtabmap::BayesFiltervirtual + -
    -Generated by doxygen 1.9.8 -
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    Public Member Functions | @@ -91,10 +108,10 @@ $(function() { - + - + @@ -133,11 +150,11 @@ void Prediction: builds a transition matrix from the memory graph and multiplies it with the previous posterior to obtain the prior.
  • Update: multiplies the prior by the observation likelihood and normalizes the result.
    • -

    The prediction matrix is built from neighbor relationships in Memory, using a Gaussian-like model configured through Parameters::kBayesPredictionLC(). A virtual place (negative signature id, see Memory::kIdVirtual) represents the hypothesis that the current observation comes from a new location.

    +

    The prediction matrix is built from neighbor relationships in Memory, using a Gaussian-like model configured through Parameters::kBayesPredictionLC(). A virtual place (negative signature id, see Memory::kIdVirtual) represents the hypothesis that the current observation comes from a new location.

    Related parameters (see Parameters):

    See also
    Memory::getNeighborsId()
    @@ -154,8 +171,8 @@ void 
    - - + +

    Public Member Functions

     BayesFilter (const ParametersMap &parameters=ParametersMap())
     BayesFilter (const ParametersMap &parameters=ParametersMap())
     Constructs a Bayes filter with default or custom parameters.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Updates internal settings from the parameter map.
     
    const std::map< int, float > & computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
    reset ()
    reset ()
    rtabmap::BayesFilter::BayesFilter (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -184,7 +201,7 @@ void reset () virtual void rtabmap::BayesFilter::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -270,7 +287,7 @@ void reset ()Each value must be in [0, 1]. At least two values are required. Invalid strings are rejected and the previous model is kept.

    Parameters
    - +
    predictionSpace-separated list of probabilities (same format as Parameters::kBayesPredictionLC()).
    predictionSpace-separated list of probabilities (same format as Parameters::kBayesPredictionLC()).
    @@ -440,9 +457,13 @@ void reset ()corelib/include/rtabmap/core/BayesFilter.h
    +
    -
    -Generated by doxygen 1.9.8 -
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    @@ -108,9 +125,12 @@ $(function() { ~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual ~SensorCapture()rtabmap::SensorCapturevirtual + -
    -Generated by doxygen 1.9.8 -
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::Camera:
    @@ -153,7 +170,7 @@ Collaboration diagram for rtabmap::Camera:
    -
    [legend]
    +
    [legend]
    @@ -419,9 +436,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
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    + +
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    rtabmap::CameraDepthAI Member List
    @@ -122,9 +139,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/Camera.h
    • + -
    -Generated by doxygen 1.9.8 -
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    -
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    Collaboration diagram for rtabmap::CameraDepthAI:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraDepthAI:
    -
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    +
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    @@ -373,9 +390,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    @@ -114,9 +131,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraDepthAI.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI.js new file mode 100644 index 00000000..f95dd1f8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraDepthAI = +[ + [ "init", "classrtabmap_1_1CameraDepthAI.html#aeab341a67f8c9ef3a078ef4636f969c1", null ], + [ "getSerial", "classrtabmap_1_1CameraDepthAI.html#ac77ceb30af0f98aa27f2de1259f31d7e", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html index 241b325b..94cfc9e4 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraFreenect() (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenectvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html index 1ad01136..5005fd71 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::CameraFreenect:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraFreenect:
    @@ -109,7 +126,7 @@ Collaboration diagram for rtabmap::CameraFreenect:
    -
    [legend]
    +
    [legend]
    @@ -365,9 +382,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraFreenect2 Member List
    @@ -118,9 +135,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraFreenect.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.js new file mode 100644 index 00000000..7f9adc69 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraFreenect = +[ + [ "init", "classrtabmap_1_1CameraFreenect.html#aa36a4142ea9e7dab7120690b1d4a7449", null ], + [ "getSerial", "classrtabmap_1_1CameraFreenect.html#ad4aa325278c21b339aea31437430610d", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html index 8cfb42d5..91226e39 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraFreenect2() (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html index bff3117e..fe21c56e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::CameraFreenect2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraFreenect2:
    @@ -109,7 +126,7 @@ Collaboration diagram for rtabmap::CameraFreenect2:
    -
    [legend]
    +
    [legend]
    @@ -372,9 +389,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraImages Member List
    @@ -138,9 +155,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraFreenect2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.js new file mode 100644 index 00000000..df9a6ab6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraFreenect2 = +[ + [ "init", "classrtabmap_1_1CameraFreenect2.html#aab9ed1bf2f64c6b8f6f95e25f94c4a8f", null ], + [ "getSerial", "classrtabmap_1_1CameraFreenect2.html#a985478701c8eb9751918fcd497893af7", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages-members.html index 68b50700..fb3561c2 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html index fc725ba8..f1e6a5b0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -100,7 +117,7 @@ Inheritance diagram for rtabmap::CameraImages:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraImages:
    @@ -112,7 +129,7 @@ Collaboration diagram for rtabmap::CameraImages:
    -
    [legend]
    +
    [legend]
    @@ -1202,9 +1219,13 @@ Protected Attributes
  • corelib/include/rtabmap/core/camera/CameraImages.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.js new file mode 100644 index 00000000..d8d6e117 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1CameraImages = +[ + [ "init", "classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206", null ], + [ "getSerial", "classrtabmap_1_1CameraImages.html#a217f54d1ead7a4d6af733c2644064a5f", null ], + [ "odomProvided", "classrtabmap_1_1CameraImages.html#aea0811d6305eec32fda10f46344c825f", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A-members.html index a7ef4ab8..4d18d235 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraK4A Member List
    @@ -114,9 +131,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraK4A() (defined in rtabmap::CameraK4A)rtabmap::CameraK4Avirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraK4A:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraK4A:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraK4A:
    -
    [legend]
    +
    [legend]
    @@ -349,9 +366,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraK4W2 Member List
    @@ -119,9 +136,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraK4A.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.js new file mode 100644 index 00000000..443feac8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraK4A = +[ + [ "init", "classrtabmap_1_1CameraK4A.html#af2c611c697451697f318405469bb23e8", null ], + [ "getSerial", "classrtabmap_1_1CameraK4A.html#af7dae13200b0d2ca09294b335225e993", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2-members.html index f9d9aa5e..414e5e67 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraK4W2() (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html index 34067f78..833a0728 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::CameraK4W2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraK4W2:
    @@ -110,7 +127,7 @@ Collaboration diagram for rtabmap::CameraK4W2:
    -
    [legend]
    +
    [legend]
    @@ -475,9 +492,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraModel Member List
    @@ -133,9 +150,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraK4W2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.js new file mode 100644 index 00000000..4a526847 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraK4W2 = +[ + [ "init", "classrtabmap_1_1CameraK4W2.html#a33aec7e8863ddd2815a983a71e869127", null ], + [ "getSerial", "classrtabmap_1_1CameraK4W2.html#a90bd066891ec59c4f1261af3353209bb", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel-members.html index 313855f0..d3c49c0e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    verticalFOV() constrtabmap::CameraModel
    ~CameraModel()rtabmap::CameraModelinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html index a3718eed..43620bd0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
    +
    + +
    - -
    Public Member Functions | @@ -1897,9 +1914,13 @@ Static Public Member Functions
  • corelib/include/rtabmap/core/CameraModel.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.js new file mode 100644 index 00000000..04739e32 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.js @@ -0,0 +1,48 @@ +var classrtabmap_1_1CameraModel = +[ + [ "CameraModel", "classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd", null ], + [ "CameraModel", "classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695", null ], + [ "CameraModel", "classrtabmap_1_1CameraModel.html#aadb6b19ea8a94f3f6719ea0233196c34", null ], + [ "CameraModel", "classrtabmap_1_1CameraModel.html#a745c2d60ef6b460ca380aebd55b5d61c", null ], + [ "~CameraModel", "classrtabmap_1_1CameraModel.html#af6f35e5071ef0070d3fae3ebaa33ce4c", null ], + [ "initRectificationMap", "classrtabmap_1_1CameraModel.html#a5690a86d11b0d84e80961ae5d38b1d25", null ], + [ "isRectificationMapInitialized", "classrtabmap_1_1CameraModel.html#a80cacb16d347e89980369cb2e02f3d48", null ], + [ "isValidForProjection", "classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67", null ], + [ "isValidForReprojection", "classrtabmap_1_1CameraModel.html#abd4db4f23eb05d531a34ee44f7cdb687", null ], + [ "isValidForRectification", "classrtabmap_1_1CameraModel.html#a46864eb8de680d45d79777e828dcbb6a", null ], + [ "setName", "classrtabmap_1_1CameraModel.html#a402a407fa2bca721087a6deda24cc10d", null ], + [ "name", "classrtabmap_1_1CameraModel.html#aa152828f20e1cf0ffab7bb25178191b5", null ], + [ "fx", "classrtabmap_1_1CameraModel.html#acea616d4e141804dbc5c6eda58bebf6b", null ], + [ "fy", "classrtabmap_1_1CameraModel.html#ac4089d34947b040205e281edae4151a1", null ], + [ "cx", "classrtabmap_1_1CameraModel.html#af81ee9572d32f69bf0a66cd1f4671c20", null ], + [ "cy", "classrtabmap_1_1CameraModel.html#aa3a18f811d3e9db290d01371e078add3", null ], + [ "Tx", "classrtabmap_1_1CameraModel.html#a6f6dc18af13a777e89a75725ef3e8ab4", null ], + [ "K_raw", "classrtabmap_1_1CameraModel.html#ada626650b01d35b494016a5490efb31a", null ], + [ "D_raw", "classrtabmap_1_1CameraModel.html#a88ec7053f4d442c4b1b79803c2840f28", null ], + [ "K", "classrtabmap_1_1CameraModel.html#a5df2e6c3f361b7084e4d26d7f1846e3d", null ], + [ "D", "classrtabmap_1_1CameraModel.html#a4aa121905a9b2aabb6a3592a6eb7459a", null ], + [ "R", "classrtabmap_1_1CameraModel.html#ad763246258ddf02c27873c2536901781", null ], + [ "P", "classrtabmap_1_1CameraModel.html#acda5d9c4eeeaaad69e950f5ea630430a", null ], + [ "setLocalTransform", "classrtabmap_1_1CameraModel.html#aa1325c971f17d371553c3f75be7aeece", null ], + [ "localTransform", "classrtabmap_1_1CameraModel.html#a8a1712ca95bf08c71b2bf2da1d635bc8", null ], + [ "setImageSize", "classrtabmap_1_1CameraModel.html#a43fd48b917ca145876024859f8565931", null ], + [ "fovX", "classrtabmap_1_1CameraModel.html#ac3aa6835f8ae019de4dbf85eed849b75", null ], + [ "fovY", "classrtabmap_1_1CameraModel.html#af4df41cc8a613f3e03b1ed14fc0a887e", null ], + [ "horizontalFOV", "classrtabmap_1_1CameraModel.html#a12abd4cac897f48bf862a96f0eba1d65", null ], + [ "verticalFOV", "classrtabmap_1_1CameraModel.html#af6226e43afcb69259b137bbe50099537", null ], + [ "isFisheye", "classrtabmap_1_1CameraModel.html#a3ceb0d36d8786f03b778d1969cb6e839", null ], + [ "load", "classrtabmap_1_1CameraModel.html#a2c2ff6db9029c3ee219642d7e48b04fa", null ], + [ "load", "classrtabmap_1_1CameraModel.html#abe9b3c87c086fd33286c01361e454056", null ], + [ "save", "classrtabmap_1_1CameraModel.html#ab5ec6010459c4e642e162dc8914bccb9", null ], + [ "serialize", "classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082", null ], + [ "deserialize", "classrtabmap_1_1CameraModel.html#a490dc97ca8aa55d96324eb6612ccfd30", null ], + [ "deserialize", "classrtabmap_1_1CameraModel.html#a181c2e53da1151c281d85fde986a29c5", null ], + [ "scaled", "classrtabmap_1_1CameraModel.html#aecf2e87f260558dbf631e4803e1ed986", null ], + [ "roi", "classrtabmap_1_1CameraModel.html#a2ff3290299c36b64ee880db2386f898f", null ], + [ "rectifyImage", "classrtabmap_1_1CameraModel.html#a17219cf5cf82d224f2a7ed5af01fa236", null ], + [ "rectifyDepth", "classrtabmap_1_1CameraModel.html#a22cf7f5b49ef0cd8be08755010f6acb5", null ], + [ "project", "classrtabmap_1_1CameraModel.html#a01de9a3cdc993275b2fbcf21d6e29833", null ], + [ "reproject", "classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26", null ], + [ "reproject", "classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b", null ], + [ "inFrame", "classrtabmap_1_1CameraModel.html#aa07cbe07c7893e726c408392cf54d9ca", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html index b6227f9b..2daea8b1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
    +
    + +
    - -
    rtabmap::CameraMyntEye Member List
    @@ -115,9 +132,12 @@ $(function() { ~CameraMyntEye() (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEyevirtual ~SensorCapture()rtabmap::SensorCapturevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html index eed1eab4..e30ec40e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::CameraMyntEye:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraMyntEye:
    @@ -110,7 +127,7 @@ Collaboration diagram for rtabmap::CameraMyntEye:
    -
    [legend]
    +
    [legend]
    @@ -391,9 +408,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraOpenNI2 Member List
    @@ -124,9 +141,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraMyntEye.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.js new file mode 100644 index 00000000..3a4c6c7b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1CameraMyntEye = +[ + [ "init", "classrtabmap_1_1CameraMyntEye.html#a368591c828d3bb5aabfe8cae56d01304", null ], + [ "getSerial", "classrtabmap_1_1CameraMyntEye.html#ac163457701a9274659e41aae5417f831", null ], + [ "odomProvided", "classrtabmap_1_1CameraMyntEye.html#abc869cbd8b1106374a1f8734715d965d", null ], + [ "captureImage", "classrtabmap_1_1CameraMyntEye.html#acefbf910185313e7cf645ecff344329c", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2-members.html index ac53f85e..2665c0a0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraOpenNI2() (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html index 0161dcc3..db942a07 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::CameraOpenNI2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraOpenNI2:
    @@ -109,7 +126,7 @@ Collaboration diagram for rtabmap::CameraOpenNI2:
    -
    [legend]
    +
    [legend]
    @@ -393,9 +410,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraOpenNICV Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraOpenNI2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.js new file mode 100644 index 00000000..33062b6f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraOpenNI2 = +[ + [ "init", "classrtabmap_1_1CameraOpenNI2.html#a0c0da722b985da3595896fcc6bc72c7b", null ], + [ "getSerial", "classrtabmap_1_1CameraOpenNI2.html#a9767b92c3df7b637c75ee351208e3f0b", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV-members.html index de913844..f9d14281 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraOpenNICV() (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICVvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html index e565944c..780a2984 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraOpenNICV:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraOpenNICV:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraOpenNICV:
    -
    [legend]
    +
    [legend]
    @@ -342,9 +359,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraOpenni Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraOpenNICV.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.js new file mode 100644 index 00000000..f80dc638 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraOpenNICV = +[ + [ "init", "classrtabmap_1_1CameraOpenNICV.html#a4d636b36e01de97d35fb0b6bb5fc3b7d", null ], + [ "getSerial", "classrtabmap_1_1CameraOpenNICV.html#a29fe33644f755cf54307b55df898617b", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni-members.html index 1e37c0ab..24800fcd 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraOpenni() (defined in rtabmap::CameraOpenni)rtabmap::CameraOpennivirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.html index 02391887..4d25bb97 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -101,7 +118,7 @@ Inheritance diagram for rtabmap::CameraOpenni:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraOpenni:
    @@ -113,7 +130,7 @@ Collaboration diagram for rtabmap::CameraOpenni:
    -
    [legend]
    +
    [legend]
    @@ -346,9 +363,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraOrbbecSDK Member List
    @@ -115,9 +132,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraOpenni.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.js new file mode 100644 index 00000000..aec033ff --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenni.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraOpenni = +[ + [ "init", "classrtabmap_1_1CameraOpenni.html#aaa00fc3850c747fb261c87d4ad54827f", null ], + [ "getSerial", "classrtabmap_1_1CameraOpenni.html#acaeb07cbf369a47817c48acacee04e41", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html index 932de630..65b1606d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraOrbbecSDK() (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDKvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html index fea9660e..75a6d9da 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraOrbbecSDK:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraOrbbecSDK:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraOrbbecSDK:
    -
    [legend]
    +
    [legend]
    @@ -352,9 +369,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraRGBDImages Member List
    @@ -141,9 +158,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraOrbbecSDK.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.js new file mode 100644 index 00000000..0b94f754 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraOrbbecSDK = +[ + [ "init", "classrtabmap_1_1CameraOrbbecSDK.html#a3a99d50d119791b9d3a36056aaddf59a", null ], + [ "getSerial", "classrtabmap_1_1CameraOrbbecSDK.html#a75f9abaf3ddc009c7772cc0239816b86", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages-members.html index af2f25db..7576e6c1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraRGBDImages() (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html index e2aa227f..715554a3 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::CameraRGBDImages:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraRGBDImages:
    @@ -112,7 +129,7 @@ Collaboration diagram for rtabmap::CameraRGBDImages:
    -
    [legend]
    +
    [legend]
    @@ -411,9 +428,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/camera/CameraRGBDImages.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.js new file mode 100644 index 00000000..43c6d962 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.js @@ -0,0 +1,4 @@ +var classrtabmap_1_1CameraRGBDImages = +[ + [ "init", "classrtabmap_1_1CameraRGBDImages.html#a21903042693fbbc0bfc1586225efb2dd", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense-members.html index 7f6b2cd1..1a0d0b94 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraRealSense Member List
    @@ -117,9 +134,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraRealSense() (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSensevirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.html index 1ed7a00f..d42c1896 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::CameraRealSense:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraRealSense:
    @@ -109,7 +126,7 @@ Collaboration diagram for rtabmap::CameraRealSense:
    -
    [legend]
    +
    [legend]
    @@ -405,9 +422,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraRealSense2 Member List
    @@ -120,9 +137,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraRealSense.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.js new file mode 100644 index 00000000..1e5ad295 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1CameraRealSense = +[ + [ "init", "classrtabmap_1_1CameraRealSense.html#a8c94957c92c38eee0d9ebbfd75d35a10", null ], + [ "getSerial", "classrtabmap_1_1CameraRealSense.html#a4abbdf6efedd229a146d066b5ff17799", null ], + [ "odomProvided", "classrtabmap_1_1CameraRealSense.html#a1ce069a366db4c98fe757acca7bf5b79", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html index 93d0cf31..584ef62b 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraRealSense2() (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html index 672ef193..a77b7115 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraRealSense2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraRealSense2:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraRealSense2:
    -
    [legend]
    +
    [legend]
    @@ -499,9 +516,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraSeerSense Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraRealSense2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.js new file mode 100644 index 00000000..0ecb1de6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.js @@ -0,0 +1,8 @@ +var classrtabmap_1_1CameraRealSense2 = +[ + [ "init", "classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f", null ], + [ "getSerial", "classrtabmap_1_1CameraRealSense2.html#aff19c4db66d2403c0e09a67d1418bcdc", null ], + [ "odomProvided", "classrtabmap_1_1CameraRealSense2.html#a3b5aa7434457e09cbc6f01b985440183", null ], + [ "getPose", "classrtabmap_1_1CameraRealSense2.html#a31fc38dca7aa6dc61c68150d5409204e", null ], + [ "setDualMode", "classrtabmap_1_1CameraRealSense2.html#ad9a5218ed20bad24c020a18e2ed0b12c", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense-members.html index a8153105..ec6bc85b 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraSeerSense() (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSensevirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html index 237b6298..e405ac34 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraSeerSense:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraSeerSense:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraSeerSense:
    -
    [legend]
    +
    [legend]
    @@ -438,9 +455,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoDC1394 Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraSeerSense.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.js new file mode 100644 index 00000000..4f73e7ef --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1CameraSeerSense = +[ + [ "init", "classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874", null ], + [ "getSerial", "classrtabmap_1_1CameraSeerSense.html#aa921995e3a4a1cd5480868998bd27b2e", null ], + [ "odomProvided", "classrtabmap_1_1CameraSeerSense.html#aa3bfa6e619c5845d4994809281c9a4b5", null ], + [ "getPose", "classrtabmap_1_1CameraSeerSense.html#a831666d29d4eabc1a00e9eb5c8b47c27", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html index 711ed171..c8ae1dd3 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoDC1394() (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html index a6be618e..0a76771c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoDC1394:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoDC1394:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoDC1394:
    -
    [legend]
    +
    [legend]
    @@ -340,9 +357,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoFlyCapture2 Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoDC1394.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.js new file mode 100644 index 00000000..83158394 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoDC1394 = +[ + [ "init", "classrtabmap_1_1CameraStereoDC1394.html#a2cc861b0f7c66b8e21267678f6f5f221", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoDC1394.html#a125d6fa6e6bd7f8b2e3d22d10ce54acb", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html index d9050e83..503e307d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoFlyCapture2() (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html index 93a1a95c..ef5f8594 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoFlyCapture2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoFlyCapture2:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoFlyCapture2:
    -
    [legend]
    +
    [legend]
    @@ -340,9 +357,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoImages Member List
    @@ -143,9 +160,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoFlyCapture2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.js new file mode 100644 index 00000000..aaf22f3b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoFlyCapture2 = +[ + [ "init", "classrtabmap_1_1CameraStereoFlyCapture2.html#a46a2477a1c151927c9d5e7eea51d3354", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoFlyCapture2.html#a06d1e6cd0ea504f6601e78ecbd0442df", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages-members.html index caf8ccf1..3c6befa1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoImages() (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.html index c1f20ac6..02e182d8 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::CameraStereoImages:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoImages:
    @@ -112,7 +129,7 @@ Collaboration diagram for rtabmap::CameraStereoImages:
    -
    [legend]
    +
    [legend]
    @@ -532,9 +549,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/camera/CameraStereoImages.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.js new file mode 100644 index 00000000..901c96d7 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoImages.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoImages = +[ + [ "init", "classrtabmap_1_1CameraStereoImages.html#abc0cb4bfd56314d0003c6ce5d365cbca", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoImages.html#a507ca5b4c37b75f4108e9aa8dad5125b", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara-members.html index 0454b93a..3299f8c8 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoTara Member List
    @@ -111,9 +128,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoTara() (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTaravirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html index 1ab95133..18b6eadc 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoTara:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoTara:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoTara:
    -
    [legend]
    +
    [legend]
    @@ -340,9 +357,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoVideo Member List
    @@ -117,9 +134,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoTara.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.js new file mode 100644 index 00000000..2b9ab5d0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoTara = +[ + [ "init", "classrtabmap_1_1CameraStereoTara.html#a3cd79ca07d74d6a3501f3ecd9b31bbef", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoTara.html#a87d7cdfd3354bdffd8e9e88f1244c79d", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo-members.html index 764bcbac..660e0d6a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoVideo() (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideovirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.html index 10e283f2..c67c4c19 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoVideo:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoVideo:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoVideo:
    -
    [legend]
    +
    [legend]
    @@ -449,9 +466,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoZed Member List
    @@ -116,9 +133,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoVideo.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.js new file mode 100644 index 00000000..c51389b7 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoVideo = +[ + [ "init", "classrtabmap_1_1CameraStereoVideo.html#a8bc165fb5c77bb9693203791a0888269", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoVideo.html#a0eba205715f6f856b14eaba8de2eadcf", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed-members.html index 16581fe7..a57f3755 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoZed() (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html index 03b07436..42b51326 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoZed:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoZed:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoZed:
    -
    [legend]
    +
    [legend]
    @@ -479,9 +496,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraStereoZedOC Member List
    @@ -112,9 +129,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoZed.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.js new file mode 100644 index 00000000..e7b89c00 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1CameraStereoZed = +[ + [ "init", "classrtabmap_1_1CameraStereoZed.html#a80088853404d1c4e89b5f29933d7b020", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoZed.html#a8c13902c0c25565357e6f7e0a16f0838", null ], + [ "odomProvided", "classrtabmap_1_1CameraStereoZed.html#ac57ca4d52b5a0a3c3911ffa4a139564c", null ], + [ "getPose", "classrtabmap_1_1CameraStereoZed.html#a1fceb3208a256d1023739a60f5931def", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html index 74b674e8..98bd7c83 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraStereoZedOC() (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOCvirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.html index 0d7030bd..7be3f7f8 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraStereoZedOC:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraStereoZedOC:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraStereoZedOC:
    -
    [legend]
    +
    [legend]
    @@ -343,9 +360,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CameraVideo Member List
    @@ -118,9 +135,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraStereoZedOC.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.js new file mode 100644 index 00000000..008010da --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1CameraStereoZedOC = +[ + [ "init", "classrtabmap_1_1CameraStereoZedOC.html#a37264abe58baa727bb5ee8d6653fa443", null ], + [ "getSerial", "classrtabmap_1_1CameraStereoZedOC.html#a11244c590c4e356765abf59e94f66ddb", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo-members.html index bae85a44..c016df2f 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~CameraVideo() (defined in rtabmap::CameraVideo)rtabmap::CameraVideovirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html index d4f5e041..2f405dea 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::CameraVideo:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CameraVideo:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::CameraVideo:
    -
    [legend]
    +
    [legend]
    @@ -490,9 +507,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CloudMap Member List
    @@ -117,9 +134,12 @@ $(function() {

    Public Types

    postInterIMU (con
  • corelib/include/rtabmap/core/camera/CameraVideo.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.js b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.js new file mode 100644 index 00000000..92a0b245 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1CameraVideo = +[ + [ "init", "classrtabmap_1_1CameraVideo.html#a2b20fb67f20ec64e6c43e8d76d5c1f74", null ], + [ "getSerial", "classrtabmap_1_1CameraVideo.html#ab3400ba7ae983cd1ad9678970079b00a", null ], + [ "setResolution", "classrtabmap_1_1CameraVideo.html#a7c8c8e9d343f78fdd17aad2db34dbecb", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html index 6956fbf5..ff2c3fca 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
    ~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.html index 7b30d1ae..3a9478f1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::CloudMap:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CloudMap:
    @@ -103,12 +120,12 @@ Collaboration diagram for rtabmap::CloudMap:
    -
    [legend]
    +
    [legend]
    +  @@ -154,7 +171,7 @@ Protected Member Functions - + @@ -374,9 +391,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/global_map/CloudMap.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.js b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.js new file mode 100644 index 00000000..67ce3fbd --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1CloudMap = +[ + [ "clear", "classrtabmap_1_1CloudMap.html#a3e2089cb30bd4efbee1ede0c041ee4af", null ], + [ "getMemoryUsed", "classrtabmap_1_1CloudMap.html#a18a2dd71488719960f06eb4ae5e2cf4b", null ], + [ "assemble", "classrtabmap_1_1CloudMap.html#a58b2f9f2a99fe3ab14ba73603e3d4f68", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread-members.html index 1a8715ce..5aceb1b1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::CompressionThread Member List
    @@ -128,9 +145,12 @@ $(function() {

    Public Member Functions

    - CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
    CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     
    virtual void clear ()
     Clears assembled nodes and grid bounds; does not clear LocalGridCache.
     Subclass hook: merge newPoses into the global map; call addAssembledNode().
     
    - Protected Member Functions inherited from rtabmap::GlobalMap
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     Constructs the base map; subclasses call from their constructor.
     
    const std::map< int, LocalGrid > & cache () const
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.html index d1506ca6..2713b4c5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -100,7 +117,7 @@ Inheritance diagram for rtabmap::CompressionThread:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::CompressionThread:
    @@ -112,7 +129,7 @@ Collaboration diagram for rtabmap::CompressionThread:
    -
    [legend]
    +
    [legend]
    @@ -407,9 +424,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/Compression.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.js b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.js new file mode 100644 index 00000000..821a9411 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread.js @@ -0,0 +1,8 @@ +var classrtabmap_1_1CompressionThread = +[ + [ "CompressionThread", "classrtabmap_1_1CompressionThread.html#a6bdec4c44e47774291bc9f98b3b5c146", null ], + [ "CompressionThread", "classrtabmap_1_1CompressionThread.html#a8cfe0e3d632c888c143b4e7902145fde", null ], + [ "getCompressedData", "classrtabmap_1_1CompressionThread.html#a6908afb16364f91c7d0744decf6c970d", null ], + [ "getUncompressedData", "classrtabmap_1_1CompressionThread.html#aafdc57cad744cbe94b30a8abfe7711a4", null ], + [ "mainLoop", "classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver-members.html index d6f40fda..373af53a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::DBDriver Member List
    @@ -269,9 +286,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html index 44e40e93..02711bdf 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -103,7 +120,7 @@ Inheritance diagram for rtabmap::DBDriver:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::DBDriver:
    @@ -115,11 +132,11 @@ Collaboration diagram for rtabmap::DBDriver:
    -
    [legend]
    +
    [legend]
    - + @@ -182,7 +199,7 @@ void  +void  @@ -283,7 +300,7 @@ int  +ParametersMap  @@ -335,7 +352,7 @@ bool  +void 

    Public Member Functions

    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse driver parameters from the map (e.g. target schema version).
     
    virtual bool isInMemory () const
    updateCalibration

    Statistics, preview image, optimized poses, 2D map, mesh and FLANN index.

    -void addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
    addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
     
    void addStatistics (const Statistics &statistics, bool saveWmState) const
     Append a Statistics record for a processed node.
    getTotalNodesSize int getTotalDictionarySize () const
     
    -ParametersMap getLastParameters () const
    getLastParameters () const
     
    std::map< std::string, float > getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const
    getNodeInfo (int void getLocalFeatures (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const
     
    -void loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
    loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
     Load outgoing links from signatureId, optionally filtered by type.
     
    @@ -413,7 +430,7 @@ void getAllLabels (std
    - + @@ -440,7 +457,7 @@ Static Public Member Functions +  @@ -507,7 +524,7 @@ virtual int  +virtual ParametersMap  @@ -597,7 +614,7 @@ virtual void  +virtual void  @@ -681,7 +698,7 @@ Additional Inherited Members

    Detailed Description

    Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).

    DBDriver is the persistence layer used by Memory, DBReader and tools that read or write .db files. The default implementation is DBDriverSqlite3, created by create().

    -

    The driver extends UThreadNode: pending Signature and VisualWord objects are queued with asyncSave() and flushed to the database by emptyTrashes() (also called from the background thread on closeConnection()).

    +

    The driver extends UThreadNode. Pending Signature and VisualWord objects are queued with asyncSave() and flushed to the database by emptyTrashes() (also called from the background thread on closeConnection()).

    Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses implement SQL-specific logic in protected *Query() virtual methods.

    See also
    DBDriverSqlite3
    @@ -701,8 +718,8 @@ Additional Inherited Members
    - - + +

    Static Public Member Functions

    static DBDriver * create (const ParametersMap &parameters=ParametersMap())
    static DBDriver * create (const ParametersMap &parameters=ParametersMap())
     Factory: returns a SQLite database driver (DBDriverSqlite3).
     
    - Static Public Member Functions inherited from UThread

    Protected Member Functions

    - DBDriver (const ParametersMap &parameters=ParametersMap())
    DBDriver (const ParametersMap &parameters=ParametersMap())
     Protected constructor for subclasses.
     
    Backend implementation (subclass responsibility)
    getTotalNodesS virtual int getTotalDictionarySizeQuery () const =0
     
    -virtual ParametersMap getLastParametersQuery () const =0
    getLastParametersQuery () const =0
     
    virtual std::map< std::string, float > getStatisticsQuery (int nodeId, double &stamp, std::vector< int > *wmState) const =0
    loadSignature virtual void loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const =0
     
    -virtual void loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const =0
    loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const =0
     
    virtual void loadNodeDataQuery (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0
    static DBDriver * rtabmap::DBDriver::create (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -716,7 +733,7 @@ Additional Inherited Members

    Factory: returns a SQLite database driver (DBDriverSqlite3).

    Parameters
    - +
    parametersOptional driver parameters (e.g. Parameters::kDbTargetVersion()).
    parametersOptional driver parameters (e.g. Parameters::kDbTargetVersion()).
    @@ -736,7 +753,7 @@ Additional Inherited Members virtual void rtabmap::DBDriver::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -778,7 +795,7 @@ Additional Inherited Members

    True when no database file URL was set at open time.

    -
    Note
    DBDriverSqlite3 overrides this when Parameters::kDbSqlite3InMemory() is enabled.
    +
    Note
    DBDriverSqlite3 overrides this when Parameters::kDbSqlite3InMemory() is enabled.

    Reimplemented in rtabmap::DBDriverSqlite3.

    @@ -1058,7 +1075,7 @@ Additional Inherited Members
    Parameters
    - +
    imageRaw depth image, or pre-compressed blob (CV_8UC1, single row).
    formatCompression format when image is raw (e.g. ".png"); ignored if already compressed. Uncompressed images are compressed with Compression::compressImage2() before writing.
    formatCompression format when image is raw (e.g. ".png"); ignored if already compressed. Uncompressed images are compressed with compressImage2() before writing.
    @@ -1094,7 +1111,7 @@ Additional Inherited Members

    Update the laser scan stored for a node.

    Parameters
    - +
    scanUncompressed scan, or already compressed (LaserScan::isCompressed()). Uncompressed data is compressed with Compression::compressData2() before writing.
    scanUncompressed scan, or already compressed (LaserScan::isCompressed()). Uncompressed data is compressed with compressData2() before writing.
    @@ -1239,7 +1256,7 @@ Additional Inherited Members -
    Note
    Requires database schema ≥ 0.23.0. Used when Parameters::kKpFlannIndexSaved() is enabled.
    +
    Note
    Requires database schema ≥ 0.23.0. Used when Parameters::kKpFlannIndexSaved() is enabled.
    @@ -1296,7 +1313,7 @@ Additional Inherited Members

    Run a SQL statement that does not return result rows.

    -

    Executes sql on the open database (e.g. INSERT, UPDATE, DELETE, CREATE, PRAGMA). Thread-safe wrapper around executeNoResultQuery().

    +

    Executes sql on the open database (e.g. INSERT, UPDATE, DELETE, CREATE, PRAGMA). Thread-safe wrapper around the backend's SQL execution.

    For reads, use the dedicated loadSignature(), loadLinks() and related query methods instead of raw SQL.

    Parameters
    @@ -1313,9 +1330,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/DBDriver.h
    • + -
    -Generated by doxygen 1.9.8 -
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    + +
    +
    +
    + +
    - -
    rtabmap::DBDriverSqlite3 Member List
    @@ -278,9 +295,12 @@ $(function() {
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html index 3017dae7..3c3fdafe 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -103,7 +120,7 @@ Inheritance diagram for rtabmap::DBDriverSqlite3:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::DBDriverSqlite3:
    @@ -117,14 +134,14 @@ Collaboration diagram for rtabmap::DBDriverSqlite3:
    -
    [legend]
    +
    [legend]
    - + - + @@ -198,7 +215,7 @@ void  +void  @@ -296,7 +313,7 @@ int  +ParametersMap  @@ -345,7 +362,7 @@ bool  +void  - + @@ -523,7 +540,7 @@ Protected Member Functions - + @@ -555,7 +572,7 @@ Protected Member Functions + 

    Public Member Functions

     DBDriverSqlite3 (const ParametersMap &parameters=ParametersMap())
     DBDriverSqlite3 (const ParametersMap &parameters=ParametersMap())
     Construct driver with optional SQLite-specific parameters.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().
     
    virtual bool isInMemory () const
    updateCalibration
     Update the laser scan stored for a node.
     
    -void addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
    addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
     
    void addStatistics (const Statistics &statistics, bool saveWmState) const
     Append a Statistics record for a processed node.
    getTotalNodesSize int getTotalDictionarySize () const
     
    -ParametersMap getLastParameters () const
    getLastParameters () const
     
    std::map< std::string, float > getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const
    getNodeInfo (int void getLocalFeatures (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const
     
    -void loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
    loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
     Load outgoing links from signatureId, optionally filtered by type.
     
    @@ -463,7 +480,7 @@ Protected Member Functions
     
    virtual int getTotalDictionarySizeQuery () const
     
    virtual ParametersMap getLastParametersQuery () const
    virtual ParametersMap getLastParametersQuery () const
     
    virtual std::map< std::string, float > getStatisticsQuery (int nodeId, double &stamp, std::vector< int > *wmState) const
     
     
    virtual void loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const
     
    virtual void loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
    virtual void loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
     
    virtual void loadNodeDataQuery (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
     
     
    - Protected Member Functions inherited from rtabmap::DBDriver
    - DBDriver (const ParametersMap &parameters=ParametersMap())
    DBDriver (const ParametersMap &parameters=ParametersMap())
     Protected constructor for subclasses.
     
    @@ -591,7 +608,7 @@ Additional Inherited Members - + @@ -641,7 +658,7 @@ Additional Inherited Members
  • setSynchronous() — fsync policy (OFF / NORMAL / FULL)
  • setTempStore() — storage for temporary tables and indices
    • -

    Configure via Parameters::kDbSqlite3InMemory(), Parameters::kDbSqlite3CacheSize(), Parameters::kDbSqlite3JournalMode(), Parameters::kDbSqlite3Synchronous() and Parameters::kDbSqlite3TempStore(), or call the setters directly.

    +

    Configure via Parameters::kDbSqlite3InMemory(), Parameters::kDbSqlite3CacheSize(), Parameters::kDbSqlite3JournalMode(), Parameters::kDbSqlite3Synchronous() and Parameters::kDbSqlite3TempStore(), or call the setters directly.

    See also
    DBDriver
    DBDriver::create()
    @@ -657,8 +674,8 @@ Additional Inherited Members - - + +
    typedef void(* Handler) ()
     
    - Static Public Member Functions inherited from rtabmap::DBDriver
    static DBDriver * create (const ParametersMap &parameters=ParametersMap())
    static DBDriver * create (const ParametersMap &parameters=ParametersMap())
     Factory: returns a SQLite database driver (DBDriverSqlite3).
     
    - Static Public Member Functions inherited from UThread
    rtabmap::DBDriverSqlite3::DBDriverSqlite3 (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -687,7 +704,7 @@ Additional Inherited Members virtual void rtabmap::DBDriverSqlite3::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -729,7 +746,7 @@ Additional Inherited Members

    True when the database runs in RAM instead of on disk.

    -
    Returns
    True if getUrl() is empty or setDbInMemory(true) was used.
    +
    Returns
    True if getUrl() is empty or setDbInMemory() was used.

    Reimplemented from rtabmap::DBDriver.

    @@ -757,7 +774,7 @@ Additional Inherited Members

    Controls how SQLite stores the transaction journal used for atomic commit and rollback. See https://www.sqlite.org/pragma.html#pragma_journal_mode

    Parameters
    -

    A larger cache reduces disk I/O when the working set fits in memory. The effective memory is approximately cacheSize * page_size bytes (page size is usually 4096 bytes unless changed with PRAGMA page_size). Only positive values are used (page count); see https://www.sqlite.org/pragma.html#pragma_cache_size

    Parameters
    journalModeAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3JournalMode() = 3 (MEMORY) (Parameters::kDbSqlite3JournalMode()).
      +
    journalModeAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3JournalMode() = 3 (MEMORY) (Parameters::kDbSqlite3JournalMode()).
    • 0 — DELETE (SQLite default): the journal file is deleted at the end of each transaction. Good general-purpose balance of safety and speed.
    • 1 — TRUNCATE: the journal is truncated to zero length instead of being unlinked; can be faster on some filesystems than DELETE.
    • 2 — PERSIST: the journal file is not deleted; only its header is zeroed after commit, reducing create/delete overhead at the cost of always keeping a journal file on disk.
      • @@ -791,7 +808,7 @@ Additional Inherited Members
    - +
    cacheSizeNumber of pages to cache. RTAB-Map default: Parameters::defaultDbSqlite3CacheSize() = 10000 (Parameters::kDbSqlite3CacheSize()).
    cacheSizeNumber of pages to cache. RTAB-Map default: Parameters::defaultDbSqlite3CacheSize() = 10000 (Parameters::kDbSqlite3CacheSize()).
    @@ -818,7 +835,7 @@ Additional Inherited Members

    Trade-off between durability after a crash or power loss and write performance. See https://www.sqlite.org/pragma.html#pragma_synchronous

    Parameters
    -

    Affects internal temp storage used for some queries and operations, not RTAB-Map map data. See https://www.sqlite.org/pragma.html#pragma_temp_store

    Parameters
    synchronousAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3Synchronous() = 0 (OFF) (Parameters::kDbSqlite3Synchronous()).
      +
    synchronousAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3Synchronous() = 0 (OFF) (Parameters::kDbSqlite3Synchronous()).
    • 0 — OFF (RTAB-Map default): SQLite does not wait for data to reach persistent storage. Fastest; a system crash or power loss during a transaction may corrupt the database.
    • 1 — NORMAL: syncs at the most critical moments (SQLite default in many builds). A crash may lose the last transaction but the database file structure usually stays valid.
    • 2 — FULL: syncs after every transaction commit. Slowest; strongest guarantee that a committed transaction survives a power loss (when the OS honors fsync).
      • @@ -850,7 +867,7 @@ Additional Inherited Members
    - @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -95,7 +112,7 @@ Inheritance diagram for rtabmap::DBReader:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::DBReader:
    @@ -107,7 +124,7 @@ Collaboration diagram for rtabmap::DBReader:
    -
    [legend]
    +
    [legend]
    tempStoreAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3TempStore() = 2 (MEMORY) (Parameters::kDbSqlite3TempStore()).
      +
    tempStoreAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3TempStore() = 2 (MEMORY) (Parameters::kDbSqlite3TempStore()).
    • 0 — DEFAULT: use SQLite's compile-time default (often FILE, i.e. on-disk temp files).
    • 1 — FILE: store temporary tables and indices in temporary files in the directory given by PRAGMA temp_store_directory or the system temp folder.
    • 2 — MEMORY (RTAB-Map default): store temporary tables and indices in RAM. Can speed up heavy queries but increases memory use; large temp structures may still spill to disk depending on build.
      • @@ -1441,7 +1458,7 @@ Additional Inherited Members
    - + @@ -2562,7 +2579,7 @@ Additional Inherited Members - + @@ -3270,9 +3287,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/DBDriverSqlite3.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.js b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.js new file mode 100644 index 00000000..1d3c9a32 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.js @@ -0,0 +1,13 @@ +var classrtabmap_1_1DBDriverSqlite3 = +[ + [ "DBDriverSqlite3", "classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1", null ], + [ "parseParameters", "classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec", null ], + [ "isInMemory", "classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55", null ], + [ "setDbInMemory", "classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137", null ], + [ "setJournalMode", "classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d", null ], + [ "setCacheSize", "classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c", null ], + [ "setSynchronous", "classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b", null ], + [ "setTempStore", "classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062", null ], + [ "_ppDb", "classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943", null ], + [ "_version", "classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html index 1b5b49c9..8944a512 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::DBReader Member List
    @@ -112,9 +129,12 @@ $(function() {
    virtual ParametersMap rtabmap::DBDriverSqlite3::getLastParametersQuery virtual ParametersMap rtabmap::DBDriverSqlite3::getLastParametersQuery ( ) const
    Link::Type type = Link::kUndef type = Link::kUndef 
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~DBReader() (defined in rtabmap::DBReader)rtabmap::DBReadervirtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html index d9155cf1..d87c1574 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -465,9 +482,13 @@ void  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::EnvSensor Member List
    @@ -90,14 +107,14 @@ $(function() { - - - - - - - - + + + + + + + + @@ -106,9 +123,12 @@ $(function() {

    Public Member Functions

    postInterIMU (con
  • corelib/include/rtabmap/core/DBReader.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.js b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.js new file mode 100644 index 00000000..a82d5f60 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1DBReader = +[ + [ "init", "classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e", null ], + [ "getSerial", "classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4", null ], + [ "odomProvided", "classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba", null ], + [ "getPose", "classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor-members.html index 60644936..aeec7647 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    kAmbientRelativeHumidity enum valuertabmap::EnvSensor
    kAmbientTemperature enum valuertabmap::EnvSensor
    kCustomSensor1 enum valuertabmap::EnvSensor
    kCustomSensor2 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor3 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor4 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor5 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor6 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor7 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor8 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor9 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
    kCustomSensor2 enum valuertabmap::EnvSensor
    kCustomSensor3 enum valuertabmap::EnvSensor
    kCustomSensor4 enum valuertabmap::EnvSensor
    kCustomSensor5 enum valuertabmap::EnvSensor
    kCustomSensor6 enum valuertabmap::EnvSensor
    kCustomSensor7 enum valuertabmap::EnvSensor
    kCustomSensor8 enum valuertabmap::EnvSensor
    kCustomSensor9 enum valuertabmap::EnvSensor
    kUndefined enum valuertabmap::EnvSensor
    kWifiSignalStrength enum valuertabmap::EnvSensor
    stamp() constrtabmap::EnvSensorinline
    value() constrtabmap::EnvSensorinline
    ~EnvSensor() (defined in rtabmap::EnvSensor)rtabmap::EnvSensorinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.html b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.html index e44e99dd..c0022b68 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -101,16 +118,16 @@ Public Types   kAmbientLight , kAmbientRelativeHumidity , kCustomSensor1 = 100 -, kCustomSensor2 +, kCustomSensor2 ,
    -  kCustomSensor3 -, kCustomSensor4 -, kCustomSensor5 -, kCustomSensor6 +  kCustomSensor3 +, kCustomSensor4 +, kCustomSensor5 +, kCustomSensor6 ,
    -  kCustomSensor7 -, kCustomSensor8 -, kCustomSensor9 +  kCustomSensor7 +, kCustomSensor8 +, kCustomSensor9
    }  Environmental sensor channel identifier. More...
    @@ -133,7 +150,7 @@ Public Member Functions

    Detailed Description

    Single environmental measurement (type, value, timestamp).

    -

    Built-in Type values cover common phone/robot sensors; kCustomSensor1 through kCustomSensor9 are reserved for application-specific channels. Units depend on the type (see Type).

    +

    Built-in Type values cover common phone/robot sensors; kCustomSensor1 through kCustomSensor9 are reserved for application-specific channels. Units depend on the type (see Type).

    Samples are stored per node in SensorData via EnvSensors (one entry per type). Persisted in the database with node records (DBDriver).

    See also
    SensorData::setEnvSensors()
    @@ -172,6 +189,22 @@ Public Member Functions kCustomSensor1 

    User-defined sensor slot 1.

    +kCustomSensor2 

    User-defined sensor slot 2.

    + +kCustomSensor3 

    User-defined sensor slot 3.

    + +kCustomSensor4 

    User-defined sensor slot 4.

    + +kCustomSensor5 

    User-defined sensor slot 5.

    + +kCustomSensor6 

    User-defined sensor slot 6.

    + +kCustomSensor7 

    User-defined sensor slot 7.

    + +kCustomSensor8 

    User-defined sensor slot 8.

    + +kCustomSensor9 

    User-defined sensor slot 9.

    +

    Definition at line 59 of file EnvSensor.h.

    @@ -378,9 +411,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/EnvSensor.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.js b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.js new file mode 100644 index 00000000..f53b12f0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EnvSensor.js @@ -0,0 +1,25 @@ +var classrtabmap_1_1EnvSensor = +[ + [ "Type", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f", [ + [ "kUndefined", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a", null ], + [ "kWifiSignalStrength", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2", null ], + [ "kAmbientTemperature", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83", null ], + [ "kAmbientAirPressure", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0", null ], + [ "kAmbientLight", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8", null ], + [ "kAmbientRelativeHumidity", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101", null ], + [ "kCustomSensor1", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e", null ], + [ "kCustomSensor2", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a", null ], + [ "kCustomSensor3", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b", null ], + [ "kCustomSensor4", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7", null ], + [ "kCustomSensor5", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92", null ], + [ "kCustomSensor6", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693", null ], + [ "kCustomSensor7", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8", null ], + [ "kCustomSensor8", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140", null ], + [ "kCustomSensor9", "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89", null ] + ] ], + [ "EnvSensor", "classrtabmap_1_1EnvSensor.html#a512758b1afef465b24ce24de8a705dc9", null ], + [ "EnvSensor", "classrtabmap_1_1EnvSensor.html#a8b2f05e0297750a60ccd05c56f141a1b", null ], + [ "type", "classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24", null ], + [ "value", "classrtabmap_1_1EnvSensor.html#a27b343c9be68fd326c10157102bb750f", null ], + [ "stamp", "classrtabmap_1_1EnvSensor.html#a1bbcf9a834523dd2e91ef1ab8d31d5e4", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html index e82ccaee..a73f2ea8 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ +
    +
    + +
    +
    +
    + +
    - -
    rtabmap::EpipolarGeometry Member List
    @@ -106,9 +123,12 @@ $(function() { triangulatePoints(const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic ~EpipolarGeometry() (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
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    Public Member Functions | @@ -88,13 +105,13 @@ $(function() {

    Public Member Functions

    - EpipolarGeometry (const ParametersMap &parameters=ParametersMap()) + EpipolarGeometry (const ParametersMap &parameters=ParametersMap())   bool check (const Signature *ssA, const Signature *ssB)   -void parseParameters (const ParametersMap &parameters) +void parseParameters (const ParametersMap &parameters)   int getMatchCountMinAccepted () const   @@ -533,9 +550,13 @@ template<typename T >
  • corelib/include/rtabmap/core/EpipolarGeometry.h
    • + -
    -Generated by doxygen 1.9.8 -
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    @@ -137,9 +154,12 @@ $(function() { ~FAST() (defined in rtabmap::FAST)rtabmap::FASTvirtual ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual + -
    -Generated by doxygen 1.9.8 -
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    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::FAST:
    @@ -111,14 +128,14 @@ Collaboration diagram for rtabmap::FAST:
    -
    [legend]
    +
    [legend]
    +  - + @@ -150,7 +167,7 @@ cv::Mat  - +

    Public Member Functions

    - FAST (const ParametersMap &parameters=ParametersMap())
    FAST (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -188,11 +205,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -241,7 +258,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -261,7 +278,7 @@ static cv::Rect computeRoi virtual void rtabmap::FAST::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -339,9 +356,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    @@ -139,9 +156,12 @@ $(function() { ~FAST_BRIEF() (defined in rtabmap::FAST_BRIEF)rtabmap::FAST_BRIEFvirtual ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual + -
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    -
    [legend]
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    [legend]
    Collaboration diagram for rtabmap::FAST_BRIEF:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::FAST_BRIEF:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - FAST_BRIEF (const ParametersMap &parameters=ParametersMap())
    FAST_BRIEF (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::FAST
    - FAST (const ParametersMap &parameters=ParametersMap())
    FAST (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::FAST_BRIEF::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    [legend]
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    [legend]
    Collaboration diagram for rtabmap::FAST_FREAK:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::FAST_FREAK:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - FAST_FREAK (const ParametersMap &parameters=ParametersMap())
    FAST_FREAK (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::FAST
    - FAST (const ParametersMap &parameters=ParametersMap())
    FAST (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::FAST_FREAK::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    [legend]
    +
    [legend]
    @@ -194,9 +211,9 @@ std::vector< cv::Point3f >  +virtual void  - + @@ -210,11 +227,11 @@ Static Public Member Functions +static Feature2D *  +static Feature2D *  + 

    Public Types

     Back-projects keypoints to 3D using depth or stereo in data.
     
    -virtual void parseParameters (const ParametersMap &parameters)
    parseParameters (const ParametersMap &parameters)
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    virtual Feature2D::Type getType () const =0
    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -265,12 +282,12 @@ static cv::Rect computeRoi

    Protected Member Functions

    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    Abstract 2D feature detector and descriptor extractor for visual SLAM.

    -

    Factory create() builds a concrete detector from Type or from Kp/DetectorStrategy in a ParametersMap. Common tuning keys include Kp/MaxFeatures, Kp/GridRows, Kp/GridCols, Kp/SSC, depth filters (Kp/MinDepth, Kp/MaxDepth), ROI (Kp/RoiRatios), and sub-pixel refinement.

    +

    Factory create() builds a concrete detector from Type or from Kp/DetectorStrategy in a ParametersMap. Common tuning keys include Kp/MaxFeatures, Kp/GridRows, Kp/GridCols, Kp/SSC, depth filters (Kp/MinDepth, Kp/MaxDepth), ROI (Kp/RoiRatios), and sub-pixel refinement.

    Pipeline: generateKeypoints() (grid + ROI + optional mask) then generateDescriptors(). Static helpers filter or cap keypoints before/after matching. generateKeypoints3D() projects features using stereo or depth when available in SensorData.

    See also
    Memory
    @@ -498,7 +515,7 @@ Protected Member Functions - + @@ -550,9 +567,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/Features2d.h
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    FeatureBA(const cv::KeyPoint &kptIn, const float &depthIn=0.0f, const cv::Mat &descriptorIn=cv::Mat(), int cameraIndexIn=0) (defined in rtabmap::FeatureBA)rtabmap::FeatureBAinline
    kptrtabmap::FeatureBA
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.html b/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.html index c2e126b6..d34b88a7 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    Public Member Functions | @@ -243,9 +260,13 @@ Public Attributes
  • corelib/include/rtabmap/core/Optimizer.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.js b/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.js new file mode 100644 index 00000000..7426ff92 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FeatureBA.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1FeatureBA = +[ + [ "kpt", "classrtabmap_1_1FeatureBA.html#a2bea5690d958d81f5edfa6df954d4a8b", null ], + [ "depth", "classrtabmap_1_1FeatureBA.html#ad48600a5b6ed17e7713f1485c4317948", null ], + [ "descriptor", "classrtabmap_1_1FeatureBA.html#a7db630b2f418b05d2fbd772d1caadf48", null ], + [ "cameraIndex", "classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex-members.html index 2cab2864..407a6af5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    rtabmap::FlannIndex Member List
    @@ -105,9 +122,12 @@ $(function() { serializeIndex(bool computeChecksum=true) const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex ~FlannIndex() (defined in rtabmap::FlannIndex)rtabmap::FlannIndexvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex.html b/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex.html index afd7ba0c..5eda4a32 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FlannIndex.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    Public Types | @@ -216,9 +233,13 @@ void radiusSearch (con
  • corelib/include/rtabmap/core/FlannIndex.h
    • +
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    rtabmap::GFTT Member List
    @@ -137,9 +154,12 @@ $(function() { ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual ~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html index 290effbc..94959da1 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    -
    [legend]
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    [legend]
    Collaboration diagram for rtabmap::GFTT:
    @@ -115,14 +132,14 @@ Collaboration diagram for rtabmap::GFTT:
    -
    [legend]
    +
    [legend]
    +  - + @@ -152,7 +169,7 @@ cv::Mat  - + @@ -193,11 +210,11 @@ Additional Inherited Members +static Feature2D *  +static Feature2D *  + 

    Public Member Functions

    - GFTT (const ParametersMap &parameters=ParametersMap())
    GFTT (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    virtual Feature2D::Type getType () const =0
    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -246,7 +263,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -266,7 +283,7 @@ static cv::Rect computeRoi virtual void rtabmap::GFTT::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -315,9 +332,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
    -Generated by doxygen 1.9.8 -
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    @@ -139,9 +156,12 @@ $(function() { ~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual ~GFTT_BRIEF() (defined in rtabmap::GFTT_BRIEF)rtabmap::GFTT_BRIEFvirtual + -
    -Generated by doxygen 1.9.8 -
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    [legend]
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    [legend]
    Collaboration diagram for rtabmap::GFTT_BRIEF:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::GFTT_BRIEF:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - GFTT_BRIEF (const ParametersMap &parameters=ParametersMap())
    GFTT_BRIEF (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::GFTT
    - GFTT (const ParametersMap &parameters=ParametersMap())
    GFTT (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::GFTT_BRIEF::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    @@ -139,9 +156,12 @@ $(function() { ~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual ~GFTT_DAISY() (defined in rtabmap::GFTT_DAISY)rtabmap::GFTT_DAISYvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__DAISY.html b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__DAISY.html index 0c4747fe..4fc9ce31 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__DAISY.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__DAISY.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    Public Member Functions | @@ -99,7 +116,7 @@ Inheritance diagram for rtabmap::GFTT_DAISY:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::GFTT_DAISY:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::GFTT_DAISY:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - GFTT_DAISY (const ParametersMap &parameters=ParametersMap())
    GFTT_DAISY (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::GFTT
    - GFTT (const ParametersMap &parameters=ParametersMap())
    GFTT (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::GFTT_DAISY::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
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    @@ -139,9 +156,12 @@ $(function() { ~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual ~GFTT_FREAK() (defined in rtabmap::GFTT_FREAK)rtabmap::GFTT_FREAKvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    Public Member Functions | @@ -99,7 +116,7 @@ Inheritance diagram for rtabmap::GFTT_FREAK:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::GFTT_FREAK:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::GFTT_FREAK:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - GFTT_FREAK (const ParametersMap &parameters=ParametersMap())
    GFTT_FREAK (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::GFTT
    - GFTT (const ParametersMap &parameters=ParametersMap())
    GFTT (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::GFTT_FREAK::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
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    @@ -139,9 +156,12 @@ $(function() { ~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual ~GFTT_ORB() (defined in rtabmap::GFTT_ORB)rtabmap::GFTT_ORBvirtual + -
    -Generated by doxygen 1.9.8 -
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    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::GFTT_ORB:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::GFTT_ORB:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - GFTT_ORB (const ParametersMap &parameters=ParametersMap())
    GFTT_ORB (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::GFTT
    - GFTT (const ParametersMap &parameters=ParametersMap())
    GFTT (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::GFTT_ORB::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    @@ -98,9 +115,12 @@ $(function() { toENU_WGS84(const GeodeticCoords &origin) constrtabmap::GeodeticCoords toGeocentric_WGS84() constrtabmap::GeodeticCoords + -
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    -Generated by doxygen 1.9.8 -
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    @@ -90,9 +107,12 @@ $(function() { type() const (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline ~GlobalDescriptor() (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinlinevirtual + -
    -Generated by doxygen 1.9.8 -
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  • corelib/include/rtabmap/core/GlobalDescriptor.h
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    Public Types | @@ -99,7 +116,7 @@ Public Member Functions virtual GlobalDescriptor extract (const SensorData &data) const =0   -virtual void parseParameters (const ParametersMap &parameters) +virtual void parseParameters (const ParametersMap &parameters)   virtual GlobalDescriptorExtractor::Type getType () const =0 @@ -110,16 +127,16 @@ Static Public Member Functions static std::string typeName (Type type)   -static GlobalDescriptorExtractor * create (const ParametersMap &parameters=ParametersMap()) +static GlobalDescriptorExtractor * create (const ParametersMap &parameters=ParametersMap())   -static GlobalDescriptorExtractor * create (GlobalDescriptorExtractor::Type type, const ParametersMap &parameters=ParametersMap()) +static GlobalDescriptorExtractor * create (GlobalDescriptorExtractor::Type type, const ParametersMap &parameters=ParametersMap())   + 

    Protected Member Functions

    - GlobalDescriptorExtractor (const ParametersMap &parameters=ParametersMap())
    GlobalDescriptorExtractor (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -183,7 +200,7 @@ Protected Member Functions virtual void rtabmap::GlobalDescriptorExtractor::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -203,9 +220,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/GlobalDescriptorExtractor.h
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    -Generated by doxygen 1.9.8 -
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    @@ -113,9 +130,12 @@ $(function() { updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected ~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual + -
    -Generated by doxygen 1.9.8 -
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    [legend]
    +
    [legend]
    @@ -152,7 +169,7 @@ Static Public Member Functions

    Public Member Functions

    - + @@ -193,7 +210,7 @@ Protected Attributes

    Detailed Description

    Abstract base for assembling per-node LocalGrid data into a global map.

    Subclasses (OccupancyGrid, OctoMap, GridMap, CloudMap) implement assemble() to merge new node poses from LocalGridCache into their representation.

    -

    update() decides which poses need assembly (not yet in addedNodes(), present in cache, id > 0) and may call clear() when fullUpdateNeeded() detects graph optimization or a disjoint pose set (see kGridGlobalUpdateError).

    +

    update() decides which poses need assembly (not yet in addedNodes(), present in cache, id > 0) and may call clear() when fullUpdateNeeded() detects graph optimization or a disjoint pose set (see Parameters::kGridGlobalUpdateError()).

    Log-odds helpers logodds() and probability() convert between occupancy probability and the internal log-odds representation used for global hit/miss/clamping parameters (GridGlobal/Prob*).

    Definition at line 55 of file GlobalMap.h.

    @@ -216,8 +233,8 @@ Protected Attributes
    - - + + @@ -321,7 +338,7 @@ Protected Attributes

    True if the map should be rebuilt from cache (loop closure or disjoint graph).

    -

    Compares poses to addedNodes() using getUpdateError(), which is set from Grid/GlobalUpdateError (Parameters::kGridGlobalUpdateError()): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in poses, returns true and update() will call clear() first.

    +

    Compares poses to addedNodes() using getUpdateError(), which is set from Grid/GlobalUpdateError (Parameters::kGridGlobalUpdateError()): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in poses, returns true and update() will call clear() first.

    Parameters

    Protected Member Functions

     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     Constructs the base map; subclasses call from their constructor.
     
    virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)=0
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    @@ -1008,9 +1025,13 @@ Protected Attributes
  • corelib/include/rtabmap/core/GlobalMap.h
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    -Generated by doxygen 1.9.8 -
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    +  @@ -162,7 +179,7 @@ Protected Member Functions - + @@ -299,9 +316,13 @@ Additional Inherited Members
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    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.js b/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.js new file mode 100644 index 00000000..1952eaa0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1GridMap = +[ + [ "clear", "classrtabmap_1_1GridMap.html#a2a3b8ba591cf41da62e5486bb62b8f51", null ], + [ "assemble", "classrtabmap_1_1GridMap.html#a57ad9df30e61345ec23a45bcda0f2e93", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMU-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMU-members.html index 0c00858c..ae97fd7f 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMU-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMU-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::IMU Member List
    @@ -96,9 +113,12 @@ $(function() {

    Public Member Functions

    - GridMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
    GridMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     
    virtual void clear ()
     Clears assembled nodes and grid bounds; does not clear LocalGridCache.
     Subclass hook: merge newPoses into the global map; call addAssembledNode().
     
    - Protected Member Functions inherited from rtabmap::GlobalMap
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     Constructs the base map; subclasses call from their constructor.
     
    const std::map< int, LocalGrid > & cache () const
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    orientation() constrtabmap::IMUinline
    orientationCovariance() constrtabmap::IMUinline
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMU.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMU.html index 5ba3c469..6d260cf2 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMU.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMU.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -561,9 +578,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/IMU.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMU.js b/preview/pr-1492/api/latest/classrtabmap_1_1IMU.js new file mode 100644 index 00000000..94a35250 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMU.js @@ -0,0 +1,15 @@ +var classrtabmap_1_1IMU = +[ + [ "IMU", "classrtabmap_1_1IMU.html#a76e674d3ef1865369e1416ae5ff76483", null ], + [ "IMU", "classrtabmap_1_1IMU.html#a8db1233b6871dcbd58f1862cee2826fa", null ], + [ "IMU", "classrtabmap_1_1IMU.html#a3171afc29cdf8587a401b6da1b1908e6", null ], + [ "orientation", "classrtabmap_1_1IMU.html#a2160e6d59e4f9e3ffc84a2b7d62bdabd", null ], + [ "orientationCovariance", "classrtabmap_1_1IMU.html#ab7668040b92bfa5532c5e1c19ddbf429", null ], + [ "angularVelocity", "classrtabmap_1_1IMU.html#ad0160a803d2005f3f4db27c402e6bceb", null ], + [ "angularVelocityCovariance", "classrtabmap_1_1IMU.html#a660c82c641525ff24aefa7e03ebf7d4a", null ], + [ "linearAcceleration", "classrtabmap_1_1IMU.html#a8fde3445664329d6432b632fca9db17a", null ], + [ "linearAccelerationCovariance", "classrtabmap_1_1IMU.html#a2ee035bffb85f1681ad3525c32ba1243", null ], + [ "localTransform", "classrtabmap_1_1IMU.html#a10cfadbe31bbf80822a9ab92c0892b33", null ], + [ "convertToBaseFrame", "classrtabmap_1_1IMU.html#a1ccae83f46e87d28e56bcfc4a25fafb8", null ], + [ "empty", "classrtabmap_1_1IMU.html#ace111e68ca49e6d47cc92f53a0be87ef", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html index 7b85f6aa..1ef1e570 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::IMUEvent Member List
    @@ -92,9 +109,12 @@ $(function() { UEvent(int code=0)UEventinlineprotected ~UEvent() (defined in UEvent)UEventinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html index 9ffc2de3..79183157 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::IMUEvent:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::IMUEvent:
    @@ -107,7 +124,7 @@ Collaboration diagram for rtabmap::IMUEvent:
    -
    [legend]
    +
    [legend]
    @@ -305,9 +322,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/IMU.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.js b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.js new file mode 100644 index 00000000..19e85f58 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.js @@ -0,0 +1,8 @@ +var classrtabmap_1_1IMUEvent = +[ + [ "IMUEvent", "classrtabmap_1_1IMUEvent.html#a1ab86d7c16b1cadb44f0440808a9a81b", null ], + [ "IMUEvent", "classrtabmap_1_1IMUEvent.html#af041b297fa5f621dbc4fd085b16da800", null ], + [ "getClassName", "classrtabmap_1_1IMUEvent.html#adf3482d48ccbf36daa039efb596405d0", null ], + [ "getData", "classrtabmap_1_1IMUEvent.html#a3ebdf9e3cb56c153bf76d4aad5a6b44e", null ], + [ "getStamp", "classrtabmap_1_1IMUEvent.html#ac1dc5e7e806fbe05ee5fec562384924f", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter-members.html index 2bebbb2d..680ecc0c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::IMUFilter Member List
    @@ -87,7 +104,7 @@ $(function() { - + @@ -96,9 +113,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    create(IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::IMUFilterstatic
    getOrientation(double &qx, double &qy, double &qz, double &qw) const =0rtabmap::IMUFilterpure virtual
    IMUFilter(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::IMUFilter)rtabmap::IMUFilterinlineprotected
    kComplementaryFilter enum value (defined in rtabmap::IMUFilter)rtabmap::IMUFilter
    kComplementaryFilter enum valuertabmap::IMUFilter
    kMadgwick enum valuertabmap::IMUFilter
    parseParameters(const ParametersMap &parameters)rtabmap::IMUFilterinlinevirtual
    reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0rtabmap::IMUFilterpure virtual
    update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)rtabmap::IMUFilter
    ~IMUFilter() (defined in rtabmap::IMUFilter)rtabmap::IMUFilterinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.html index 4a69bc67..496fa962 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -95,14 +112,14 @@ $(function() {

    Public Types

    enum  Type { kMadgwick = 0 -, kComplementaryFilter = 1 +, kComplementaryFilter = 1 }  Orientation fusion algorithm. More...
      - + @@ -119,16 +136,16 @@ Public Member Functions

    Public Member Functions

    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Re-reads filter parameters from parameters.
     
    void update (double gx, double gy, double gz, double ax, double ay, double az, double stamp)
    - + - +

    Static Public Member Functions

    static IMUFilter * create (const ParametersMap &parameters=ParametersMap())
    static IMUFilter * create (const ParametersMap &parameters=ParametersMap())
     Creates a filter using type parsed from parameters.
     
    static IMUFilter * create (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
    static IMUFilter * create (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a filter of the given type.
     
    - +

    Protected Member Functions

     IMUFilter (const ParametersMap &parameters=ParametersMap())
     IMUFilter (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -136,7 +153,7 @@ Protected Member Functions

    Implementations integrate angular rates and correct drift using the measured gravity vector. The public update() API takes timestamps and computes the time step between consecutive calls.

    Factory methods create() return heap-allocated instances; the caller owns the pointer (e.g. SensorCaptureThread, IMUThread, Camera).

    Output orientation from getOrientation() is a unit quaternion (qx, qy, qz, qw) in the same convention as IMU (body frame).

    -

    Filter tuning parameters are read from ParametersMap (ImuFilter/... keys); see ComplementaryFilter and MadgwickFilter (when RTAB-Map is built with Madgwick support).

    +

    Filter tuning parameters are read from ParametersMap (ImuFilter/... keys); see kComplementaryFilter and kMadgwick (the latter only when RTAB-Map is built with Madgwick support).

    See also
    IMU
    SensorCaptureThread::enableIMUFiltering()
    @@ -159,6 +176,8 @@ Protected Member Functions +
    Enumerator
    kMadgwick 

    Madgwick AHRS (attitude and heading reference system). RTAB-Map must be built with Madgwick support.

    kComplementaryFilter 

    Complementary filter (always available).

    +

    Definition at line 64 of file IMUFilter.h.

    @@ -189,7 +208,7 @@ Protected Member Functions
    -

    Definition at line 84 of file IMUFilter.h.

    +

    Definition at line 85 of file IMUFilter.h.

    @@ -205,8 +224,8 @@ Protected Member Functions rtabmap::IMUFilter::IMUFilter ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -217,7 +236,7 @@ Protected Member Functions
    -

    Definition at line 129 of file IMUFilter.h.

    +

    Definition at line 130 of file IMUFilter.h.

    @@ -234,8 +253,8 @@ Protected Member Functions static IMUFilter * rtabmap::IMUFilter::create ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -275,8 +294,8 @@ Protected Member Functions - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -294,7 +313,7 @@ Protected Member Functions

    Creates a filter of the given type.

    Parameters
    - +
    typeFusion algorithm; falls back to kComplementaryFilter if kMadgwick is requested but not compiled in.
    typeFusion algorithm; falls back to kComplementaryFilter if kMadgwick is requested but not compiled in.
    parametersOptional ImuFilter/... tuning parameters.
    @@ -315,7 +334,7 @@ Protected Member Functions virtual void rtabmap::IMUFilter::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -335,7 +354,7 @@ Protected Member Functions
    -

    Definition at line 90 of file IMUFilter.h.

    +

    Definition at line 91 of file IMUFilter.h.

    @@ -559,9 +578,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/IMUFilter.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.js b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.js new file mode 100644 index 00000000..079192e1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUFilter.js @@ -0,0 +1,12 @@ +var classrtabmap_1_1IMUFilter = +[ + [ "Type", "classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83", [ + [ "kMadgwick", "classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83aa1f642678d0846f51590e4f69a585c09", null ], + [ "kComplementaryFilter", "classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83a13d263540bc4ee0b91102547c8eb1ae2", null ] + ] ], + [ "parseParameters", "classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a", null ], + [ "update", "classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363", null ], + [ "type", "classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6", null ], + [ "getOrientation", "classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973", null ], + [ "reset", "classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html index 648b6b1a..aa99d5fc 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::IMUThread Member List
    @@ -132,9 +149,12 @@ $(function() { ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html index 0daa3979..b58523f6 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -101,7 +118,7 @@ Inheritance diagram for rtabmap::IMUThread:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::IMUThread:
    @@ -115,7 +132,7 @@ Collaboration diagram for rtabmap::IMUThread:
    -
    [legend]
    +
    [legend]
    @@ -129,7 +146,7 @@ Public Member Functions void  - + - - + + @@ -361,9 +378,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/IMUThread.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.js b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.js new file mode 100644 index 00000000..bbbeadab --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.js @@ -0,0 +1,8 @@ +var classrtabmap_1_1IMUThread = +[ + [ "IMUThread", "classrtabmap_1_1IMUThread.html#a97a2c48c6bb7e29ae64147fc9f032ac3", null ], + [ "init", "classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d", null ], + [ "setRate", "classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb", null ], + [ "enableIMUFiltering", "classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab", null ], + [ "disableIMUFiltering", "classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE-members.html index 62250886..d0a5e26b 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::KAZE Member List
    @@ -137,9 +154,12 @@ $(function() {

    Public Member Functions

    setRate (int rate)
     Sets the target playback rate in Hz.
     
    void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
    void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
     Enables orientation fusion on replayed samples.
     
    @@ -328,8 +345,8 @@ Additional Inherited Members
    const ParametersMap & parameters = ParametersMap(), const ParametersMap & parameters = ParametersMap(),
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
    ~KAZE() (defined in rtabmap::KAZE)rtabmap::KAZEvirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE.html b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE.html index 00711351..7aaec26e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::KAZE:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::KAZE:
    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::KAZE:
    -
    [legend]
    +
    [legend]
    +  - + @@ -143,7 +160,7 @@ cv::Mat  - + @@ -184,11 +201,11 @@ Additional Inherited Members +static Feature2D *  +static Feature2D *  + 

    Public Member Functions

    - KAZE (const ParametersMap &parameters=ParametersMap())
    KAZE (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    virtual bool isGpuAvailable () const
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -237,7 +254,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::KAZE::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -306,9 +323,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Landmark-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark-members.html index dbf0afd4..a631d4f7 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Landmark-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Landmark Member List
    @@ -92,9 +109,12 @@ $(function() { size() constrtabmap::Landmarkinline ~Landmark() (defined in rtabmap::Landmark)rtabmap::Landmarkinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.html b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.html index 9f618164..e5ec84fe 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -400,9 +417,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/Landmark.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.js b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.js new file mode 100644 index 00000000..fef7cac6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Landmark.js @@ -0,0 +1,10 @@ +var classrtabmap_1_1Landmark = +[ + [ "Landmark", "classrtabmap_1_1Landmark.html#a6ba2b53d996e0fa62a8023917e515a06", null ], + [ "Landmark", "classrtabmap_1_1Landmark.html#a1fda87c27ac931dcf9815921b53c1f19", null ], + [ "Landmark", "classrtabmap_1_1Landmark.html#a92311f7550e395fea804c5438e9085ff", null ], + [ "id", "classrtabmap_1_1Landmark.html#a2b5a5cbdb313813e3bb473a05b1145e2", null ], + [ "size", "classrtabmap_1_1Landmark.html#acba351c01c619a0d78e52e7bfca94111", null ], + [ "pose", "classrtabmap_1_1Landmark.html#ac6bfc77e153b0877c4c1cc3d97327a88", null ], + [ "covariance", "classrtabmap_1_1Landmark.html#a1c1e20cccc5f659743ba48c8afe1a8a0", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan-members.html index 9a2b3778..dd812763 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::LaserScan Member List
    @@ -112,7 +129,7 @@ $(function() { hasRing() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline hasTime() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline is2d() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline - isCompressed() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline + isCompressed() constrtabmap::LaserScaninline isEmpty() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline isOrganized() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline isScan2d(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic @@ -152,9 +169,12 @@ $(function() { size() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline unpackRGB(float rgb, unsigned char &r, unsigned char &g, unsigned char &b) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html index 53fa04e3..07970199 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -179,6 +196,7 @@ Public Member Functions bool hasRing () const   bool isCompressed () const + True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.
      bool isOrganized () const   @@ -1041,7 +1059,9 @@ static LaserScan 
    -

    Definition at line 182 of file LaserScan.h.

    +

    True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.

    + +

    Definition at line 183 of file LaserScan.h.

    @@ -1068,7 +1088,7 @@ static LaserScan 
    -

    Definition at line 183 of file LaserScan.h.

    +

    Definition at line 184 of file LaserScan.h.

    @@ -1095,7 +1115,7 @@ static LaserScan 
    -

    Definition at line 190 of file LaserScan.h.

    +

    Definition at line 191 of file LaserScan.h.

    @@ -1122,7 +1142,7 @@ static LaserScan 
    -

    Definition at line 191 of file LaserScan.h.

    +

    Definition at line 192 of file LaserScan.h.

    @@ -1149,7 +1169,7 @@ static LaserScan 
    -

    Definition at line 192 of file LaserScan.h.

    +

    Definition at line 193 of file LaserScan.h.

    @@ -1176,7 +1196,7 @@ static LaserScan 
    -

    Definition at line 193 of file LaserScan.h.

    +

    Definition at line 194 of file LaserScan.h.

    @@ -1203,7 +1223,7 @@ static LaserScan 
    -

    Definition at line 194 of file LaserScan.h.

    +

    Definition at line 195 of file LaserScan.h.

    @@ -1271,7 +1291,7 @@ static LaserScan Clear the scan data.

    -

    Definition at line 208 of file LaserScan.h.

    +

    Definition at line 209 of file LaserScan.h.

    @@ -1279,9 +1299,13 @@ static LaserScan corelib/include/rtabmap/core/LaserScan.h + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.js b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.js new file mode 100644 index 00000000..8d4f244e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.js @@ -0,0 +1,25 @@ +var classrtabmap_1_1LaserScan = +[ + [ "Format", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007", [ + [ "kUnknown", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a068e1caebd3d8c939887dce363abd24d", null ], + [ "kXY", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a4f3e7340e44a01b48ccaf8e1f8dca3e1", null ], + [ "kXYI", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007abb92c193b2eb76045e1a141c2a42cc00", null ], + [ "kXYNormal", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ad4c3ec9f057875ade4f21f52901bceb5", null ], + [ "kXYINormal", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a799064c7e31b99134871b5d7d2906f97", null ], + [ "kXYZ", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a0c376810ac499a8a93a02bd0d4a19267", null ], + [ "kXYZI", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a5efd7fbf18cee72d9eb2daa4ea818e42", null ], + [ "kXYZRGB", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a500cf2179e454d8d5a74895b301c0829", null ], + [ "kXYZNormal", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a09e67f9495016103a162854b8e852bbc", null ], + [ "kXYZINormal", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a3fdc082afb503bb197e2651b6fc565b8", null ], + [ "kXYZRGBNormal", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007af2d5b7ff94aeac818000d840e257ac07", null ], + [ "kXYZIT", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007ab169cf98665cb3f33d81240b37cc501c", null ], + [ "kXYZIRT", "classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007a7df3c8f97dd52461787060befaf7f2d7", null ] + ] ], + [ "LaserScan", "classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302", null ], + [ "LaserScan", "classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016", null ], + [ "isCompressed", "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9", null ], + [ "field", "classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d", null ], + [ "clear", "classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45", null ], + [ "operator+=", "classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04", null ], + [ "operator+", "classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html index a6588011..f1e91338 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Lidar Member List
    @@ -100,9 +117,12 @@ $(function() { ~Lidar() (defined in rtabmap::Lidar)rtabmap::Lidarinlinevirtual ~SensorCapture()rtabmap::SensorCapturevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.html b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.html index f0902421..8f47e5de 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Protected Member Functions | @@ -96,7 +113,7 @@ Inheritance diagram for rtabmap::Lidar:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::Lidar:
    @@ -106,7 +123,7 @@ Collaboration diagram for rtabmap::Lidar:
    -
    [legend]
    +
    [legend]
    @@ -243,9 +260,13 @@ virtual  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::LidarVLP16 Member List
    @@ -105,9 +122,12 @@ $(function() {

    Protected Member Functions

    ~SensorCapture
  • corelib/include/rtabmap/core/Lidar.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.js b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.js new file mode 100644 index 00000000..907e814d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar.js @@ -0,0 +1,4 @@ +var classrtabmap_1_1Lidar = +[ + [ "Lidar", "classrtabmap_1_1Lidar.html#a9d14987cd20918960d6b3705b66241ed", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html index bf7d1d38..6449d7cd 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~LidarVLP16() (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16virtual
    ~SensorCapture()rtabmap::SensorCapturevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html index 6b4a009f..ff918493 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::LidarVLP16:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::LidarVLP16:
    @@ -111,7 +128,7 @@ Collaboration diagram for rtabmap::LidarVLP16:
    -
    [legend]
    +
    [legend]
    @@ -348,9 +365,13 @@ RGB and depth images should be already rectified if calibration was loaded.
  • corelib/include/rtabmap/core/lidar/LidarVLP16.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.js b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.js new file mode 100644 index 00000000..de18349c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1LidarVLP16 = +[ + [ "init", "classrtabmap_1_1LidarVLP16.html#a80162804e05013f64c6868084f460ab0", null ], + [ "getSerial", "classrtabmap_1_1LidarVLP16.html#a9d533721703457a60e94124d840fee95", null ], + [ "captureData", "classrtabmap_1_1LidarVLP16.html#a60d8190947d474e0557695c1032c40b8", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Link-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Link-members.html index 9a459680..def864d8 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Link-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Link-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Link Member List
    @@ -83,13 +100,13 @@ $(function() {

    This is the complete list of members for rtabmap::Link, including all inherited members.

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    - + - + @@ -99,7 +116,7 @@ $(function() { - + @@ -111,21 +128,24 @@ $(function() { - - + + - + - - + +
    from() const (defined in rtabmap::Link)rtabmap::Linkinline
    from() constrtabmap::Linkinline
    infMatrix() const (defined in rtabmap::Link)rtabmap::Linkinline
    inverse() constrtabmap::Link
    isValid() constrtabmap::Linkinline
    kAllWithLandmarks enum valuertabmap::Link
    kAllWithoutLandmarks enum valuertabmap::Link
    kEnd enum value (defined in rtabmap::Link)rtabmap::Link
    kEnd enum valuertabmap::Link
    kGlobalClosure enum valuertabmap::Link
    kGravity enum valuertabmap::Link
    kLandmark enum valuertabmap::Link
    kNeighborMerged enum valuertabmap::Link
    kPosePrior enum valuertabmap::Link
    kSelfRefLink enum valuertabmap::Link
    kUndef enum value (defined in rtabmap::Link)rtabmap::Link
    kUndef enum valuertabmap::Link
    kUserClosure enum valuertabmap::Link
    kVirtualClosure enum valuertabmap::Link
    Link()rtabmap::Link
    setTo(int to) (defined in rtabmap::Link)rtabmap::Linkinline
    setTransform(const Transform &transform) (defined in rtabmap::Link)rtabmap::Linkinline
    setType(Type type) (defined in rtabmap::Link)rtabmap::Linkinline
    to() const (defined in rtabmap::Link)rtabmap::Linkinline
    transform() const (defined in rtabmap::Link)rtabmap::Linkinline
    to() constrtabmap::Linkinline
    transform() constrtabmap::Linkinline
    transVariance(bool minimum=true) constrtabmap::Link
    type() const (defined in rtabmap::Link)rtabmap::Linkinline
    type() constrtabmap::Linkinline
    Type enum namertabmap::Link
    typeName(Type type)rtabmap::Linkstatic
    typeName() const (defined in rtabmap::Link)rtabmap::Linkinline
    uncompressUserData()rtabmap::Link
    uncompressUserDataConst() constrtabmap::Link
    userDataCompressed() const (defined in rtabmap::Link)rtabmap::Linkinline
    userDataRaw() const (defined in rtabmap::Link)rtabmap::Linkinline
    userDataCompressed() constrtabmap::Linkinline
    userDataRaw() constrtabmap::Linkinline
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Link.html b/preview/pr-1492/api/latest/classrtabmap_1_1Link.html index 3074d0af..b4180c25 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Link.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Link.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -106,12 +123,12 @@ Public Types ,
      kLandmark , kGravity -, kEnd +, kEnd , kSelfRefLink = 97 ,
      kAllWithLandmarks = 98 , kAllWithoutLandmarks = 99 -, kUndef = 99 +, kUndef = 99
    }  Link category and filter sentinels. More...
    @@ -121,9 +138,9 @@ Public Types Public Member Functions  Link () - Default constructor; creates an invalid link (kUndef).
    + Default constructor; creates an invalid link (kUndef).
      - Link (int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat()) + Link (int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat())  Constructs a link between two nodes.
      bool isValid () const @@ -146,13 +163,13 @@ Public Member Functions double transVariance (bool minimum=true) const  Translation variance derived from the information matrix diagonal (x, y, z).
      -void setFrom (int from) +void setFrom (int from)   -void setTo (int to) +void setTo (int to)   -void setTransform (const Transform &transform) +void setTransform (const Transform &transform)   -void setType (Type type) +void setType (Type type)   void setInfMatrix (const cv::Mat &infMatrix) @@ -164,7 +181,7 @@ void setInfMatrix (con   void uncompressUserData () - Decompresses user data into userDataRaw() if compressed data is stored.
    + Decompresses user data into userDataRaw() if compressed data is stored.
      cv::Mat uncompressUserDataConst () const   @@ -176,13 +193,13 @@ void uncompressUserData - +

    Static Public Member Functions

    static std::string typeName (Type type)
    static std::string typeName (Type type)
     

    Detailed Description

    Directed constraint between two nodes in RTAB-Map's pose graph.

    -

    A link connects signature from() to signature to() with a relative Transform and an information matrix (inverse covariance) used by graph optimization. Links are stored on Signature objects and persisted in the database; they define odometry chains, loop closures, landmarks, and priors.

    -

    The transform is expressed from the from node frame to the to node frame (i.e. pose of to relative to from), unless type() indicates a special semantics (e.g. kPosePrior, kLandmark).

    +

    A link connects signature from() to signature to() with a relative Transform and an information matrix (inverse covariance) used by graph optimization. Links are stored on Signature objects and persisted in the database; they define odometry chains, loop closures, landmarks, and priors.

    +

    The transform is expressed from the from node frame to the to node frame (i.e. pose of to relative to from), unless type() indicates a special semantics (e.g. kPosePrior, kLandmark).

    See also
    Signature
    Memory::addLink()
    @@ -202,7 +219,7 @@ Static Public Member Functions

    Link category and filter sentinels.

    -

    Values kSelfRefLink, kAllWithLandmarks, kAllWithoutLandmarks and kUndef are also used as query filters when retrieving links from memory or the database (they are not stored as link types on signatures).

    +

    Values kSelfRefLink, kAllWithLandmarks, kAllWithoutLandmarks and kUndef are also used as query filters when retrieving links from memory or the database (they are not stored as link types on signatures).

    @@ -224,12 +241,16 @@ Static Public Member Functions + +
    Enumerator
    kNeighbor 

    Sequential odometry link between consecutive nodes.

    kGravity 

    Gravity direction constraint on the base frame (from == to).

    kEnd 

    Sentinel: number of link types that can be stored.

    +
    kSelfRefLink 

    Filter: links where from == to (e.g. kPosePrior, kGravity).

    kAllWithLandmarks 

    Filter: all link types including kLandmark.

    kAllWithoutLandmarks 

    Filter: all link types except kLandmark.

    kUndef 

    Undefined type or invalid link.

    +

    Definition at line 64 of file Link.h.

    @@ -354,7 +375,7 @@ Static Public Member Functions
    Returns
    True if ids, transform, and type are valid for use in the graph.
    -

    Definition at line 103 of file Link.h.

    +

    Definition at line 104 of file Link.h.

    @@ -380,8 +401,9 @@ Static Public Member Functions
    +
    Returns
    Source signature id.
    -

    Definition at line 105 of file Link.h.

    +

    Definition at line 107 of file Link.h.

    @@ -407,8 +429,9 @@ Static Public Member Functions
    +
    Returns
    Target signature id (negative for a landmark).
    -

    Definition at line 106 of file Link.h.

    +

    Definition at line 109 of file Link.h.

    @@ -434,8 +457,9 @@ Static Public Member Functions
    +
    Returns
    Relative transform, from the from() frame to the to() frame.
    -

    Definition at line 107 of file Link.h.

    +

    Definition at line 111 of file Link.h.

    @@ -461,8 +485,9 @@ Static Public Member Functions
    +
    Returns
    Link category (see Type).
    -

    Definition at line 108 of file Link.h.

    +

    Definition at line 113 of file Link.h.

    @@ -489,7 +514,7 @@ Static Public Member Functions
    -

    Definition at line 109 of file Link.h.

    +

    Definition at line 114 of file Link.h.

    @@ -516,7 +541,7 @@ Static Public Member Functions
    -

    Definition at line 110 of file Link.h.

    +

    Definition at line 115 of file Link.h.

    @@ -596,7 +621,7 @@ Static Public Member Functions
    -

    Definition at line 124 of file Link.h.

    +

    Definition at line 129 of file Link.h.

    @@ -624,7 +649,7 @@ Static Public Member Functions
    -

    Definition at line 125 of file Link.h.

    +

    Definition at line 130 of file Link.h.

    @@ -652,7 +677,7 @@ Static Public Member Functions
    -

    Definition at line 126 of file Link.h.

    +

    Definition at line 131 of file Link.h.

    @@ -680,7 +705,7 @@ Static Public Member Functions
    -

    Definition at line 127 of file Link.h.

    +

    Definition at line 132 of file Link.h.

    @@ -706,8 +731,9 @@ Static Public Member Functions
    +
    Returns
    Uncompressed user data, empty unless it was set raw or uncompressUserData() was called.
    -

    Definition at line 131 of file Link.h.

    +

    Definition at line 137 of file Link.h.

    @@ -733,8 +759,9 @@ Static Public Member Functions
    +
    Returns
    User data as stored/persisted, in compressed form.
    -

    Definition at line 132 of file Link.h.

    +

    Definition at line 139 of file Link.h.

    @@ -785,13 +812,13 @@ Static Public Member Functions

    Chains this link (from → to) with link (to → link.to).

    Parameters
    - +
    linkSecond link; must satisfy this->to() == link.from().
    linkSecond link; must satisfy this->to() == link.from().
    outputTypeType of the merged link.
    -
    Returns
    Single link from from() to link.to() with transform (T_{ac} = T_{ab} T_{bc}) (or null if either input transform is null). Information matrix handling depends on outputType:
      -
    • kNeighborMerged: (\Omega_{ac} = (\Omega_{ab}^{-1} + \Omega_{bc}^{-1})^{-1}) (covariances add when both legs are diagonal and independent).
      • +
      Returns
      Single link from from() to link.to() with transform (T_{ac} = T_{ab} T_{bc}) (or null if either input transform is null). Information matrix handling depends on outputType:
        +
      • kNeighborMerged: (\Omega_{ac} = (\Omega_{ab}^{-1} + \Omega_{bc}^{-1})^{-1}) (covariances add when both legs are diagonal and independent).
      • Other types: keeps the full information matrix of link unless (\Omega_{ab}(0,0) < \Omega_{bc}(0,0)) (i.e. the smaller x information entry).
      @@ -820,9 +847,13 @@ Static Public Member Functions
    • corelib/include/rtabmap/core/Link.h
    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::LocalGrid Member List
    @@ -92,9 +109,12 @@ $(function() { viewPointrtabmap::LocalGrid ~LocalGrid() (defined in rtabmap::LocalGrid)rtabmap::LocalGridinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.html index b1e62d6b..d73aad08 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -336,9 +353,13 @@ Public Attributes
  • corelib/include/rtabmap/core/LocalGrid.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.js b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.js new file mode 100644 index 00000000..2c2f6e19 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid.js @@ -0,0 +1,10 @@ +var classrtabmap_1_1LocalGrid = +[ + [ "LocalGrid", "classrtabmap_1_1LocalGrid.html#a42d930cf05d39ecbbd2e3678f8d0b47a", null ], + [ "is3D", "classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7", null ], + [ "groundCells", "classrtabmap_1_1LocalGrid.html#a1d828782755374c7601810b35f99a9e5", null ], + [ "obstacleCells", "classrtabmap_1_1LocalGrid.html#abe290c60168557fb899914f53e4ad1a1", null ], + [ "emptyCells", "classrtabmap_1_1LocalGrid.html#a7d0a732be74bd5c46e9029982bf4972b", null ], + [ "cellSize", "classrtabmap_1_1LocalGrid.html#a13abf7a3ed9d8680ea339551401b62f5", null ], + [ "viewPoint", "classrtabmap_1_1LocalGrid.html#aa8f5a6219144d584cde0fe6b565ac0bb", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html index 9816ba52..6cd18b0a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::LocalGridCache Member List
    @@ -97,9 +114,12 @@ $(function() { size() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline ~LocalGridCache() (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html index 8b2b5da5..4703c706 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -407,9 +424,13 @@ unsigned long getMemoryUse
  • corelib/include/rtabmap/core/LocalGrid.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.js b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.js new file mode 100644 index 00000000..84e3309e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.js @@ -0,0 +1,8 @@ +var classrtabmap_1_1LocalGridCache = +[ + [ "add", "classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b", null ], + [ "add", "classrtabmap_1_1LocalGridCache.html#a765142f021aa580bcfdd84545ebc044f", null ], + [ "shareTo", "classrtabmap_1_1LocalGridCache.html#a6350523acd5ce71be45cd653071837fc", null ], + [ "getMemoryUsed", "classrtabmap_1_1LocalGridCache.html#ab72a88b5c00d2a104ac1055538960acb", null ], + [ "clear", "classrtabmap_1_1LocalGridCache.html#a4068440ef10859d05f252e36f916604b", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html index d3c6bae2..1ce6a4db 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::LocalGridMaker Member List
    @@ -122,9 +139,12 @@ $(function() { segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) constrtabmap::LocalGridMaker ~LocalGridMaker() (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakervirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html index e4594486..0960b667 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -93,11 +110,11 @@ $(function() {

    Public Member Functions

    - LocalGridMaker (const ParametersMap &parameters=ParametersMap()) + LocalGridMaker (const ParametersMap &parameters=ParametersMap())  Constructs with parseParameters() on parameters (or defaults).
      -virtual void parseParameters (const ParametersMap &parameters) +virtual void parseParameters (const ParametersMap &parameters)  Updates grid settings from Grid/ entries in parameters.
      float getCellSize () const @@ -119,7 +136,7 @@ virtual void parseParamete - + @@ -186,7 +203,7 @@ Protected Attributes
  • 1 — depth image(s) only (default)
  • 2 — laser scan and depth
    • -

    2D laser path: projects a 2D LaserScan with util3d::occupancy2DFromLaserScan().

    +

    2D laser path: projects a 2D LaserScan with util3d::occupancy2DFromLaserScan().

    3D path: segments the scan/cloud into ground and obstacles (segmentCloud()), then outputs LocalGrid cell matrices (2D projection or 3D cells per Grid/3D).

    See also
    LocalGrid
    @@ -407,8 +424,8 @@ template<typename PointT >
    @@ -494,7 +511,7 @@ template<typename PointT > @@ -1185,9 +1202,13 @@ template<typename PointT >
  • corelib/include/rtabmap/core/impl/LocalMapMaker.hpp
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.js b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.js new file mode 100644 index 00000000..8cfec16b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.js @@ -0,0 +1,11 @@ +var classrtabmap_1_1LocalGridMaker = +[ + [ "LocalGridMaker", "classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183", null ], + [ "parseParameters", "classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026", null ], + [ "getCellSize", "classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926", null ], + [ "isGridFromDepth", "classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a", null ], + [ "isMapFrameProjection", "classrtabmap_1_1LocalGridMaker.html#ae8fcd8ed901bc23bac3f14efb48567a9", null ], + [ "segmentCloud", "classrtabmap_1_1LocalGridMaker.html#ad54b92f6d04b76a550483a7a68f45bda", null ], + [ "createLocalMap", "classrtabmap_1_1LocalGridMaker.html#a97d17a585226dcffe580406736e00117", null ], + [ "createLocalMap", "classrtabmap_1_1LocalGridMaker.html#a3d43b8e022d7638262282ab2c7da0ead", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector-members.html index 514a9cea..bcfec922 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::MarkerDetector Member List
    @@ -92,9 +109,12 @@ $(function() {

    Protected Attributes

    ParametersMap parameters_
    ParametersMap parameters_
     
    unsigned int cloudDecimation_
     
    groundCellsOutput ground cells (LocalGrid format).
    obstacleCellsOutput obstacle cells.
    emptyCellsOutput empty/free cells. Behavior depends on the sensor path:
      -
    • 2D laser, laser-only mode (Grid/Sensor=0 and a 2D LaserScan): uses util3d::occupancy2DFromLaserScan() / util3d::create2DMap(). Free space along each hit beam is always ray-traced (sensor → obstacle). Grid/Scan2dUnknownSpaceFilled is separate: when true, it additionally sweeps unknown angular gaps between the first and last hit (sparse FOV / “holes” in coverage) out to Grid/RangeMax or scan max range.
      • -
    • Other cases (3D scan, depth, Grid/Sensor=2, etc.): see createLocalMap(const LaserScan&,...).
      • +
    • 2D laser, laser-only mode (Grid/Sensor=0 and a 2D LaserScan): uses util3d::occupancy2DFromLaserScan() / util3d::create2DMap(). Free space along each hit beam is always ray-traced (sensor → obstacle). Grid/Scan2dUnknownSpaceFilled is separate: when true, it additionally sweeps unknown angular gaps between the first and last hit (sparse FOV / “holes” in coverage) out to Grid/RangeMax or scan max range.
      • +
    • Other cases (3D scan, depth, Grid/Sensor=2, etc.): see the LaserScan overload of createLocalMap().
    viewPointOutput view point used for the grid.
    - +
    ParametersMap rtabmap::LocalGridMaker::parameters_ParametersMap rtabmap::LocalGridMaker::parameters_
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    Strategy enum name (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
    ~MarkerDetector() (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetectorvirtual
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector.html b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector.html index da0b4693..335731f7 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerDetector.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -95,10 +112,10 @@ Public Types

    Public Member Functions

    - MarkerDetector (const ParametersMap &parameters=ParametersMap()) + MarkerDetector (const ParametersMap &parameters=ParametersMap())   -void parseParameters (const ParametersMap &parameters) +void parseParameters (const ParametersMap &parameters)   std::map< int, MarkerInfo > detect (const cv::Mat &image, const std::vector< CameraModel > &models, const cv::Mat &depth=cv::Mat(), const std::map< int, float > &markerLengths=std::map< int, float >(), cv::Mat *imageWithDetections=0) @@ -131,9 +148,13 @@ std::map< int, MarkerInf
  • corelib/include/rtabmap/core/MarkerDetector.h
    • +
    -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::MarkerInfo Member List
    @@ -88,9 +105,12 @@ $(function() { MarkerInfo(int id, float length, Transform pose) (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline pose() const (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerInfo.html index d272901e..70830ef6 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1MarkerInfo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1MarkerInfo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -229,9 +246,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/MarkerDetector.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html index b554d0fe..d2c99704 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Memory Member List
    @@ -190,9 +207,12 @@ $(function() { updateLink(const Link &link, bool updateInDatabase=false)rtabmap::Memory ~Memory() (defined in rtabmap::Memory)rtabmap::Memoryvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Memory.html b/preview/pr-1492/api/latest/classrtabmap_1_1Memory.html index 115fe62c..4c6bda5a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Memory.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Memory.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -103,17 +120,17 @@ Collaboration diagram for rtabmap::Memory:
    -
    [legend]
    +
    [legend]
    - + - + - + @@ -121,7 +138,7 @@ Public Member Functions - + @@ -404,7 +421,7 @@ void  - + @@ -423,7 +440,7 @@ Protected Attributes

    Three-tiered memory management (STM, WM, LTM) for RTAB-Map.

    Memory is the core map data structure used by Rtabmap. It stores observations as Signature nodes connected by Link edges and orchestrates their lifecycle across three tiers:

      -
    • Short-Term Memory (STM): most recently added signatures, kept at a fixed size (see Parameters::kMemSTMSize()). Used to delay recently observed places before they become candidates for loop closure.
      • +
    • Short-Term Memory (STM): most recently added signatures, kept at a fixed size (see Parameters::kMemSTMSize()). Used to delay recently observed places before they become candidates for loop closure.
    • Working Memory (WM): signatures available for loop-closure likelihood computation in the current iteration. Older signatures are transferred from WM to LTM by forget() to bound iteration time.
    • Long-Term Memory (LTM): persisted in the database via DBDriver. Signatures can be brought back to WM with reactivateSignatures() when their neighbors still in WM are good loop-closure candidates.
    @@ -448,8 +465,8 @@ Protected Attributes
    - - + +

    Public Member Functions

     Memory (const ParametersMap &parameters=ParametersMap())
     Memory (const ParametersMap &parameters=ParametersMap())
     Constructs a Memory instance with the given parameters.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Re-parses parameters and propagates them to owned sub-objects.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    bool update (const SensorData &data, Statistics *stats=0)
     Adds a sensor observation to the map (overload without odometry pose).
    bool update (const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)
     Adds a sensor observation with odometry pose and velocity to the map.
     
    bool init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
    bool init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
     Opens or creates a database and loads existing state into WM.
     
    void close (bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")
    dumpDictionary (c

    Static Public Attributes

    static const int kIdStart
     First valid signature id assigned by getNextId() (positive integer).
     First valid signature id assigned to a new signature (positive integer).
     
    static const int kIdVirtual
     Reserved id for the "virtual place" used by the Bayes filter (negative).
    rtabmap::Memory::Memory (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -473,7 +490,7 @@ Protected Attributes virtual void rtabmap::Memory::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -500,7 +517,7 @@ Protected Attributes - + @@ -638,8 +655,8 @@ Protected Attributes - - + + @@ -1163,7 +1180,7 @@ Protected Attributes
    virtual const ParametersMap & rtabmap::Memory::getParameters virtual const ParametersMap & rtabmap::Memory::getParameters ( ) const
    const ParametersMap & parameters = ParametersMap(), const ParametersMap & parameters = ParametersMap(),
    - +
    locationIdId of the signature to delete.
    deletedWordsOptional output: words whose reference count dropped to zero.
    keepLinkedInDbIf true, the location keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked location is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
    keepLinkedInDbIf true, the location keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked location is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
    @@ -1213,7 +1230,7 @@ Protected Attributes - +
    idNode to reduce.
    maxDistanceMaximum distance to a neighbor to allow the merge (meters).
    keepLinkedInDbSame meaning as in deleteLocation(): if true, the merged node keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked node is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
    keepLinkedInDbSame meaning as in deleteLocation(): if true, the merged node keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked node is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
    directionRestrict merge target: 0=any, 1=previous neighbor, 2=next neighbor.
    @@ -1405,7 +1422,7 @@ Silently disabled by -
    Returns
    Configured maximum STM size (Parameters::kMemSTMSize()).
    +
    Returns
    Configured maximum STM size (Parameters::kMemSTMSize()).

    Definition at line 413 of file Memory.h.

    @@ -1505,7 +1522,7 @@ Silently disabled by -
    Returns
    Similarity threshold used by rehearsal (Parameters::kMemRehearsalSimilarity()).
    +
    Returns
    Similarity threshold used by rehearsal (Parameters::kMemRehearsalSimilarity()).

    Definition at line 434 of file Memory.h.

    @@ -2241,10 +2258,10 @@ Silently disabled by

    Reports whether the in-memory map has been modified since the database was last loaded or reset. close() uses this flag to decide whether the database needs to be rewritten.

    -

    The flag is cleared to false on construction and by close() / clear(), and is raised to true on any of the following events:

    +

    The flag is cleared to false on construction, by close() and when the memory is cleared, and is raised to true on any of the following events:

      -
    • update() in mapping mode (Parameters::kMemIncrementalMemory() == true, see isIncremental()): every successful call sets the flag, since a new Signature is added to the graph and the visual word dictionary may grow.
      • -
    • update() in localization mode (isIncremental() == false): the flag is set only when Parameters::kMemLocalizationDataSaved() is enabled (see isLocalizationDataSaved()), i.e. when the new node must be persisted back to the database. Pure localization (the default, Parameters::kMemLocalizationDataSaved() == false) leaves the flag at false even after many update() calls, because nothing needs to be saved.
      • +
    • update() in mapping mode (Parameters::kMemIncrementalMemory() == true, see isIncremental()): every successful call sets the flag, since a new Signature is added to the graph and the visual word dictionary may grow.
      • +
    • update() in localization mode (isIncremental() == false): the flag is set only when Parameters::kMemLocalizationDataSaved() is enabled (see isLocalizationDataSaved()), i.e. when the new node must be persisted back to the database. Pure localization (the default, Parameters::kMemLocalizationDataSaved() == false) leaves the flag at false even after many update() calls, because nothing needs to be saved.
    • reduceNode(): merging a node into a neighbor mutates the graph and marks the memory as changed (and also raises the link-changed flag).
    • init() dictionary repair: when init() rebuilds the visual word dictionary because words are missing from the database, the flag is forced to true so the regenerated dictionary is saved back on close(), even if no new data was processed.
    @@ -2278,7 +2295,7 @@ Silently disabled by
    Returns
    True if the memory grows on update() (mapping mode), false in localization mode.
    -
    See also
    Parameters::kMemIncrementalMemory()
    +
    See also
    Parameters::kMemIncrementalMemory()

    Definition at line 607 of file Memory.h.

    @@ -2306,10 +2323,10 @@ Silently disabled by -
    Returns
    True in localization mode when database writes are disabled (i.e. isIncremental() is false and Parameters::kMemLocalizationReadOnly() is enabled).
    -
    See also
    Parameters::kMemIncrementalMemory()
    +
    Returns
    True in localization mode when database writes are disabled (i.e. isIncremental() is false and Parameters::kMemLocalizationReadOnly() is enabled).
    +
    See also
    Parameters::kMemIncrementalMemory()
    -Parameters::kMemLocalizationReadOnly()
    +Parameters::kMemLocalizationReadOnly()

    Definition at line 614 of file Memory.h.

    @@ -2338,7 +2355,7 @@ Parameters::kMemLocalizationReadOnly()
    Returns
    True if data added during localization is persisted to the database.
    -
    See also
    Parameters::kMemLocalizationDataSaved()
    +
    See also
    Parameters::kMemLocalizationDataSaved()

    Definition at line 619 of file Memory.h.

    @@ -2556,7 +2573,7 @@ Parameters::kMemLocalizationReadOnly()
    -
    Returns
    True if graph reduction is enabled (Parameters::kMemReduceGraph()).
    +
    Returns
    True if graph reduction is enabled (Parameters::kMemReduceGraph()).

    Definition at line 635 of file Memory.h.

    @@ -2586,8 +2603,8 @@ Parameters::kMemLocalizationReadOnly()
    Returns
    Running per-axis maximum of the diagonal of every neighbor (odometry) link's information matrix observed so far, as a 6-vector (x, y, z, roll, pitch, yaw). Empty until at least one 6x6 neighbor link information matrix has been seen.

    This is a runtime statistic, not a configurable parameter: it is updated on init() (over all loaded neighbor links) and on every update() that adds a new neighbor link.

    -

    It is consumed by Rtabmap::getInformation() when Parameters::kRGBDLoopCovLimited() is enabled, to clip loop-closure information matrices so a loop never claims higher confidence than odometry itself ever provided.

    -
    See also
    Parameters::kRGBDLoopCovLimited()
    +

    It is consumed by Rtabmap::getInformation() when Parameters::kRGBDLoopCovLimited() is enabled, to clip loop-closure information matrices so a loop never claims higher confidence than odometry itself ever provided.

    +
    See also
    Parameters::kRGBDLoopCovLimited()

    Definition at line 653 of file Memory.h.

    @@ -2617,10 +2634,10 @@ Parameters::kMemLocalizationReadOnly()
    Returns
    True if the odometry pose orientation is used (instead of the IMU orientation) as the source of each new node's gravity link.

    When enabled, every new node gets a self-loop Link::kGravity holding the rotation of the odometry pose passed to update(). This assumes odometry is already gravity-aligned (e.g. a VIO front-end). When disabled, the gravity link is built from the IMU orientation in SensorData::imu() if available.

    -

    Gravity links are consumed by graph optimization only when Parameters::kOptimizerGravitySigma() is non-zero.

    -
    See also
    Parameters::kMemUseOdomGravity()
    +

    Gravity links are consumed by graph optimization only when Parameters::kOptimizerGravitySigma() is non-zero.

    +
    See also
    Parameters::kMemUseOdomGravity()
    -Parameters::kOptimizerGravitySigma()
    +Parameters::kOptimizerGravitySigma()

    Definition at line 669 of file Memory.h.

    @@ -3013,7 +3030,7 @@ Parameters::kOptimizerGravitySigma()
    -

    First valid signature id assigned by getNextId() (positive integer).

    +

    First valid signature id assigned to a new signature (positive integer).

    Definition at line 105 of file Memory.h.

    @@ -3101,9 +3118,13 @@ Parameters::kOptimizerGravitySigma()
  • corelib/include/rtabmap/core/Memory.h
    • + -
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    @@ -137,9 +154,12 @@ $(function() { ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual ~ORB() (defined in rtabmap::ORB)rtabmap::ORBvirtual + -
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    Collaboration diagram for rtabmap::ORB:
    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::ORB:
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    [legend]
    +
    [legend]
    +  - + @@ -146,7 +163,7 @@ cv::Mat  - +

    Public Member Functions

    - ORB (const ParametersMap &parameters=ParametersMap())
    ORB (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -184,11 +201,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -237,7 +254,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::ORB::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -335,9 +352,13 @@ static cv::Rect computeRoi
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    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::ORBOctree:
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    [legend]
    +
    [legend]
    +  - + @@ -143,7 +160,7 @@ cv::Mat  - + @@ -184,11 +201,11 @@ Additional Inherited Members +static Feature2D *  +static Feature2D *  + 

    Public Member Functions

    - ORBOctree (const ParametersMap &parameters=ParametersMap())
    ORBOctree (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    virtual bool isGpuAvailable () const
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -237,7 +254,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::ORBOctree::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -306,9 +323,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    rtabmap::OctoMap Member List
    @@ -125,9 +142,12 @@ $(function() {

    Public Member Functions

    - OccupancyGrid (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
    OccupancyGrid (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     
    void setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)
     Subclass hook: merge newPoses into the global map; call addAssembledNode().
     
    - Protected Member Functions inherited from rtabmap::GlobalMap
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     Constructs the base map; subclasses call from their constructor.
     
    const std::map< int, LocalGrid > & cache () const
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
    ~OctoMap() (defined in rtabmap::OctoMap)rtabmap::OctoMapvirtual
    + -
    -Generated by doxygen 1.9.8 -
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  • corelib/include/rtabmap/core/global_map/OctoMap.h
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    -Generated by doxygen 1.9.8 -
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    rtabmap::Odometry Member List
    @@ -119,9 +136,12 @@ $(function() {

    Public Member Functions

    - OctoMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
    OctoMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     
    const RtabmapColorOcTree * octree () const
     
     Subclass hook: merge newPoses into the global map; call addAssembledNode().
     
    - Protected Member Functions inherited from rtabmap::GlobalMap
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
     Constructs the base map; subclasses call from their constructor.
     
    const std::map< int, LocalGrid > & cache () const
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    Type enum namertabmap::Odometry
    ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
    + -
    -Generated by doxygen 1.9.8 -
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    -
    [legend]
    +
    [legend]
    @@ -158,7 +175,7 @@ Public Types , kTypeLIOSAM = 14
    } - +

    Public Types

     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     

    @@ -195,10 +212,10 @@ Public Member Functions

    - - + + - +

    Static Public Member Functions

    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    @@ -207,17 +224,17 @@ Protected Member Functions + 
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     

    Detailed Description

    Abstract base class for visual, lidar and visual-inertial odometry backends.

    -

    Odometry estimates the incremental motion between consecutive SensorData frames. Concrete implementations override computeTransform(); the public process() pipeline handles IMU caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.

    -

    Use create() to instantiate a backend from Parameters::kOdomStrategy().

    -
    See also
    OdometryThread
    +

    Odometry estimates the incremental motion between consecutive SensorData frames. Concrete implementations override computeTransform(); the public process() pipeline handles IMU caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.

    +

    Use create() to instantiate a backend from Parameters::kOdomStrategy().

    +
    See also
    OdometryThread
    -OdometryInfo
    +OdometryInfo

    Definition at line 56 of file Odometry.h.

    Member Enumeration Documentation

    @@ -233,7 +250,7 @@ Protected Member Functions
    -

    Odometry backend selected by Parameters::kOdomStrategy().

    +

    Odometry backend selected by Parameters::kOdomStrategy().

    @@ -286,8 +303,8 @@ Protected Member Functions - - + +
    Enumerator
    kTypeUndef 

    Undefined / invalid type.

    static Odometry * rtabmap::Odometry::create (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -298,7 +315,7 @@ Protected Member Functions
    -

    Creates an odometry instance from Parameters::kOdomStrategy() in parameters.

    +

    Creates an odometry instance from Parameters::kOdomStrategy() in parameters.

    Parameters
    @@ -327,8 +344,8 @@ Protected Member Functions - - + + @@ -388,7 +405,7 @@ Protected Member Functions
    parametersRTAB-Map parameters (odometry strategy and related options).
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    -
    Returns
    Updated integrated pose (getPose()) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in OdometryInfo::transform when info is provided.
    +
    Returns
    Updated integrated pose (getPose()) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in OdometryInfo::transform when info is provided.
    @@ -463,7 +480,7 @@ Protected Member Functions

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -740,7 +757,7 @@ Protected Member Functions
    -
    Returns
    True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()).
    +
    Returns
    True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()).

    Definition at line 134 of file Odometry.h.

    @@ -778,9 +795,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/Odometry.h
    • + -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryCuVSLAM Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryCuVSLAM() (defined in rtabmap::OdometryCuVSLAM)rtabmap::OdometryCuVSLAMvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html index cf4eaa35..d0e9128d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryCuVSLAM:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryCuVSLAM:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryCuVSLAM:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryCuVSLAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryCuVSLAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryCuVSLAM.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.js new file mode 100644 index 00000000..404b7ad1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OdometryCuVSLAM = +[ + [ "reset", "classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742", null ], + [ "getType", "classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO-members.html index 9450b62e..d251766d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryDVO Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryDVO() (defined in rtabmap::OdometryDVO)rtabmap::OdometryDVOvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.html index f35073c8..894b15bf 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryDVO:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryDVO:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryDVO:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryDVO (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryDVO (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryDVO.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.js new file mode 100644 index 00000000..caaf5558 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OdometryDVO = +[ + [ "reset", "classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65", null ], + [ "getType", "classrtabmap_1_1OdometryDVO.html#a8475f5a8b1ba4e288ba58daf6284acc9", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent-members.html index 466c46ba..5fb7e73c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryEvent Member List
    @@ -83,23 +100,26 @@ $(function() {

    This is the complete list of members for rtabmap::OdometryEvent, including all inherited members.

    - - - + + + - - - - + + + + - +
    covariance() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    data() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    data() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    covariance() constrtabmap::OdometryEventinline
    data()rtabmap::OdometryEventinline
    data() constrtabmap::OdometryEventinline
    getClassName() constrtabmap::OdometryEventinlinevirtual
    getCode() constUEventinline
    info() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    OdometryEvent() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    OdometryEvent(const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo()) (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    pose() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    info() constrtabmap::OdometryEventinline
    OdometryEvent()rtabmap::OdometryEventinline
    OdometryEvent(const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())rtabmap::OdometryEventinline
    pose() constrtabmap::OdometryEventinline
    UEvent(int code=0)UEventinlineprotected
    velocity() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
    velocity() constrtabmap::OdometryEventinline
    ~OdometryEvent() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinlinevirtual
    ~UEvent() (defined in UEvent)UEventinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html index e54974ec..aeefa2e3 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -83,30 +100,39 @@ $(function() {
    rtabmap::OdometryEvent Class Reference
    + +

    One processed frame with the pose the odometry integrated for it. + More...

    + +

    #include <OdometryEvent.h>

    Inheritance diagram for rtabmap::OdometryEvent:
    Inheritance graph
    - + -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryEvent:
    Collaboration graph
    - + -
    [legend]
    +
    [legend]
    - + + + + + @@ -119,6 +145,7 @@ Public Member Functions + @@ -133,8 +160,16 @@ Additional Inherited Members

    Public Member Functions

     OdometryEvent (const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
     OdometryEvent ()
     Creates an empty event, with an identity covariance.
     
     OdometryEvent (const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
     Constructor.
     
    virtual std::string getClassName () const
     
    const cv::Mat & covariance () const
     
    std::vector< float > velocity () const
     Linear and angular velocity, from the motion and the frame interval.
     
    const OdometryInfo & info () const
     
     

    Detailed Description

    -
    -

    Definition at line 39 of file OdometryEvent.h.

    +

    One processed frame with the pose the odometry integrated for it.

    +

    Posted by OdometryThread for every frame it processes, and consumed by RtabmapThread, which passes the data and the pose to Rtabmap::process(). A null pose() means odometry is lost on this frame; RtabmapThread reads that as a reset and starts a new map.

    +

    The covariance is always 6x6 CV_64FC1 with positive finite diagonal terms (identity when the front-end did not provide one, i.e. "unknown but valid"). A value ≥ 9999 on the first diagonal term is the convention for a lost estimate.

    +
    See also
    OdometryThread
    +
    +OdometryInfo
    +
    +RtabmapThread
    + +

    Definition at line 56 of file OdometryEvent.h.

    Constructor & Destructor Documentation

    ◆ OdometryEvent() [1/2]

    @@ -159,7 +194,9 @@ Additional Inherited Members
    -

    Definition at line 42 of file OdometryEvent.h.

    +

    Creates an empty event, with an identity covariance.

    + +

    Definition at line 60 of file OdometryEvent.h.

    @@ -203,7 +240,18 @@ Additional Inherited Members
    -

    Definition at line 46 of file OdometryEvent.h.

    +

    Constructor.

    +
    Parameters
    + + + + +
    dataThe frame that was processed.
    poseIntegrated odometry pose, null if odometry is lost.
    infoEverything else the iteration produced.
    +
    +
    +

    An empty covariance in info is replaced by identity; otherwise it must be 6x6 CV_64FC1 with finite, strictly positive diagonal terms.

    + +

    Definition at line 73 of file OdometryEvent.h.

    @@ -230,7 +278,7 @@ Additional Inherited Members
    -

    Definition at line 66 of file OdometryEvent.h.

    +

    Definition at line 93 of file OdometryEvent.h.

    @@ -261,7 +309,7 @@ Additional Inherited Members

    Implements UEvent.

    -

    Definition at line 67 of file OdometryEvent.h.

    +

    Definition at line 94 of file OdometryEvent.h.

    @@ -287,8 +335,9 @@ Additional Inherited Members
    +
    Returns
    The processed frame, modifiable (e.g. to attach user data).
    -

    Definition at line 69 of file OdometryEvent.h.

    +

    Definition at line 97 of file OdometryEvent.h.

    @@ -314,8 +363,9 @@ Additional Inherited Members
    +
    Returns
    The processed frame.
    -

    Definition at line 70 of file OdometryEvent.h.

    +

    Definition at line 99 of file OdometryEvent.h.

    @@ -341,8 +391,9 @@ Additional Inherited Members
    +
    Returns
    Integrated odometry pose, null if odometry was lost on this frame.
    -

    Definition at line 71 of file OdometryEvent.h.

    +

    Definition at line 101 of file OdometryEvent.h.

    @@ -368,8 +419,9 @@ Additional Inherited Members
    +
    Returns
    6x6 covariance of the motion estimate (CV_64FC1).
    -

    Definition at line 72 of file OdometryEvent.h.

    +

    Definition at line 103 of file OdometryEvent.h.

    @@ -396,7 +448,10 @@ Additional Inherited Members
    -

    Definition at line 73 of file OdometryEvent.h.

    +

    Linear and angular velocity, from the motion and the frame interval.

    +
    Returns
    (vx, vy, vz, vroll, vpitch, vyaw) in m/s and rad/s, or an empty vector when the interval is unknown.
    + +

    Definition at line 109 of file OdometryEvent.h.

    @@ -422,8 +477,9 @@ Additional Inherited Members
    +
    Returns
    Quality indicators, timings and intermediate data of the iteration.
    -

    Definition at line 89 of file OdometryEvent.h.

    +

    Definition at line 126 of file OdometryEvent.h.

    @@ -431,9 +487,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/OdometryEvent.h
    • + -
    -Generated by doxygen 1.9.8 -
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    [legend]
    Collaboration diagram for rtabmap::OdometryF2F:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryF2F:
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    [legend]
    +
    [legend]
    +  @@ -167,20 +184,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryF2F (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryF2F (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -215,7 +232,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -285,9 +302,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryF2F.h
    • + -
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    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryF2M:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryF2M:
    -
    [legend]
    +
    [legend]
    +  @@ -169,20 +186,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -217,7 +234,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -314,9 +331,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryF2M.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
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    rtabmap::OdometryFLOAM Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryFLOAM() (defined in rtabmap::OdometryFLOAM)rtabmap::OdometryFLOAMvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryFLOAM:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryFLOAM:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryFLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryFLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryFLOAM.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
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    - -
    rtabmap::OdometryFovis Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryFovis() (defined in rtabmap::OdometryFovis)rtabmap::OdometryFovisvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryFovis:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryFovis:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryFovis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryFovis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryFovis.h
    • + -
    -Generated by doxygen 1.9.8 -
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
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    + +
    - -
    rtabmap::OdometryInfo Member List
    @@ -83,49 +100,52 @@ $(function() {

    This is the complete list of members for rtabmap::OdometryInfo, including all inherited members.

    - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + - - - - - - - - - - - - + + + + + + + + + + + +
    copyWithoutData() const (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    cornerInliers (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    distanceTravelled (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    features (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    gravityPitchError (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    gravityRollError (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    guess (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    guessVelocity (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    interval (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    keyFrameAdded (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleAvgInlierDistance (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleConstraints (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleMaxKeyFramesForInlier (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleModels (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleOutliers (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleOutliersPerCam (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundlePoses (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localBundleTime (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localKeyFrames (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localMap (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localMapSize (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localScanMap (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    localScanMapSize (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    lost (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    memoryUsage (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    newCorners (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    copyWithoutData() constrtabmap::OdometryInfo
    cornerInliersrtabmap::OdometryInfo
    distanceTravelledrtabmap::OdometryInfo
    featuresrtabmap::OdometryInfo
    gravityPitchErrorrtabmap::OdometryInfo
    gravityRollErrorrtabmap::OdometryInfo
    guessrtabmap::OdometryInfo
    guessVelocityrtabmap::OdometryInfo
    intervalrtabmap::OdometryInfo
    keyFrameAddedrtabmap::OdometryInfo
    localBundleAvgInlierDistancertabmap::OdometryInfo
    localBundleConstraintsrtabmap::OdometryInfo
    localBundleMaxKeyFramesForInlierrtabmap::OdometryInfo
    localBundleModelsrtabmap::OdometryInfo
    localBundleOutliersrtabmap::OdometryInfo
    localBundleOutliersPerCamrtabmap::OdometryInfo
    localBundlePosesrtabmap::OdometryInfo
    localBundleTimertabmap::OdometryInfo
    localKeyFramesrtabmap::OdometryInfo
    localMaprtabmap::OdometryInfo
    localMapSizertabmap::OdometryInfo
    localScanMaprtabmap::OdometryInfo
    localScanMapSizertabmap::OdometryInfo
    lostrtabmap::OdometryInfo
    memoryUsagertabmap::OdometryInfo
    newCornersrtabmap::OdometryInfo
    OdometryInfo() (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    refCorners (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    reg (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    stamp (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    statistics(const Transform &pose=Transform()) (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    timeDeskewing (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    timeEstimation (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    timeParticleFiltering (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    transform (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    transformFiltered (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    transformGroundTruth (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    type (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    words (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
    refCornersrtabmap::OdometryInfo
    regrtabmap::OdometryInfo
    stamprtabmap::OdometryInfo
    statistics(const Transform &pose=Transform())rtabmap::OdometryInfo
    timeDeskewingrtabmap::OdometryInfo
    timeEstimationrtabmap::OdometryInfo
    timeParticleFilteringrtabmap::OdometryInfo
    transformrtabmap::OdometryInfo
    transformFilteredrtabmap::OdometryInfo
    transformGroundTruthrtabmap::OdometryInfo
    typertabmap::OdometryInfo
    wordsrtabmap::OdometryInfo
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html index 54747848..0d7ee6e0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -84,12 +101,17 @@ $(function() {
    rtabmap::OdometryInfo Class Reference
    + +

    What one Odometry iteration produced, beyond the pose. + More...

    + +

    #include <OdometryInfo.h>

    Collaboration diagram for rtabmap::OdometryInfo:
    Collaboration graph
    - + @@ -97,96 +119,168 @@ Collaboration diagram for rtabmap::OdometryInfo:
    -
    [legend]
    +
    [legend]
    + - + +

    Public Member Functions

    OdometryInfo copyWithoutData () const
     A copy without the heavy members (features, local map, scan).
     
    -std::map< std::string, float > statistics (const Transform &pose=Transform())
    std::map< std::string, float > statistics (const Transform &pose=Transform())
     Formats the content as the Odometry/... statistics.
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    Public Attributes

    bool lost
     True when the motion could not be estimated on this frame (transform is then null).
     
    RegistrationInfo reg
     Registration result: matches, inliers, covariance, ICP indicators and timings.
     
    int features
     Number of features extracted in the current frame.
     
    int localMapSize
     Number of 3D points in the local feature map (F2M).
     
    int localScanMapSize
     Number of points in the local scan map (F2M).
     
    int localKeyFrames
     Number of key frames forming the local map (F2M).
     
    int localBundleOutliers
     Features rejected by the last local bundle adjustment.
     
    int localBundleConstraints
     Feature observations kept by the last local bundle adjustment.
     
    float localBundleTime
     Time spent in the local bundle adjustment (s).
     
    std::map< int, Transform > localBundlePoses
     Key frame poses optimized by the local bundle adjustment.
     
    std::map< int, std::vector< CameraModel > > localBundleModels
     Camera models of localBundlePoses.
     
    float localBundleAvgInlierDistance
     Average distance of the bundle adjustment inliers (m).
     
    int localBundleMaxKeyFramesForInlier
     Highest number of key frames observing a same inlier.
     
    std::vector< int > localBundleOutliersPerCam
     Outliers of the last local bundle adjustment, per camera.
     
    bool keyFrameAdded
     True if this frame became a key frame of the local map.
     
    float timeDeskewing
     Time spent deskewing the laser scan (s).
     
    float timeEstimation
     Time spent estimating the motion (s).
     
    float timeParticleFiltering
     Time spent in the particle filter (s), when enabled.
     
    double stamp
     Stamp of the processed frame.
     
    double interval
     Time since the previous processed frame (s); the divisor for velocities.
     
    Transform transform
     Motion since the previous frame, null when lost.
     
    Transform transformFiltered
     transform after Kalman or particle filtering, when enabled.
     
    Transform transformGroundTruth
     Ground truth motion since the previous frame, when the data provides it.
     
    Transform guessVelocity
     
    Transform guess
     Motion guess given to the front-end (from the velocity model, an external pose or an IMU).
     
    float distanceTravelled
     Distance travelled since the odometry was last reset (m).
     
    int memoryUsage
     Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().
     
    double gravityRollError
     Absolute roll difference between the estimated pose and the IMU gravity (rad).
     
    double gravityPitchError
     Absolute pitch difference between the estimated pose and the IMU gravity (rad).
     
    int type
     Odometry strategy that produced this, see Parameters::kOdomStrategy().
     
    std::multimap< int, cv::KeyPoint > words
     Keypoints of the current frame, by word id (F2M).
     
    std::map< int, cv::Point3f > localMap
     Local feature map in the odometry frame, by word id (F2M).
     
    LaserScan localScanMap
     Local scan map in the odometry frame (F2M).
     
    std::vector< cv::Point2f > refCorners
     Corners of the reference frame (F2F).
     
    std::vector< cv::Point2f > newCorners
     Where those corners were found in the current frame (F2F).
     
    std::vector< int > cornerInliers
     Indices in refCorners / newCorners kept as inliers (F2F).
     

    Detailed Description

    -
    -

    Definition at line 45 of file OdometryInfo.h.

    -

    Member Data Documentation

    +

    What one Odometry iteration produced, beyond the pose.

    +

    Filled by Odometry::process() when a pointer is passed to it, and carried to the rest of the application by OdometryEvent. It holds the incremental motion, the quality indicators used to decide whether the estimate can be trusted, the timings, and the intermediate data a viewer needs to draw what the front-end sees (local map, matched features).

    +

    Which fields are filled depends on the front-end: the feature-related ones come from OdometryF2M and OdometryF2F, and an ICP-only or external strategy leaves them empty.

    +
    See also
    Odometry
    +
    +OdometryEvent
    +
    +RegistrationInfo
    + +

    Definition at line 63 of file OdometryInfo.h.

    +

    Member Function Documentation

    + +

    ◆ statistics()

    + +
    +
    + + + + + + + + +
    std::map< std::string, float > rtabmap::OdometryInfo::statistics (const Transform & pose = Transform())
    +
    + +

    Formats the content as the Odometry/... statistics.

    +
    Parameters
    + + +
    poseCurrent pose, added to the output when not null.
    +
    +
    +
    Returns
    Statistic name (with its unit) to value, as published in Statistics.
    + +
    +
    +

    Member Data Documentation

    ◆ lost

    @@ -199,7 +293,9 @@ Public Attributes
    -

    Definition at line 52 of file OdometryInfo.h.

    +

    True when the motion could not be estimated on this frame (transform is then null).

    + +

    Definition at line 76 of file OdometryInfo.h.

    @@ -215,7 +311,9 @@ Public Attributes
    -

    Definition at line 53 of file OdometryInfo.h.

    +

    Registration result: matches, inliers, covariance, ICP indicators and timings.

    + +

    Definition at line 77 of file OdometryInfo.h.

    @@ -231,7 +329,9 @@ Public Attributes
    -

    Definition at line 54 of file OdometryInfo.h.

    +

    Number of features extracted in the current frame.

    + +

    Definition at line 78 of file OdometryInfo.h.

    @@ -247,7 +347,9 @@ Public Attributes
    -

    Definition at line 55 of file OdometryInfo.h.

    +

    Number of 3D points in the local feature map (F2M).

    + +

    Definition at line 79 of file OdometryInfo.h.

    @@ -263,7 +365,9 @@ Public Attributes
    -

    Definition at line 56 of file OdometryInfo.h.

    +

    Number of points in the local scan map (F2M).

    + +

    Definition at line 80 of file OdometryInfo.h.

    @@ -279,7 +383,9 @@ Public Attributes
    -

    Definition at line 57 of file OdometryInfo.h.

    +

    Number of key frames forming the local map (F2M).

    + +

    Definition at line 81 of file OdometryInfo.h.

    @@ -295,7 +401,9 @@ Public Attributes
    -

    Definition at line 58 of file OdometryInfo.h.

    +

    Features rejected by the last local bundle adjustment.

    + +

    Definition at line 82 of file OdometryInfo.h.

    @@ -311,7 +419,9 @@ Public Attributes
    -

    Definition at line 59 of file OdometryInfo.h.

    +

    Feature observations kept by the last local bundle adjustment.

    + +

    Definition at line 83 of file OdometryInfo.h.

    @@ -327,7 +437,9 @@ Public Attributes
    -

    Definition at line 60 of file OdometryInfo.h.

    +

    Time spent in the local bundle adjustment (s).

    + +

    Definition at line 84 of file OdometryInfo.h.

    @@ -343,7 +455,9 @@ Public Attributes
    -

    Definition at line 61 of file OdometryInfo.h.

    +

    Key frame poses optimized by the local bundle adjustment.

    + +

    Definition at line 85 of file OdometryInfo.h.

    @@ -359,7 +473,9 @@ Public Attributes
    -

    Definition at line 62 of file OdometryInfo.h.

    +

    Camera models of localBundlePoses.

    + +

    Definition at line 86 of file OdometryInfo.h.

    @@ -375,7 +491,9 @@ Public Attributes
    -

    Definition at line 63 of file OdometryInfo.h.

    +

    Average distance of the bundle adjustment inliers (m).

    + +

    Definition at line 87 of file OdometryInfo.h.

    @@ -391,7 +509,9 @@ Public Attributes
    -

    Definition at line 64 of file OdometryInfo.h.

    +

    Highest number of key frames observing a same inlier.

    + +

    Definition at line 88 of file OdometryInfo.h.

    @@ -407,7 +527,9 @@ Public Attributes
    -

    Definition at line 65 of file OdometryInfo.h.

    +

    Outliers of the last local bundle adjustment, per camera.

    + +

    Definition at line 89 of file OdometryInfo.h.

    @@ -423,7 +545,9 @@ Public Attributes
    -

    Definition at line 66 of file OdometryInfo.h.

    +

    True if this frame became a key frame of the local map.

    + +

    Definition at line 90 of file OdometryInfo.h.

    @@ -439,7 +563,9 @@ Public Attributes
    -

    Definition at line 67 of file OdometryInfo.h.

    +

    Time spent deskewing the laser scan (s).

    + +

    Definition at line 91 of file OdometryInfo.h.

    @@ -455,7 +581,9 @@ Public Attributes
    -

    Definition at line 68 of file OdometryInfo.h.

    +

    Time spent estimating the motion (s).

    + +

    Definition at line 92 of file OdometryInfo.h.

    @@ -471,7 +599,9 @@ Public Attributes
    -

    Definition at line 69 of file OdometryInfo.h.

    +

    Time spent in the particle filter (s), when enabled.

    + +

    Definition at line 93 of file OdometryInfo.h.

    @@ -487,7 +617,9 @@ Public Attributes
    -

    Definition at line 70 of file OdometryInfo.h.

    +

    Stamp of the processed frame.

    + +

    Definition at line 94 of file OdometryInfo.h.

    @@ -503,7 +635,9 @@ Public Attributes
    -

    Definition at line 71 of file OdometryInfo.h.

    +

    Time since the previous processed frame (s); the divisor for velocities.

    + +

    Definition at line 95 of file OdometryInfo.h.

    @@ -519,7 +653,9 @@ Public Attributes
    -

    Definition at line 72 of file OdometryInfo.h.

    +

    Motion since the previous frame, null when lost.

    + +

    Definition at line 96 of file OdometryInfo.h.

    @@ -535,7 +671,9 @@ Public Attributes
    -

    Definition at line 73 of file OdometryInfo.h.

    +

    transform after Kalman or particle filtering, when enabled.

    + +

    Definition at line 97 of file OdometryInfo.h.

    @@ -551,7 +689,9 @@ Public Attributes
    -

    Definition at line 74 of file OdometryInfo.h.

    +

    Ground truth motion since the previous frame, when the data provides it.

    + +

    Definition at line 98 of file OdometryInfo.h.

    @@ -566,8 +706,9 @@ Public Attributes
    +
    Deprecated:
    Use guess and interval instead.
    -

    Definition at line 75 of file OdometryInfo.h.

    +

    Definition at line 99 of file OdometryInfo.h.

    @@ -583,7 +724,9 @@ Public Attributes
    -

    Definition at line 76 of file OdometryInfo.h.

    +

    Motion guess given to the front-end (from the velocity model, an external pose or an IMU).

    + +

    Definition at line 100 of file OdometryInfo.h.

    @@ -599,7 +742,9 @@ Public Attributes
    -

    Definition at line 77 of file OdometryInfo.h.

    +

    Distance travelled since the odometry was last reset (m).

    + +

    Definition at line 101 of file OdometryInfo.h.

    @@ -615,7 +760,9 @@ Public Attributes
    -

    Definition at line 78 of file OdometryInfo.h.

    +

    Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().

    + +

    Definition at line 102 of file OdometryInfo.h.

    @@ -631,7 +778,9 @@ Public Attributes
    -

    Definition at line 79 of file OdometryInfo.h.

    +

    Absolute roll difference between the estimated pose and the IMU gravity (rad).

    + +

    Definition at line 103 of file OdometryInfo.h.

    @@ -647,7 +796,9 @@ Public Attributes
    -

    Definition at line 80 of file OdometryInfo.h.

    +

    Absolute pitch difference between the estimated pose and the IMU gravity (rad).

    + +

    Definition at line 104 of file OdometryInfo.h.

    @@ -663,7 +814,9 @@ Public Attributes
    -

    Definition at line 82 of file OdometryInfo.h.

    +

    Odometry strategy that produced this, see Parameters::kOdomStrategy().

    + +

    Definition at line 106 of file OdometryInfo.h.

    @@ -679,7 +832,9 @@ Public Attributes
    -

    Definition at line 85 of file OdometryInfo.h.

    +

    Keypoints of the current frame, by word id (F2M).

    + +

    Definition at line 109 of file OdometryInfo.h.

    @@ -695,7 +850,9 @@ Public Attributes
    -

    Definition at line 86 of file OdometryInfo.h.

    +

    Local feature map in the odometry frame, by word id (F2M).

    + +

    Definition at line 110 of file OdometryInfo.h.

    @@ -711,7 +868,9 @@ Public Attributes
    -

    Definition at line 87 of file OdometryInfo.h.

    +

    Local scan map in the odometry frame (F2M).

    + +

    Definition at line 111 of file OdometryInfo.h.

    @@ -727,7 +886,9 @@ Public Attributes
    -

    Definition at line 90 of file OdometryInfo.h.

    +

    Corners of the reference frame (F2F).

    + +

    Definition at line 114 of file OdometryInfo.h.

    @@ -743,7 +904,9 @@ Public Attributes
    -

    Definition at line 91 of file OdometryInfo.h.

    +

    Where those corners were found in the current frame (F2F).

    + +

    Definition at line 115 of file OdometryInfo.h.

    @@ -759,7 +922,9 @@ Public Attributes
    -

    Definition at line 92 of file OdometryInfo.h.

    +

    Indices in refCorners / newCorners kept as inliers (F2F).

    + +

    Definition at line 116 of file OdometryInfo.h.

    @@ -767,9 +932,13 @@ Public Attributes
  • corelib/include/rtabmap/core/OdometryInfo.h
    • + -
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    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryLIOSAM() (defined in rtabmap::OdometryLIOSAM)rtabmap::OdometryLIOSAMvirtual + -
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    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    [legend]
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    [legend]
    Collaboration diagram for rtabmap::OdometryLIOSAM:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryLIOSAM:
     -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryLIOSAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryLIOSAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -286,9 +303,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryLIOSAM.h
    • + -
    -Generated by doxygen 1.9.8 -
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    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryLOAM() (defined in rtabmap::OdometryLOAM)rtabmap::OdometryLOAMvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    + +
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    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryLOAM:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryLOAM:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryLOAM.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryMSCKF Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryMSCKF() (defined in rtabmap::OdometryMSCKF)rtabmap::OdometryMSCKFvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMSCKF.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMSCKF.html index d1230676..12179479 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMSCKF.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMSCKF.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryMSCKF:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryMSCKF:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryMSCKF:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryMSCKF (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryMSCKF (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -316,9 +333,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryMSCKF.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryMono Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryMono() (defined in rtabmap::OdometryMono)rtabmap::OdometryMonovirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMono.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMono.html index 7156a9f3..157cf609 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMono.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMono.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryMono:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryMono:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryMono:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose)
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryMono.h
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    rtabmap::OdometryORBSLAM2 Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryORBSLAM2() (defined in rtabmap::OdometryORBSLAM2)rtabmap::OdometryORBSLAM2virtual + -
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryORBSLAM2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryORBSLAM2:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryORBSLAM2:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryORBSLAM2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryORBSLAM2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryORBSLAM2.h
    • + -
    -Generated by doxygen 1.9.8 -
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
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    - -
    rtabmap::OdometryORBSLAM3 Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryORBSLAM3() (defined in rtabmap::OdometryORBSLAM3)rtabmap::OdometryORBSLAM3virtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.html index d8b4a497..1be1100e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
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    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryORBSLAM3:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryORBSLAM3:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryORBSLAM3:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryORBSLAM3 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryORBSLAM3 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -284,9 +301,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryORBSLAM3.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.js new file mode 100644 index 00000000..6893006e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1OdometryORBSLAM3 = +[ + [ "reset", "classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93", null ], + [ "getType", "classrtabmap_1_1OdometryORBSLAM3.html#a6a4161d9be51ff66e3571ba912655029", null ], + [ "canProcessAsyncIMU", "classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis-members.html index c651de93..e8a7e128 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryOkvis Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryOkvis() (defined in rtabmap::OdometryOkvis)rtabmap::OdometryOkvisvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html index f3cc51fa..63739a5c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryOkvis:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryOkvis:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryOkvis:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryOkvis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryOkvis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -316,9 +333,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryOkvis.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.js new file mode 100644 index 00000000..e41d01bf --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OdometryOkvis = +[ + [ "reset", "classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118", null ], + [ "getType", "classrtabmap_1_1OdometryOkvis.html#ab93efd88da4ff30e4ee4a0ec525347d8", null ], + [ "canProcessRawImages", "classrtabmap_1_1OdometryOkvis.html#ad4d4602445081fff30b74d1c7e22dbff", null ], + [ "canProcessAsyncIMU", "classrtabmap_1_1OdometryOkvis.html#a4e94c233112e7105dffa37eb8d33427f", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D-members.html index ea7a5440..d6591175 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryOpen3D Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryOpen3D() (defined in rtabmap::OdometryOpen3D)rtabmap::OdometryOpen3Dvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.html index 17a359d3..0960748c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryOpen3D:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryOpen3D:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryOpen3D:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryOpen3D (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryOpen3D (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryOpen3D.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.js new file mode 100644 index 00000000..9d325750 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpen3D.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OdometryOpen3D = +[ + [ "reset", "classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970", null ], + [ "getType", "classrtabmap_1_1OdometryOpen3D.html#a79c86c26bd892619797d6266243bb8d6", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html index e138d3d4..80a38aa5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryOpenVINS Member List
    @@ -120,9 +137,12 @@ $(function() { Type enum namertabmap::Odometry ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html index c6c6cc52..8f1c2c25 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryOpenVINS:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryOpenVINS:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryOpenVINS:
    -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryOpenVINS (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryOpenVINS (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -316,9 +333,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.js new file mode 100644 index 00000000..e04b7499 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OdometryOpenVINS = +[ + [ "reset", "classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b", null ], + [ "getType", "classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387", null ], + [ "canProcessRawImages", "classrtabmap_1_1OdometryOpenVINS.html#aed27c46aa9ddc68c59eb09f2b3a9d3d0", null ], + [ "canProcessAsyncIMU", "classrtabmap_1_1OdometryOpenVINS.html#a7712fe74d5ff65a67fe362010b795e14", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html index cd7b9da6..83cd5a5a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryResetEvent Member List
    @@ -85,15 +102,18 @@ $(function() { - - + +
    getClassName() constrtabmap::OdometryResetEventinlinevirtual
    getCode() constUEventinline
    getPose() const (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinline
    OdometryResetEvent(const Transform &pose=Transform::getIdentity()) (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinline
    getPose() constrtabmap::OdometryResetEventinline
    OdometryResetEvent(const Transform &pose=Transform::getIdentity())rtabmap::OdometryResetEventinline
    UEvent(int code=0)UEventinlineprotected
    ~OdometryResetEvent() (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinlinevirtual
    ~UEvent() (defined in UEvent)UEventinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html index c7f7001f..5e9262d5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -83,26 +100,31 @@ $(function() {
    rtabmap::OdometryResetEvent Class Reference
    + +

    Asks OdometryThread to restart the odometry from a given pose. + More...

    + +

    #include <OdometryEvent.h>

    Inheritance diagram for rtabmap::OdometryResetEvent:
    Inheritance graph
    - + -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryResetEvent:
    Collaboration graph
    - + -
    [legend]
    +
    [legend]
    @@ -123,8 +145,13 @@ Additional Inherited Members

    Public Member Functions

     

    Detailed Description

    -
    -

    Definition at line 97 of file OdometryEvent.h.

    +

    Asks OdometryThread to restart the odometry from a given pose.

    +

    The buffered frames and IMU samples are dropped, and the integration starts over from getPose(). Handled even before the thread is started.

    +
    See also
    OdometryThread
    +
    +Odometry::reset()
    + +

    Definition at line 144 of file OdometryEvent.h.

    Constructor & Destructor Documentation

    ◆ OdometryResetEvent()

    @@ -149,8 +176,14 @@ Additional Inherited Members
    +
    Parameters
    + + +
    posePose to restart from (identity by default).
    +
    +
    -

    Definition at line 100 of file OdometryEvent.h.

    +

    Definition at line 148 of file OdometryEvent.h.

    @@ -177,7 +210,7 @@ Additional Inherited Members
    -

    Definition at line 101 of file OdometryEvent.h.

    +

    Definition at line 149 of file OdometryEvent.h.

    @@ -208,7 +241,7 @@ Additional Inherited Members

    Implements UEvent.

    -

    Definition at line 102 of file OdometryEvent.h.

    +

    Definition at line 150 of file OdometryEvent.h.

    @@ -234,8 +267,9 @@ Additional Inherited Members
    +
    Returns
    The pose the odometry should restart from.
    -

    Definition at line 103 of file OdometryEvent.h.

    +

    Definition at line 152 of file OdometryEvent.h.

    @@ -243,9 +277,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/OdometryEvent.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.js new file mode 100644 index 00000000..aa063306 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.js @@ -0,0 +1,6 @@ +var classrtabmap_1_1OdometryResetEvent = +[ + [ "OdometryResetEvent", "classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3", null ], + [ "getClassName", "classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d", null ], + [ "getPose", "classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.map index 00bc018d..99e5ba6a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.md5 index 23585b85..97926a90 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__coll__graph.md5 @@ -1 +1 @@ -bc601a474947b14f52ccaef76abdcb59 \ No newline at end of file +904c06da19d21d105fe39ddaf838a444 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.map index 00bc018d..99e5ba6a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.md5 index 23585b85..97926a90 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent__inherit__graph.md5 @@ -1 +1 @@ -bc601a474947b14f52ccaef76abdcb59 \ No newline at end of file +904c06da19d21d105fe39ddaf838a444 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread-members.html index ca551115..a1dff9fe 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryThread Member List
    @@ -109,7 +126,7 @@ $(function() { kPLow enum value (defined in UThread)UThread kPNormal enum value (defined in UThread)UThread kPRealTime enum value (defined in UThread)UThread - OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1) (defined in rtabmap::OdometryThread)rtabmap::OdometryThread + OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)rtabmap::OdometryThread post(UEvent *event, bool async=true) constUEventsSenderprotected Priority enum nameUThread registerToEventsManager() (defined in UEventsHandler)UEventsHandler @@ -133,9 +150,12 @@ $(function() { ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html index 5a1088ae..b43aaef4 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -84,12 +101,17 @@ $(function() {
    rtabmap::OdometryThread Class Reference
    + +

    Runs an Odometry front-end in its own thread, driven by events. + More...

    + +

    #include <OdometryThread.h>

    Inheritance diagram for rtabmap::OdometryThread:
    Inheritance graph
    - + @@ -99,13 +121,13 @@ Inheritance diagram for rtabmap::OdometryThread:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryThread:
    Collaboration graph
    - + @@ -115,12 +137,12 @@ Collaboration diagram for rtabmap::OdometryThread:
    -
    [legend]
    +
    [legend]
    - + + @@ -169,6 +191,7 @@ void  + @@ -236,9 +259,62 @@ Additional Inherited Members

    Public Member Functions

    - OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)
     OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)
     Constructor.
     
    - Public Member Functions inherited from UThread
     UThread (Priority priority=kPNormal)
    unregisterFromEventsM

    Protected Member Functions

    virtual bool handleEvent (UEvent *event)
     Receives the events listed in the class description.
     
    - Protected Member Functions inherited from UEventsHandler
     UEventsHandler ()
     

    Detailed Description

    -
    -

    Definition at line 42 of file OdometryThread.h.

    -

    Member Function Documentation

    +

    Runs an Odometry front-end in its own thread, driven by events.

    +

    The thread owns the Odometry object and calls Odometry::process() on the frames it receives, so that a slow odometry update does not block the sensor thread. It sits in the middle of the event-based pipeline: SensorCaptureThread → OdometryThread → RtabmapThread.

    +

    Input events (handled in handleEvent(), i.e. in the caller's thread):

      +
    • SensorEvent — a frame to process. It is rejected with an error if it carries neither a laser scan nor an image with its calibration (an OdometryMono front-end accepts RGB alone).
      • +
    • IMUEvent — an IMU sample, kept in a separate buffer.
      • +
    • OdometryResetEvent — resets the odometry to the pose it carries (identity if null) and drops everything buffered. Unlike the others, it is handled even before the thread is started.
      • +
    +

    Output event: one OdometryEvent per processed frame, carrying the data, the integrated pose and the OdometryInfo. A null pose means odometry is lost; that is what RtabmapThread reads to start a new map.

    +

    Buffering. The frame buffer holds dataBufferMaxSize frames and drops the oldest when full, so with the default size of 1 the odometry always works on the freshest frame rather than falling behind. IMU samples are buffered apart and fed to the odometry up to the stamp of the frame about to be processed, so that tightly-coupled back-ends see them in order. A frame whose stamp falls outside the buffered IMU window is skipped with a warning: with an asynchronous IMU, it must be published faster (less delay) than the camera or lidar.

    +

    When the incoming SensorEvent already carries an odometry pose (a robot publishing its own odometry), the motion between two consecutive such poses is passed to Odometry::process() as a guess.

    +
    See also
    Odometry
    +
    +RtabmapThread
    +
    +SensorCaptureThread
    + +

    Definition at line 80 of file OdometryThread.h.

    +

    Constructor & Destructor Documentation

    + +

    ◆ OdometryThread()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    rtabmap::OdometryThread::OdometryThread (Odometry * odometry,
    unsigned int dataBufferMaxSize = 1 
    )
    +
    + +

    Constructor.

    +
    Parameters
    + + + +
    odometryThe odometry to run; must not be null. The thread takes ownership and deletes it in the destructor.
    dataBufferMaxSizeMaximum number of frames waiting to be processed (0 = unlimited). Beyond that the oldest frame is dropped, keeping the odometry on recent data.
    +
    +
    + +
    +
    +

    Member Function Documentation

    ◆ handleEvent()

    @@ -262,9 +338,10 @@ Additional Inherited Members
    -

    Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

    Returns
    "true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
    -
    -"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.
    + +

    Receives the events listed in the class description.

    +

    Runs in the posting thread: frames and IMU samples are only buffered here, the odometry itself runs in the thread's main loop. Data events are ignored until the thread is started, an OdometryResetEvent is not.

    +
    Returns
    Always false, so the event keeps being dispatched to other handlers.

    Implements UEventsHandler.

    @@ -274,9 +351,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/OdometryThread.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.js new file mode 100644 index 00000000..acef6de1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OdometryThread = +[ + [ "OdometryThread", "classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b", null ], + [ "handleEvent", "classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map index 32728eb4..823e2735 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 index b7a4cd38..c609e9b4 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 @@ -1 +1 @@ -4e35d5c93c28ebac9c73ce9927f75d85 \ No newline at end of file +572060719adb6bf3849ac8c4c3adb06a \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.map index 32728eb4..823e2735 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.md5 index b7a4cd38..c609e9b4 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__inherit__graph.md5 @@ -1 +1 @@ -4e35d5c93c28ebac9c73ce9927f75d85 \ No newline at end of file +572060719adb6bf3849ac8c4c3adb06a \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html index 1db939f3..553432a2 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryVINSFusion Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryVINSFusion() (defined in rtabmap::OdometryVINSFusion)rtabmap::OdometryVINSFusionvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html index ea4be4bf..d8f37d4b 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryVINSFusion:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryVINSFusion:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryVINSFusion:
     -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryVINSFusion (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryVINSFusion (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -316,9 +333,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryVINSFusion.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.js new file mode 100644 index 00000000..1ddf44de --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OdometryVINSFusion = +[ + [ "reset", "classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3", null ], + [ "getType", "classrtabmap_1_1OdometryVINSFusion.html#ac7e841322ccadfcfdec61cc3b698754a", null ], + [ "canProcessRawImages", "classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134", null ], + [ "canProcessAsyncIMU", "classrtabmap_1_1OdometryVINSFusion.html#a1a3145c62e7b0b43cfb5a94f61d2c9d1", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2-members.html index 239648e2..5f29a6e5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OdometryViso2 Member List
    @@ -121,9 +138,12 @@ $(function() { ~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual ~OdometryViso2() (defined in rtabmap::OdometryViso2)rtabmap::OdometryViso2virtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.html index 57255989..84955cfb 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryViso2:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OdometryViso2:
    @@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryViso2:
     -
    [legend]
    +
    [legend]
    +  @@ -165,20 +182,20 @@ Additional Inherited Members , kTypeLIOSAM = 14
    } - + - - + + - + + 

    Public Member Functions

    - OdometryViso2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
    OdometryViso2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
     
    virtual void reset (const Transform &initialPose=Transform::getIdentity())
     Resets internal state and sets the initial pose.
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     Odometry backend selected by Parameters::kOdomStrategy(). More...
     
    - Static Public Member Functions inherited from rtabmap::Odometry
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    static Odometry * create (const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
     
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
    static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates an odometry instance of a given type.
     
    - Protected Member Functions inherited from rtabmap::Odometry
    const std::map< double, Transform > & imus () const
     
    - Odometry (const rtabmap::ParametersMap &parameters)
    Odometry (const rtabmap::ParametersMap &parameters)
     Constructs the base odometry state from RTAB-Map parameters.
     
    @@ -213,7 +230,7 @@ Additional Inherited Members

    Resets internal state and sets the initial pose.

    Parameters
    - +
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
    @@ -256,9 +273,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/odometry/OdometryViso2.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.js b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.js new file mode 100644 index 00000000..c53fb83f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryViso2.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OdometryViso2 = +[ + [ "reset", "classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c", null ], + [ "getType", "classrtabmap_1_1OdometryViso2.html#ae9bf8422bbf6d2c880098b828b5d6187", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer-members.html index 4a874ae7..f052c2bc 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Optimizer Member List
    @@ -124,9 +141,12 @@ $(function() { Type enum namertabmap::Optimizer ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.html b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.html index c117e974..f0b8fd05 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -108,7 +125,7 @@ Inheritance diagram for rtabmap::Optimizer:
    -
    [legend]
    +
    [legend]
    @@ -133,7 +150,7 @@ Public Member Functions - + @@ -148,17 +165,17 @@ Public Member Functions - + +std::map< int, Transform >  - + @@ -209,21 +226,21 @@ Static Public Member Functions - - + + +static Optimizer * 

    Public Types

    virtual Type type () const =0
     Returns the concrete back-end identifier (one of Type).
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    Getters for tunables shared across back-ends.
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    +  + 

    Protected Member Functions

    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -339,7 +356,7 @@ Protected Member Functions static Optimizer * rtabmap::Optimizer::create ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -351,7 +368,7 @@ Protected Member Functions
    -

    Factory: build an optimizer from a ParametersMap.

    +

    Factory: build an optimizer from a ParametersMap.

    Reads Optimizer/Strategy from parameters; falls back to the default strategy if the chosen back-end isn't compiled in. Caller owns the returned pointer.

    @@ -902,7 +919,7 @@ Protected Member Functions virtual void rtabmap::Optimizer::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -1262,8 +1279,8 @@ Protected Member Functions - const ParametersMap &  - registrationParameters = ParametersMap()  + const ParametersMap &  + registrationParameters = ParametersMap()  @@ -1385,8 +1402,8 @@ Protected Member Functions - ParametersMap  - registrationParameters = ParametersMap()  + ParametersMap  + registrationParameters = ParametersMap()  @@ -1413,9 +1430,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/Optimizer.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.js b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.js new file mode 100644 index 00000000..af084ed1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Optimizer.js @@ -0,0 +1,30 @@ +var classrtabmap_1_1Optimizer = +[ + [ "Type", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16", [ + [ "kTypeUndef", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16abae75975865bff7e12e82d2f5295e0db", null ], + [ "kTypeTORO", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a6065bdb6e49c0f5ffc98d5f2f6b0d5ab", null ], + [ "kTypeG2O", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16aa4d070fe00ba5e81adbc958bad18d853", null ], + [ "kTypeGTSAM", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16ab71c83617497f5da0607a47ab162630f", null ], + [ "kTypeCeres", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a891b6c7cbbe5e149e583ac1fc14fc91d", null ], + [ "kTypeCVSBA", "classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16a53545e83af9618cb4d39cf0420b3cd54", null ] + ] ], + [ "getConnectedGraph", "classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f", null ], + [ "type", "classrtabmap_1_1Optimizer.html#aa2be82e1f986b1beae103148be7cd520", null ], + [ "iterations", "classrtabmap_1_1Optimizer.html#a178bb719b0e22863e29add12c85e14a5", null ], + [ "isSlam2d", "classrtabmap_1_1Optimizer.html#a51485674608bbf910922ecee43cc13aa", null ], + [ "isCovarianceIgnored", "classrtabmap_1_1Optimizer.html#a8bb6372ce4c67fd9b8d54f692ac34238", null ], + [ "epsilon", "classrtabmap_1_1Optimizer.html#a3bca4e3df1048f8bbad9b3b9473924a2", null ], + [ "isRobust", "classrtabmap_1_1Optimizer.html#a29ba07e1e829ae616d82756977161c9f", null ], + [ "priorsIgnored", "classrtabmap_1_1Optimizer.html#aeebd0d5575ab7e9f492b095c05ddb237", null ], + [ "landmarksIgnored", "classrtabmap_1_1Optimizer.html#a32f53d408ef0372c5c196ee89ff5ad79", null ], + [ "gravitySigma", "classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7", null ], + [ "parseParameters", "classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3", null ], + [ "optimizeIncremental", "classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf", null ], + [ "optimize", "classrtabmap_1_1Optimizer.html#a7e3aff943e77603493a358ff522fa2dc", null ], + [ "optimize", "classrtabmap_1_1Optimizer.html#af59c8340394268f9a1eb76fd5709f2c3", null ], + [ "optimizeBA", "classrtabmap_1_1Optimizer.html#a038e8df970ab744f6f4ba7027f62b263", null ], + [ "optimizeBA", "classrtabmap_1_1Optimizer.html#a2f7cbdebed9787ffa6b0b30536dfa1a0", null ], + [ "optimizeBA", "classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc", null ], + [ "optimizeBA", "classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c", null ], + [ "computeBACorrespondences", "classrtabmap_1_1Optimizer.html#a93fb09dac068e64de000f692bcb8216f", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html index 303ce747..a6d43139 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OptimizerCVSBA Member List
    @@ -128,9 +145,12 @@ $(function() { ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual ~OptimizerCVSBA() (defined in rtabmap::OptimizerCVSBA)rtabmap::OptimizerCVSBAinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html index 7672fafe..6725d49d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::OptimizerCVSBA:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OptimizerCVSBA:
    @@ -103,13 +120,13 @@ Collaboration diagram for rtabmap::OptimizerCVSBA:
    -
    [legend]
    +
    [legend]
    - + - + @@ -121,7 +138,7 @@ Public Member Functions - + @@ -133,17 +150,17 @@ Public Member Functions - + +std::map< int, Transform >  - + @@ -196,11 +213,11 @@ static bool  - - + + +static Optimizer * 

    Public Member Functions

     OptimizerCVSBA (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())
     OptimizerCVSBA (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())
     
     OptimizerCVSBA (const ParametersMap &parameters)
     OptimizerCVSBA (const ParametersMap &parameters)
     
    virtual Type type () const
     Returns the concrete back-end identifier (one of Type).
    void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
     Extracts the connected component reachable from fromId.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
     Pose-graph optimization with marginal covariance of rootId.
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    int iterations () const
    available
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    @@ -221,10 +238,10 @@ Additional Inherited Members +  + 
     
    - Protected Member Functions inherited from rtabmap::Optimizer
    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -244,19 +261,19 @@ Additional Inherited Members rtabmap::OptimizerCVSBA::OptimizerCVSBA ( int  - iterations = Parameters::defaultOptimizerIterations(), + iterations = Parameters::defaultOptimizerIterations(), bool  - slam2d = Parameters::defaultRegForce3DoF(), + slam2d = Parameters::defaultRegForce3DoF(), bool  - covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()  + covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()  @@ -287,7 +304,7 @@ Additional Inherited Members rtabmap::OptimizerCVSBA::OptimizerCVSBA ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -450,9 +467,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.js b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.js new file mode 100644 index 00000000..0cc0e539 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OptimizerCVSBA = +[ + [ "type", "classrtabmap_1_1OptimizerCVSBA.html#afbf58e60900671630e0974a13e49b2b0", null ], + [ "optimizeBA", "classrtabmap_1_1OptimizerCVSBA.html#ad6ff3fec8e75ab76290da5763022a903", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres-members.html index fb9958eb..f576a022 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OptimizerCeres Member List
    @@ -128,9 +145,12 @@ $(function() { ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual ~OptimizerCeres() (defined in rtabmap::OptimizerCeres)rtabmap::OptimizerCeresinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html index 89dd584d..99976aeb 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::OptimizerCeres:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OptimizerCeres:
    @@ -103,19 +120,19 @@ Collaboration diagram for rtabmap::OptimizerCeres:
    -
    [legend]
    +
    [legend]
    - + +  - + @@ -134,17 +151,17 @@ Public Member Functions - + +std::map< int, Transform >  - + @@ -197,11 +214,11 @@ static bool  - - + + +static Optimizer * 

    Public Member Functions

     OptimizerCeres (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
     OptimizerCeres (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
     
    - OptimizerCeres (const ParametersMap &parameters)
    OptimizerCeres (const ParametersMap &parameters)
     
    virtual Type type () const
     Returns the concrete back-end identifier (one of Type).
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
     Pose-graph optimization (single shot).
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    int iterations () const
    available
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    @@ -222,10 +239,10 @@ Additional Inherited Members +  + 
     
    - Protected Member Functions inherited from rtabmap::Optimizer
    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -245,25 +262,25 @@ Additional Inherited Members rtabmap::OptimizerCeres::OptimizerCeres ( int  - iterations = Parameters::defaultOptimizerIterations(), + iterations = Parameters::defaultOptimizerIterations(), bool  - slam2d = Parameters::defaultRegForce3DoF(), + slam2d = Parameters::defaultRegForce3DoF(), bool  - covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(), + covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(), double  - epsilon = Parameters::defaultOptimizerEpsilon()  + epsilon = Parameters::defaultOptimizerEpsilon()  @@ -353,7 +370,7 @@ Additional Inherited Members virtual void rtabmap::OptimizerCeres::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -544,9 +561,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/optimizer/OptimizerCeres.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.js b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.js new file mode 100644 index 00000000..be06bbfe --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OptimizerCeres = +[ + [ "type", "classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a", null ], + [ "parseParameters", "classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac", null ], + [ "optimize", "classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a", null ], + [ "optimizeBA", "classrtabmap_1_1OptimizerCeres.html#a5057dd09f74610f3092bb597f6af0413", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O-members.html index 9ce7f211..22b54daf 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OptimizerG2O Member List
    @@ -131,9 +148,12 @@ $(function() { ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual ~OptimizerG2O() (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Oinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html index e93add16..c0703075 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::OptimizerG2O:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OptimizerG2O:
    @@ -103,17 +120,17 @@ Collaboration diagram for rtabmap::OptimizerG2O:
    -
    [legend]
    +
    [legend]
    +  - + @@ -135,17 +152,17 @@ bool  - + +std::map< int, Transform >  - + @@ -207,11 +224,11 @@ static bool  - - + + +static Optimizer * 

    Public Member Functions

    - OptimizerG2O (const ParametersMap &parameters=ParametersMap())
    OptimizerG2O (const ParametersMap &parameters=ParametersMap())
     
    virtual Type type () const
     Returns the concrete back-end identifier (one of Type).
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    saveGraph (const
    std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
     Pose-graph optimization (single shot).
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    int iterations () const
    loadGraph
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    @@ -232,10 +249,10 @@ Additional Inherited Members +  + 
     
    - Protected Member Functions inherited from rtabmap::Optimizer
    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -313,7 +330,7 @@ Additional Inherited Members virtual void rtabmap::OptimizerG2O::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -504,9 +521,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/optimizer/OptimizerG2O.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.js b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.js new file mode 100644 index 00000000..491ffe58 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OptimizerG2O = +[ + [ "type", "classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b", null ], + [ "parseParameters", "classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb", null ], + [ "optimize", "classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03", null ], + [ "optimizeBA", "classrtabmap_1_1OptimizerG2O.html#a17edfbaeee93d32153782f61212a88f0", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html index bf04b649..50008a15 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::OptimizerGTSAM Member List
    @@ -127,9 +144,12 @@ $(function() { ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual ~OptimizerGTSAM() (defined in rtabmap::OptimizerGTSAM)rtabmap::OptimizerGTSAMvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html index 18a596e0..9797c255 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Classes | @@ -94,7 +111,7 @@ Inheritance diagram for rtabmap::OptimizerGTSAM:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OptimizerGTSAM:
    @@ -104,17 +121,17 @@ Collaboration diagram for rtabmap::OptimizerGTSAM:
    -
    [legend]
    +
    [legend]
    +  - + @@ -133,17 +150,17 @@ Public Member Functions - + +std::map< int, Transform >  - + @@ -196,11 +213,11 @@ static bool  - - + + +static Optimizer * 

    Public Member Functions

    - OptimizerGTSAM (const ParametersMap &parameters=ParametersMap())
    OptimizerGTSAM (const ParametersMap &parameters=ParametersMap())
     
    virtual Type type () const
     Returns the concrete back-end identifier (one of Type).
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
     Pose-graph optimization (single shot).
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    int iterations () const
    available
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    @@ -221,10 +238,10 @@ Additional Inherited Members +  + 
     
    - Protected Member Functions inherited from rtabmap::Optimizer
    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -274,7 +291,7 @@ Additional Inherited Members virtual void rtabmap::OptimizerGTSAM::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -465,9 +482,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.js b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.js new file mode 100644 index 00000000..b4612044 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.js @@ -0,0 +1,7 @@ +var classrtabmap_1_1OptimizerGTSAM = +[ + [ "type", "classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46", null ], + [ "parseParameters", "classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0", null ], + [ "optimize", "classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba", null ], + [ "optimizeBA", "classrtabmap_1_1OptimizerGTSAM.html#a7a2033a466505f8c2191b8329b5b342c", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO-members.html index c3d35f60..32fbd49a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
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    +
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    - -
    rtabmap::OptimizerTORO Member List
    @@ -130,9 +147,12 @@ $(function() { ~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual ~OptimizerTORO() (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html index a1091d34..ae26902c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    +
    + +
    - -
    Public Member Functions | @@ -93,7 +110,7 @@ Inheritance diagram for rtabmap::OptimizerTORO:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::OptimizerTORO:
    @@ -103,13 +120,13 @@ Collaboration diagram for rtabmap::OptimizerTORO:
    -
    [legend]
    +
    [legend]
    - + - + @@ -124,7 +141,7 @@ bool  - + @@ -136,17 +153,17 @@ bool  - + +std::map< int, Transform >  - + @@ -202,11 +219,11 @@ static bool  - - + + +static Optimizer * 

    Public Member Functions

     OptimizerTORO (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
     OptimizerTORO (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
     
     OptimizerTORO (const ParametersMap &parameters)
     OptimizerTORO (const ParametersMap &parameters)
     
    virtual Type type () const
     Returns the concrete back-end identifier (one of Type).
    saveGraph (const
    void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
     Extracts the connected component reachable from fromId.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Reads shared knobs from parameters and applies them to this instance.
     
    std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
    saveGraph (const
    virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
     
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA wrapper that derives camera models and correspondences from signatures.
     
    -std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
    optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
     BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
     
    Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
     Refine a single two-frame link via BA.
     
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
    void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
     Build BA correspondences (3D points + per-frame observations) from signatures.
     
    int iterations () const
    loadGraph
    static bool isAvailable (Optimizer::Type type)
     Returns whether type was compiled in (its third-party dependency was found).
     
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
    static Optimizer * create (const ParametersMap &parameters)
     Factory: build an optimizer from a ParametersMap.
     
    -static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
    create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
     Factory: build an optimizer of a specific type. Caller owns the result.
     
    @@ -227,10 +244,10 @@ Additional Inherited Members +  + 
     
    - Protected Member Functions inherited from rtabmap::Optimizer
    - Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
    Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
     
    - Optimizer (const ParametersMap &parameters)
    Optimizer (const ParametersMap &parameters)
     

    Detailed Description

    @@ -250,25 +267,25 @@ Additional Inherited Members rtabmap::OptimizerTORO::OptimizerTORO ( int  - iterations = Parameters::defaultOptimizerIterations(), + iterations = Parameters::defaultOptimizerIterations(), bool  - slam2d = Parameters::defaultRegForce3DoF(), + slam2d = Parameters::defaultRegForce3DoF(), bool  - covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(), + covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(), double  - epsilon = Parameters::defaultOptimizerEpsilon()  + epsilon = Parameters::defaultOptimizerEpsilon()  @@ -299,7 +316,7 @@ Additional Inherited Members rtabmap::OptimizerTORO::OptimizerTORO ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -462,9 +479,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/optimizer/OptimizerTORO.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.js b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.js new file mode 100644 index 00000000..4c029a70 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.js @@ -0,0 +1,5 @@ +var classrtabmap_1_1OptimizerTORO = +[ + [ "type", "classrtabmap_1_1OptimizerTORO.html#a965efb877ac5edd3b6cda43983096a64", null ], + [ "optimize", "classrtabmap_1_1OptimizerTORO.html#a025b40902f0ea048bdbfee9ed4ebc0f3", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent-members.html index 7d7b6c7b..9d1434d5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    rtabmap::ParamEvent Member List
    @@ -92,9 +109,12 @@ $(function() { ~ParamEvent() (defined in rtabmap::ParamEvent)rtabmap::ParamEventinline ~UEvent() (defined in UEvent)UEventinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.html index 4e642074..702f56fd 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
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    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    Public Member Functions | @@ -94,7 +111,7 @@ Inheritance diagram for rtabmap::ParamEvent:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::ParamEvent:
    @@ -104,17 +121,17 @@ Collaboration diagram for rtabmap::ParamEvent:
    -
    [legend]
    +
    [legend]
    - + - + @@ -143,7 +160,7 @@ Additional Inherited Members - + @@ -265,7 +282,7 @@ Additional Inherited Members @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    +Classes | Static Public Member Functions | List of all members
    rtabmap::Parameters Class Reference
    @@ -88,38 +106,5573 @@ $(function() {

    Public Member Functions

     ParamEvent (const ParametersMap &parameters)
     ParamEvent (const ParametersMap &parameters)
     
     ParamEvent (const std::string &parameterKey, const std::string &parameterValue)
     
    virtual std::string getClassName () const
     
    const ParametersMap & getParameters () const
    const ParametersMap & getParameters () const
     
    - Public Member Functions inherited from UEvent
    int getCode () const
    rtabmap::ParamEvent::ParamEvent (const ParametersMap & const ParametersMap &  parameters)
    - + @@ -286,9 +303,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/ParamEvent.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.js b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.js new file mode 100644 index 00000000..f6cfdc41 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent.js @@ -0,0 +1,4 @@ +var classrtabmap_1_1ParamEvent = +[ + [ "getClassName", "classrtabmap_1_1ParamEvent.html#a877e2b7fedcb8aba63e3430d7f975e0a", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Parameters-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Parameters-members.html index e7978b7c..00d463da 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Parameters-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Parameters-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Parameters Member List
    @@ -84,18 +101,1248 @@ $(function() {

    This is the complete list of members for rtabmap::Parameters, including all inherited members.

    const ParametersMap & rtabmap::ParamEvent::getParameters const ParametersMap & rtabmap::ParamEvent::getParameters ( ) const
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    createDefaultWorkingDirectory() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    deserialize(const std::string &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)rtabmap::Parametersstatic
    getBackwardCompatibilityMap()rtabmap::Parametersstatic
    getDefaultDatabaseName() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDefaultOdometryParameters(bool stereo=false, bool vis=true, bool icp=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDefaultParameters()rtabmap::Parametersinlinestatic
    getDefaultParameters(const std::string &group) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDescription(const std::string &paramKey)rtabmap::Parametersstatic
    getRemovedParameters()rtabmap::Parametersstatic
    getType(const std::string &paramKey)rtabmap::Parametersstatic
    getVersion() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    isFeatureParameter(const std::string &param) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    defaultBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic
    defaultBayesPredictionLC()rtabmap::Parametersinlinestatic
    defaultBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    defaultBRIEFBytes()rtabmap::Parametersinlinestatic
    defaultBRISKOctaves()rtabmap::Parametersinlinestatic
    defaultBRISKPatternScale()rtabmap::Parametersinlinestatic
    defaultBRISKThresh()rtabmap::Parametersinlinestatic
    defaultDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    defaultDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    defaultDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    defaultDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    defaultDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    defaultDbTargetVersion()rtabmap::Parametersinlinestatic
    defaultFASTCV()rtabmap::Parametersinlinestatic
    defaultFASTGpu()rtabmap::Parametersinlinestatic
    defaultFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    defaultFASTGridCols()rtabmap::Parametersinlinestatic
    defaultFASTGridRows()rtabmap::Parametersinlinestatic
    defaultFASTMaxThreshold()rtabmap::Parametersinlinestatic
    defaultFASTMinThreshold()rtabmap::Parametersinlinestatic
    defaultFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    defaultFASTThreshold()rtabmap::Parametersinlinestatic
    defaultFREAKNOctaves()rtabmap::Parametersinlinestatic
    defaultFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    defaultFREAKPatternScale()rtabmap::Parametersinlinestatic
    defaultFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    defaultg2oOptimizer()rtabmap::Parametersinlinestatic
    defaultg2oSolver()rtabmap::Parametersinlinestatic
    defaultGFTTBlockSize()rtabmap::Parametersinlinestatic
    defaultGFTTGpu()rtabmap::Parametersinlinestatic
    defaultGFTTK()rtabmap::Parametersinlinestatic
    defaultGFTTMinDistance()rtabmap::Parametersinlinestatic
    defaultGFTTQualityLevel()rtabmap::Parametersinlinestatic
    defaultGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    defaultGMSThresholdFactor()rtabmap::Parametersinlinestatic
    defaultGMSWithRotation()rtabmap::Parametersinlinestatic
    defaultGMSWithScale()rtabmap::Parametersinlinestatic
    defaultGrid3D()rtabmap::Parametersinlinestatic
    defaultGridCellSize()rtabmap::Parametersinlinestatic
    defaultGridClusterRadius()rtabmap::Parametersinlinestatic
    defaultGridDepthDecimation()rtabmap::Parametersinlinestatic
    defaultGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    defaultGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    defaultGridFootprintHeight()rtabmap::Parametersinlinestatic
    defaultGridFootprintLength()rtabmap::Parametersinlinestatic
    defaultGridFootprintWidth()rtabmap::Parametersinlinestatic
    defaultGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    defaultGridGlobalEroded()rtabmap::Parametersinlinestatic
    defaultGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    defaultGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    defaultGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    defaultGridGlobalMinSize()rtabmap::Parametersinlinestatic
    defaultGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbHit()rtabmap::Parametersinlinestatic
    defaultGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    defaultGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    defaultGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    defaultGridMapFrameProjection()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    defaultGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    defaultGridMinClusterSize()rtabmap::Parametersinlinestatic
    defaultGridMinGroundHeight()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    defaultGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    defaultGridNormalK()rtabmap::Parametersinlinestatic
    defaultGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    defaultGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    defaultGridRangeMax()rtabmap::Parametersinlinestatic
    defaultGridRangeMin()rtabmap::Parametersinlinestatic
    defaultGridRayTracing()rtabmap::Parametersinlinestatic
    defaultGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    defaultGridScanDecimation()rtabmap::Parametersinlinestatic
    defaultGridSensor()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    defaultGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    defaultGTSAMIncremental()rtabmap::Parametersinlinestatic
    defaultGTSAMOptimizer()rtabmap::Parametersinlinestatic
    defaultIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    defaultIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    defaultIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    defaultIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    defaultIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    defaultIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    defaultIcpEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    defaultIcpForce4DoF()rtabmap::Parametersinlinestatic
    defaultIcpIterations()rtabmap::Parametersinlinestatic
    defaultIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    defaultIcpMaxRotation()rtabmap::Parametersinlinestatic
    defaultIcpMaxTranslation()rtabmap::Parametersinlinestatic
    defaultIcpOutlierRatio()rtabmap::Parametersinlinestatic
    defaultIcpPMConfig()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    defaultIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlane()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    defaultIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    defaultIcpRangeMax()rtabmap::Parametersinlinestatic
    defaultIcpRangeMin()rtabmap::Parametersinlinestatic
    defaultIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    defaultIcpStrategy()rtabmap::Parametersinlinestatic
    defaultIcpVoxelSize()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    defaultImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    defaultImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    defaultKAZEDiffusivity()rtabmap::Parametersinlinestatic
    defaultKAZEExtended()rtabmap::Parametersinlinestatic
    defaultKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    defaultKAZENOctaves()rtabmap::Parametersinlinestatic
    defaultKAZEThreshold()rtabmap::Parametersinlinestatic
    defaultKAZEUpright()rtabmap::Parametersinlinestatic
    defaultKpBadSignRatio()rtabmap::Parametersinlinestatic
    defaultKpByteToFloat()rtabmap::Parametersinlinestatic
    defaultKpDetectorStrategy()rtabmap::Parametersinlinestatic
    defaultKpDictionaryPath()rtabmap::Parametersinlinestatic
    defaultKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    defaultKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    defaultKpGridCols()rtabmap::Parametersinlinestatic
    defaultKpGridRows()rtabmap::Parametersinlinestatic
    defaultKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    defaultKpIncrementalFlann()rtabmap::Parametersinlinestatic
    defaultKpMaxDepth()rtabmap::Parametersinlinestatic
    defaultKpMaxFeatures()rtabmap::Parametersinlinestatic
    defaultKpMinDepth()rtabmap::Parametersinlinestatic
    defaultKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    defaultKpNndrRatio()rtabmap::Parametersinlinestatic
    defaultKpNNStrategy()rtabmap::Parametersinlinestatic
    defaultKpParallelized()rtabmap::Parametersinlinestatic
    defaultKpRoiRatios()rtabmap::Parametersinlinestatic
    defaultKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    defaultKpSSC()rtabmap::Parametersinlinestatic
    defaultKpSubPixEps()rtabmap::Parametersinlinestatic
    defaultKpSubPixIterations()rtabmap::Parametersinlinestatic
    defaultKpSubPixWinSize()rtabmap::Parametersinlinestatic
    defaultKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    defaultMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    defaultMarkerDictionary()rtabmap::Parametersinlinestatic
    defaultMarkerLength()rtabmap::Parametersinlinestatic
    defaultMarkerLengths()rtabmap::Parametersinlinestatic
    defaultMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    defaultMarkerMaxRange()rtabmap::Parametersinlinestatic
    defaultMarkerMinRange()rtabmap::Parametersinlinestatic
    defaultMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    defaultMarkerPriors()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerStrategy()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    defaultMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    defaultMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    defaultMemBinDataKept()rtabmap::Parametersinlinestatic
    defaultMemCompressionParallelized()rtabmap::Parametersinlinestatic
    defaultMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    defaultMemDepthAsMask()rtabmap::Parametersinlinestatic
    defaultMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    defaultMemGenerateIds()rtabmap::Parametersinlinestatic
    defaultMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    defaultMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    defaultMemImageKept()rtabmap::Parametersinlinestatic
    defaultMemImagePostDecimation()rtabmap::Parametersinlinestatic
    defaultMemImagePreDecimation()rtabmap::Parametersinlinestatic
    defaultMemIncrementalMemory()rtabmap::Parametersinlinestatic
    defaultMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    defaultMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    defaultMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    defaultMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    defaultMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    defaultMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    defaultMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    defaultMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    defaultMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    defaultMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    defaultMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    defaultMemRecentWmRatio()rtabmap::Parametersinlinestatic
    defaultMemReduceGraph()rtabmap::Parametersinlinestatic
    defaultMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    defaultMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    defaultMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    defaultMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    defaultMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    defaultMemStereoFromMotion()rtabmap::Parametersinlinestatic
    defaultMemSTMSize()rtabmap::Parametersinlinestatic
    defaultMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    defaultMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    defaultMemUseOdomGravity()rtabmap::Parametersinlinestatic
    defaultOdomAlignWithGround()rtabmap::Parametersinlinestatic
    defaultOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    defaultOdomDeskewing()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    defaultOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    defaultOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    defaultOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    defaultOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanRange()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    defaultOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    defaultOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    defaultOdomFillInfoData()rtabmap::Parametersinlinestatic
    defaultOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    defaultOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    defaultOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    defaultOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    defaultOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    defaultOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    defaultOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    defaultOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    defaultOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    defaultOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    defaultOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    defaultOdomGuessMotion()rtabmap::Parametersinlinestatic
    defaultOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    defaultOdomHolonomic()rtabmap::Parametersinlinestatic
    defaultOdomImageBufferSize()rtabmap::Parametersinlinestatic
    defaultOdomImageDecimation()rtabmap::Parametersinlinestatic
    defaultOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic
    defaultOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic
    defaultOdomKeyFrameThr()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMNScan()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMSensor()rtabmap::Parametersinlinestatic
    defaultOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic
    defaultOdomLOAMAngVar()rtabmap::Parametersinlinestatic
    defaultOdomLOAMLinVar()rtabmap::Parametersinlinestatic
    defaultOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic
    defaultOdomLOAMResolution()rtabmap::Parametersinlinestatic
    defaultOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic
    defaultOdomLOAMSensor()rtabmap::Parametersinlinestatic
    defaultOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic
    defaultOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic
    defaultOdomMonoMaxVariance()rtabmap::Parametersinlinestatic
    defaultOdomMonoMinTranslation()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFGridCol()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFGridRow()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic
    defaultOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic
    defaultOdomOKVISConfigPath()rtabmap::Parametersinlinestatic
    defaultOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic
    defaultOdomOpen3DMethod()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic
    defaultOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMBf()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMFps()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMInertial()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic
    defaultOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic
    defaultOdomParticleLambdaR()rtabmap::Parametersinlinestatic
    defaultOdomParticleLambdaT()rtabmap::Parametersinlinestatic
    defaultOdomParticleNoiseR()rtabmap::Parametersinlinestatic
    defaultOdomParticleNoiseT()rtabmap::Parametersinlinestatic
    defaultOdomParticleSize()rtabmap::Parametersinlinestatic
    defaultOdomResetCountdown()rtabmap::Parametersinlinestatic
    defaultOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic
    defaultOdomStrategy()rtabmap::Parametersinlinestatic
    defaultOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic
    defaultOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic
    defaultOdomViso2BucketHeight()rtabmap::Parametersinlinestatic
    defaultOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic
    defaultOdomViso2BucketWidth()rtabmap::Parametersinlinestatic
    defaultOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchRadius()rtabmap::Parametersinlinestatic
    defaultOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic
    defaultOdomViso2RansacIters()rtabmap::Parametersinlinestatic
    defaultOdomViso2Reweighting()rtabmap::Parametersinlinestatic
    defaultOptimizerBaseline()rtabmap::Parametersinlinestatic
    defaultOptimizerDisparityVariance()rtabmap::Parametersinlinestatic
    defaultOptimizerEpsilon()rtabmap::Parametersinlinestatic
    defaultOptimizerGravitySigma()rtabmap::Parametersinlinestatic
    defaultOptimizerIterations()rtabmap::Parametersinlinestatic
    defaultOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic
    defaultOptimizerPixelVariance()rtabmap::Parametersinlinestatic
    defaultOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic
    defaultOptimizerRobust()rtabmap::Parametersinlinestatic
    defaultOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic
    defaultOptimizerStrategy()rtabmap::Parametersinlinestatic
    defaultOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic
    defaultORBEdgeThreshold()rtabmap::Parametersinlinestatic
    defaultORBFirstLevel()rtabmap::Parametersinlinestatic
    defaultORBGpu()rtabmap::Parametersinlinestatic
    defaultORBNLevels()rtabmap::Parametersinlinestatic
    defaultORBPatchSize()rtabmap::Parametersinlinestatic
    defaultORBScaleFactor()rtabmap::Parametersinlinestatic
    defaultORBScoreType()rtabmap::Parametersinlinestatic
    defaultORBWTA_K()rtabmap::Parametersinlinestatic
    defaultPyDescriptorDim()rtabmap::Parametersinlinestatic
    defaultPyDescriptorPath()rtabmap::Parametersinlinestatic
    defaultPyDetectorCuda()rtabmap::Parametersinlinestatic
    defaultPyDetectorPath()rtabmap::Parametersinlinestatic
    defaultPyMatcherCuda()rtabmap::Parametersinlinestatic
    defaultPyMatcherIterations()rtabmap::Parametersinlinestatic
    defaultPyMatcherModel()rtabmap::Parametersinlinestatic
    defaultPyMatcherPath()rtabmap::Parametersinlinestatic
    defaultPyMatcherThreshold()rtabmap::Parametersinlinestatic
    defaultRegForce3DoF()rtabmap::Parametersinlinestatic
    defaultRegRepeatOnce()rtabmap::Parametersinlinestatic
    defaultRegStrategy()rtabmap::Parametersinlinestatic
    defaultRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic
    defaultRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic
    defaultRGBDAngularUpdate()rtabmap::Parametersinlinestatic
    defaultRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic
    defaultRGBDEnabled()rtabmap::Parametersinlinestatic
    defaultRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic
    defaultRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic
    defaultRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic
    defaultRGBDInvertedReg()rtabmap::Parametersinlinestatic
    defaultRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic
    defaultRGBDLinearUpdate()rtabmap::Parametersinlinestatic
    defaultRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic
    defaultRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic
    defaultRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic
    defaultRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic
    defaultRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic
    defaultRGBDLocalRadius()rtabmap::Parametersinlinestatic
    defaultRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic
    defaultRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic
    defaultRGBDLoopCovLimited()rtabmap::Parametersinlinestatic
    defaultRGBDMarkerDetection()rtabmap::Parametersinlinestatic
    defaultRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic
    defaultRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic
    defaultRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic
    defaultRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic
    defaultRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic
    defaultRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic
    defaultRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic
    defaultRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic
    defaultRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic
    defaultRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic
    defaultRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic
    defaultRGBDProximityAngle()rtabmap::Parametersinlinestatic
    defaultRGBDProximityBySpace()rtabmap::Parametersinlinestatic
    defaultRGBDProximityByTime()rtabmap::Parametersinlinestatic
    defaultRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic
    defaultRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic
    defaultRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic
    defaultRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic
    defaultRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic
    defaultRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic
    defaultRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic
    defaultRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic
    defaultRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic
    defaultRGBDStartAtOrigin()rtabmap::Parametersinlinestatic
    defaultRtabmapComputeRMSE()rtabmap::Parametersinlinestatic
    defaultRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic
    defaultRtabmapDetectionRate()rtabmap::Parametersinlinestatic
    defaultRtabmapImageBufferSize()rtabmap::Parametersinlinestatic
    defaultRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic
    defaultRtabmapLoopGPS()rtabmap::Parametersinlinestatic
    defaultRtabmapLoopRatio()rtabmap::Parametersinlinestatic
    defaultRtabmapLoopThr()rtabmap::Parametersinlinestatic
    defaultRtabmapMaxRepublished()rtabmap::Parametersinlinestatic
    defaultRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic
    defaultRtabmapMemoryThr()rtabmap::Parametersinlinestatic
    defaultRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic
    defaultRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic
    defaultRtabmapPublishPdf()rtabmap::Parametersinlinestatic
    defaultRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic
    defaultRtabmapPublishStats()rtabmap::Parametersinlinestatic
    defaultRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic
    defaultRtabmapSaveWMState()rtabmap::Parametersinlinestatic
    defaultRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic
    defaultRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic
    defaultRtabmapStatisticLogged()rtabmap::Parametersinlinestatic
    defaultRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic
    defaultRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic
    defaultRtabmapTimeThr()rtabmap::Parametersinlinestatic
    defaultRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic
    defaultRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic
    defaultSIFTContrastThreshold()rtabmap::Parametersinlinestatic
    defaultSIFTEdgeThreshold()rtabmap::Parametersinlinestatic
    defaultSIFTGaussianThreshold()rtabmap::Parametersinlinestatic
    defaultSIFTGpu()rtabmap::Parametersinlinestatic
    defaultSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic
    defaultSIFTNOctaveLayers()rtabmap::Parametersinlinestatic
    defaultSIFTPreciseUpscale()rtabmap::Parametersinlinestatic
    defaultSIFTRootSIFT()rtabmap::Parametersinlinestatic
    defaultSIFTSigma()rtabmap::Parametersinlinestatic
    defaultSIFTUpscale()rtabmap::Parametersinlinestatic
    defaultStereoBMBlockSize()rtabmap::Parametersinlinestatic
    defaultStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    defaultStereoBMMinDisparity()rtabmap::Parametersinlinestatic
    defaultStereoBMNumDisparities()rtabmap::Parametersinlinestatic
    defaultStereoBMPreFilterCap()rtabmap::Parametersinlinestatic
    defaultStereoBMPreFilterSize()rtabmap::Parametersinlinestatic
    defaultStereoBMSpeckleRange()rtabmap::Parametersinlinestatic
    defaultStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    defaultStereoBMTextureThreshold()rtabmap::Parametersinlinestatic
    defaultStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic
    defaultStereoDenseStrategy()rtabmap::Parametersinlinestatic
    defaultStereoEps()rtabmap::Parametersinlinestatic
    defaultStereoErrorThreshold()rtabmap::Parametersinlinestatic
    defaultStereoGpu()rtabmap::Parametersinlinestatic
    defaultStereoIterations()rtabmap::Parametersinlinestatic
    defaultStereoMaxDisparity()rtabmap::Parametersinlinestatic
    defaultStereoMaxLevel()rtabmap::Parametersinlinestatic
    defaultStereoMinDisparity()rtabmap::Parametersinlinestatic
    defaultStereoMinEigThreshold()rtabmap::Parametersinlinestatic
    defaultStereoOpticalFlow()rtabmap::Parametersinlinestatic
    defaultStereoSGBMBlockSize()rtabmap::Parametersinlinestatic
    defaultStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    defaultStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic
    defaultStereoSGBMMode()rtabmap::Parametersinlinestatic
    defaultStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic
    defaultStereoSGBMP1()rtabmap::Parametersinlinestatic
    defaultStereoSGBMP2()rtabmap::Parametersinlinestatic
    defaultStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic
    defaultStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic
    defaultStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    defaultStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic
    defaultStereoSSD()rtabmap::Parametersinlinestatic
    defaultStereoUseMinEigenVals()rtabmap::Parametersinlinestatic
    defaultStereoWinHeight()rtabmap::Parametersinlinestatic
    defaultStereoWinWidth()rtabmap::Parametersinlinestatic
    defaultSuperPointCuda()rtabmap::Parametersinlinestatic
    defaultSuperPointModelPath()rtabmap::Parametersinlinestatic
    defaultSuperPointNMS()rtabmap::Parametersinlinestatic
    defaultSuperPointNMSRadius()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratCuda()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratNMS()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic
    defaultSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic
    defaultSuperPointThreshold()rtabmap::Parametersinlinestatic
    defaultSURFExtended()rtabmap::Parametersinlinestatic
    defaultSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    defaultSURFGpuVersion()rtabmap::Parametersinlinestatic
    defaultSURFHessianThreshold()rtabmap::Parametersinlinestatic
    defaultSURFOctaveLayers()rtabmap::Parametersinlinestatic
    defaultSURFOctaves()rtabmap::Parametersinlinestatic
    defaultSURFUpright()rtabmap::Parametersinlinestatic
    defaultVhEpEnabled()rtabmap::Parametersinlinestatic
    defaultVhEpMatchCountMin()rtabmap::Parametersinlinestatic
    defaultVhEpRansacParam1()rtabmap::Parametersinlinestatic
    defaultVhEpRansacParam2()rtabmap::Parametersinlinestatic
    defaultVisBundleAdjustment()rtabmap::Parametersinlinestatic
    defaultVisCorFlowEps()rtabmap::Parametersinlinestatic
    defaultVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic
    defaultVisCorFlowGpu()rtabmap::Parametersinlinestatic
    defaultVisCorFlowIterations()rtabmap::Parametersinlinestatic
    defaultVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic
    defaultVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic
    defaultVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic
    defaultVisCorFlowWinSize()rtabmap::Parametersinlinestatic
    defaultVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic
    defaultVisCorGuessWinSize()rtabmap::Parametersinlinestatic
    defaultVisCorNNDR()rtabmap::Parametersinlinestatic
    defaultVisCorNNType()rtabmap::Parametersinlinestatic
    defaultVisCorType()rtabmap::Parametersinlinestatic
    defaultVisDepthAsMask()rtabmap::Parametersinlinestatic
    defaultVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    defaultVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic
    defaultVisEstimationType()rtabmap::Parametersinlinestatic
    defaultVisFeatureType()rtabmap::Parametersinlinestatic
    defaultVisGridCols()rtabmap::Parametersinlinestatic
    defaultVisGridRows()rtabmap::Parametersinlinestatic
    defaultVisInlierDistance()rtabmap::Parametersinlinestatic
    defaultVisIterations()rtabmap::Parametersinlinestatic
    defaultVisMaxDepth()rtabmap::Parametersinlinestatic
    defaultVisMaxFeatures()rtabmap::Parametersinlinestatic
    defaultVisMeanInliersDistance()rtabmap::Parametersinlinestatic
    defaultVisMinDepth()rtabmap::Parametersinlinestatic
    defaultVisMinInliers()rtabmap::Parametersinlinestatic
    defaultVisMinInliersDistribution()rtabmap::Parametersinlinestatic
    defaultVisPnPFlags()rtabmap::Parametersinlinestatic
    defaultVisPnPMaxVariance()rtabmap::Parametersinlinestatic
    defaultVisPnPRefineIterations()rtabmap::Parametersinlinestatic
    defaultVisPnPReprojError()rtabmap::Parametersinlinestatic
    defaultVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic
    defaultVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic
    defaultVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic
    defaultVisRefineIterations()rtabmap::Parametersinlinestatic
    defaultVisRoiRatios()rtabmap::Parametersinlinestatic
    defaultVisSSC()rtabmap::Parametersinlinestatic
    defaultVisSubPixEps()rtabmap::Parametersinlinestatic
    defaultVisSubPixIterations()rtabmap::Parametersinlinestatic
    defaultVisSubPixWinSize()rtabmap::Parametersinlinestatic
    deserialize(const std::string &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)rtabmap::Parametersstatic
    getBackwardCompatibilityMap()rtabmap::Parametersstatic
    getDefaultDatabaseName() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDefaultOdometryParameters(bool stereo=false, bool vis=true, bool icp=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDefaultParameters()rtabmap::Parametersinlinestatic
    getDefaultParameters(const std::string &group) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    getDescription(const std::string &paramKey)rtabmap::Parametersstatic
    getRemovedParameters()rtabmap::Parametersstatic
    getType(const std::string &paramKey)rtabmap::Parametersstatic
    getVersion() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    isFeatureParameter(const std::string &param) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    kBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic
    kBayesPredictionLC()rtabmap::Parametersinlinestatic
    kBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    kBRIEFBytes()rtabmap::Parametersinlinestatic
    kBRISKOctaves()rtabmap::Parametersinlinestatic
    kBRISKPatternScale()rtabmap::Parametersinlinestatic
    kBRISKThresh()rtabmap::Parametersinlinestatic
    kDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    kDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    kDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    kDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    kDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    kDbTargetVersion()rtabmap::Parametersinlinestatic
    kFASTCV()rtabmap::Parametersinlinestatic
    kFASTGpu()rtabmap::Parametersinlinestatic
    kFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    kFASTGridCols()rtabmap::Parametersinlinestatic
    kFASTGridRows()rtabmap::Parametersinlinestatic
    kFASTMaxThreshold()rtabmap::Parametersinlinestatic
    kFASTMinThreshold()rtabmap::Parametersinlinestatic
    kFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    kFASTThreshold()rtabmap::Parametersinlinestatic
    kFREAKNOctaves()rtabmap::Parametersinlinestatic
    kFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    kFREAKPatternScale()rtabmap::Parametersinlinestatic
    kFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    kg2oOptimizer()rtabmap::Parametersinlinestatic
    kg2oSolver()rtabmap::Parametersinlinestatic
    kGFTTBlockSize()rtabmap::Parametersinlinestatic
    kGFTTGpu()rtabmap::Parametersinlinestatic
    kGFTTK()rtabmap::Parametersinlinestatic
    kGFTTMinDistance()rtabmap::Parametersinlinestatic
    kGFTTQualityLevel()rtabmap::Parametersinlinestatic
    kGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    kGMSThresholdFactor()rtabmap::Parametersinlinestatic
    kGMSWithRotation()rtabmap::Parametersinlinestatic
    kGMSWithScale()rtabmap::Parametersinlinestatic
    kGrid3D()rtabmap::Parametersinlinestatic
    kGridCellSize()rtabmap::Parametersinlinestatic
    kGridClusterRadius()rtabmap::Parametersinlinestatic
    kGridDepthDecimation()rtabmap::Parametersinlinestatic
    kGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    kGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    kGridFootprintHeight()rtabmap::Parametersinlinestatic
    kGridFootprintLength()rtabmap::Parametersinlinestatic
    kGridFootprintWidth()rtabmap::Parametersinlinestatic
    kGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    kGridGlobalEroded()rtabmap::Parametersinlinestatic
    kGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    kGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    kGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    kGridGlobalMinSize()rtabmap::Parametersinlinestatic
    kGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    kGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    kGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    kGridGlobalProbHit()rtabmap::Parametersinlinestatic
    kGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    kGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    kGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    kGridMapFrameProjection()rtabmap::Parametersinlinestatic
    kGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    kGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    kGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    kGridMinClusterSize()rtabmap::Parametersinlinestatic
    kGridMinGroundHeight()rtabmap::Parametersinlinestatic
    kGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    kGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    kGridNormalK()rtabmap::Parametersinlinestatic
    kGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    kGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    kGridRangeMax()rtabmap::Parametersinlinestatic
    kGridRangeMin()rtabmap::Parametersinlinestatic
    kGridRayTracing()rtabmap::Parametersinlinestatic
    kGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    kGridScanDecimation()rtabmap::Parametersinlinestatic
    kGridSensor()rtabmap::Parametersinlinestatic
    kGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    kGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    kGTSAMIncremental()rtabmap::Parametersinlinestatic
    kGTSAMOptimizer()rtabmap::Parametersinlinestatic
    kIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    kIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    kIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    kIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    kIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    kIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    kIcpEpsilon()rtabmap::Parametersinlinestatic
    kIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    kIcpForce4DoF()rtabmap::Parametersinlinestatic
    kIcpIterations()rtabmap::Parametersinlinestatic
    kIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    kIcpMaxRotation()rtabmap::Parametersinlinestatic
    kIcpMaxTranslation()rtabmap::Parametersinlinestatic
    kIcpOutlierRatio()rtabmap::Parametersinlinestatic
    kIcpPMConfig()rtabmap::Parametersinlinestatic
    kIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    kIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    kIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    kIcpPointToPlane()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    kIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    kIcpRangeMax()rtabmap::Parametersinlinestatic
    kIcpRangeMin()rtabmap::Parametersinlinestatic
    kIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    kIcpStrategy()rtabmap::Parametersinlinestatic
    kIcpVoxelSize()rtabmap::Parametersinlinestatic
    kImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    kImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    kImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    kImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    kImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    kImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    kKAZEDiffusivity()rtabmap::Parametersinlinestatic
    kKAZEExtended()rtabmap::Parametersinlinestatic
    kKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    kKAZENOctaves()rtabmap::Parametersinlinestatic
    kKAZEThreshold()rtabmap::Parametersinlinestatic
    kKAZEUpright()rtabmap::Parametersinlinestatic
    kKpBadSignRatio()rtabmap::Parametersinlinestatic
    kKpByteToFloat()rtabmap::Parametersinlinestatic
    kKpDetectorStrategy()rtabmap::Parametersinlinestatic
    kKpDictionaryPath()rtabmap::Parametersinlinestatic
    kKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    kKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    kKpGridCols()rtabmap::Parametersinlinestatic
    kKpGridRows()rtabmap::Parametersinlinestatic
    kKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    kKpIncrementalFlann()rtabmap::Parametersinlinestatic
    kKpMaxDepth()rtabmap::Parametersinlinestatic
    kKpMaxFeatures()rtabmap::Parametersinlinestatic
    kKpMinDepth()rtabmap::Parametersinlinestatic
    kKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    kKpNndrRatio()rtabmap::Parametersinlinestatic
    kKpNNStrategy()rtabmap::Parametersinlinestatic
    kKpParallelized()rtabmap::Parametersinlinestatic
    kKpRoiRatios()rtabmap::Parametersinlinestatic
    kKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    kKpSSC()rtabmap::Parametersinlinestatic
    kKpSubPixEps()rtabmap::Parametersinlinestatic
    kKpSubPixIterations()rtabmap::Parametersinlinestatic
    kKpSubPixWinSize()rtabmap::Parametersinlinestatic
    kKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    kMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    kMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    kMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    kMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    kMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    kMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    kMarkerDictionary()rtabmap::Parametersinlinestatic
    kMarkerLength()rtabmap::Parametersinlinestatic
    kMarkerLengths()rtabmap::Parametersinlinestatic
    kMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    kMarkerMaxRange()rtabmap::Parametersinlinestatic
    kMarkerMinRange()rtabmap::Parametersinlinestatic
    kMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    kMarkerPriors()rtabmap::Parametersinlinestatic
    kMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    kMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    kMarkerStrategy()rtabmap::Parametersinlinestatic
    kMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    kMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    kMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    kMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    kMemBinDataKept()rtabmap::Parametersinlinestatic
    kMemCompressionParallelized()rtabmap::Parametersinlinestatic
    kMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    kMemDepthAsMask()rtabmap::Parametersinlinestatic
    kMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    kMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    kMemGenerateIds()rtabmap::Parametersinlinestatic
    kMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    kMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    kMemImageKept()rtabmap::Parametersinlinestatic
    kMemImagePostDecimation()rtabmap::Parametersinlinestatic
    kMemImagePreDecimation()rtabmap::Parametersinlinestatic
    kMemIncrementalMemory()rtabmap::Parametersinlinestatic
    kMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    kMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    kMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    kMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    kMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    kMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    kMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    kMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    kMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    kMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    kMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    kMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    kMemRecentWmRatio()rtabmap::Parametersinlinestatic
    kMemReduceGraph()rtabmap::Parametersinlinestatic
    kMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    kMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    kMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    kMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    kMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    kMemStereoFromMotion()rtabmap::Parametersinlinestatic
    kMemSTMSize()rtabmap::Parametersinlinestatic
    kMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    kMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    kMemUseOdomGravity()rtabmap::Parametersinlinestatic
    kOdomAlignWithGround()rtabmap::Parametersinlinestatic
    kOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    kOdomDeskewing()rtabmap::Parametersinlinestatic
    kOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    kOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    kOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    kOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    kOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    kOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    kOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    kOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    kOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    kOdomF2MScanRange()rtabmap::Parametersinlinestatic
    kOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    kOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    kOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    kOdomFillInfoData()rtabmap::Parametersinlinestatic
    kOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    kOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    kOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    kOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    kOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    kOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    kOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    kOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    kOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    kOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    kOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    kOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    kOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    kOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    kOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    kOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    kOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    kOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    kOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    kOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    kOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    kOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    kOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    kOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    kOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    kOdomGuessMotion()rtabmap::Parametersinlinestatic
    kOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    kOdomHolonomic()rtabmap::Parametersinlinestatic
    kOdomImageBufferSize()rtabmap::Parametersinlinestatic
    kOdomImageDecimation()rtabmap::Parametersinlinestatic
    kOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic
    kOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic
    kOdomKeyFrameThr()rtabmap::Parametersinlinestatic
    kOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic
    kOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic
    kOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic
    kOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic
    kOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic
    kOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic
    kOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic
    kOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic
    kOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic
    kOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic
    kOdomLIOSAMNScan()rtabmap::Parametersinlinestatic
    kOdomLIOSAMSensor()rtabmap::Parametersinlinestatic
    kOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic
    kOdomLOAMAngVar()rtabmap::Parametersinlinestatic
    kOdomLOAMLinVar()rtabmap::Parametersinlinestatic
    kOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic
    kOdomLOAMResolution()rtabmap::Parametersinlinestatic
    kOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic
    kOdomLOAMSensor()rtabmap::Parametersinlinestatic
    kOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic
    kOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic
    kOdomMonoMaxVariance()rtabmap::Parametersinlinestatic
    kOdomMonoMinTranslation()rtabmap::Parametersinlinestatic
    kOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFGridCol()rtabmap::Parametersinlinestatic
    kOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic
    kOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic
    kOdomMSCKFGridRow()rtabmap::Parametersinlinestatic
    kOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic
    kOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic
    kOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic
    kOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic
    kOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic
    kOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic
    kOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic
    kOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic
    kOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic
    kOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic
    kOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic
    kOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic
    kOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic
    kOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic
    kOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic
    kOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic
    kOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic
    kOdomOKVISConfigPath()rtabmap::Parametersinlinestatic
    kOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic
    kOdomOpen3DMethod()rtabmap::Parametersinlinestatic
    kOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic
    kOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic
    kOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic
    kOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic
    kOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic
    kOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic
    kOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic
    kOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic
    kOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic
    kOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic
    kOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic
    kOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic
    kOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic
    kOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic
    kOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic
    kOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic
    kOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic
    kOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic
    kOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic
    kOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic
    kOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic
    kOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic
    kOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic
    kOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic
    kOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic
    kOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic
    kOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic
    kOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic
    kOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic
    kOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic
    kOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic
    kOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic
    kOdomORBSLAMBf()rtabmap::Parametersinlinestatic
    kOdomORBSLAMFps()rtabmap::Parametersinlinestatic
    kOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic
    kOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic
    kOdomORBSLAMInertial()rtabmap::Parametersinlinestatic
    kOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic
    kOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic
    kOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic
    kOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic
    kOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic
    kOdomParticleLambdaR()rtabmap::Parametersinlinestatic
    kOdomParticleLambdaT()rtabmap::Parametersinlinestatic
    kOdomParticleNoiseR()rtabmap::Parametersinlinestatic
    kOdomParticleNoiseT()rtabmap::Parametersinlinestatic
    kOdomParticleSize()rtabmap::Parametersinlinestatic
    kOdomResetCountdown()rtabmap::Parametersinlinestatic
    kOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic
    kOdomStrategy()rtabmap::Parametersinlinestatic
    kOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic
    kOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic
    kOdomViso2BucketHeight()rtabmap::Parametersinlinestatic
    kOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic
    kOdomViso2BucketWidth()rtabmap::Parametersinlinestatic
    kOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic
    kOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic
    kOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic
    kOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic
    kOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic
    kOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic
    kOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic
    kOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic
    kOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic
    kOdomViso2MatchRadius()rtabmap::Parametersinlinestatic
    kOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic
    kOdomViso2RansacIters()rtabmap::Parametersinlinestatic
    kOdomViso2Reweighting()rtabmap::Parametersinlinestatic
    kOptimizerBaseline()rtabmap::Parametersinlinestatic
    kOptimizerDisparityVariance()rtabmap::Parametersinlinestatic
    kOptimizerEpsilon()rtabmap::Parametersinlinestatic
    kOptimizerGravitySigma()rtabmap::Parametersinlinestatic
    kOptimizerIterations()rtabmap::Parametersinlinestatic
    kOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic
    kOptimizerPixelVariance()rtabmap::Parametersinlinestatic
    kOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic
    kOptimizerRobust()rtabmap::Parametersinlinestatic
    kOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic
    kOptimizerStrategy()rtabmap::Parametersinlinestatic
    kOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic
    kORBEdgeThreshold()rtabmap::Parametersinlinestatic
    kORBFirstLevel()rtabmap::Parametersinlinestatic
    kORBGpu()rtabmap::Parametersinlinestatic
    kORBNLevels()rtabmap::Parametersinlinestatic
    kORBPatchSize()rtabmap::Parametersinlinestatic
    kORBScaleFactor()rtabmap::Parametersinlinestatic
    kORBScoreType()rtabmap::Parametersinlinestatic
    kORBWTA_K()rtabmap::Parametersinlinestatic
    kPyDescriptorDim()rtabmap::Parametersinlinestatic
    kPyDescriptorPath()rtabmap::Parametersinlinestatic
    kPyDetectorCuda()rtabmap::Parametersinlinestatic
    kPyDetectorPath()rtabmap::Parametersinlinestatic
    kPyMatcherCuda()rtabmap::Parametersinlinestatic
    kPyMatcherIterations()rtabmap::Parametersinlinestatic
    kPyMatcherModel()rtabmap::Parametersinlinestatic
    kPyMatcherPath()rtabmap::Parametersinlinestatic
    kPyMatcherThreshold()rtabmap::Parametersinlinestatic
    kRegForce3DoF()rtabmap::Parametersinlinestatic
    kRegRepeatOnce()rtabmap::Parametersinlinestatic
    kRegStrategy()rtabmap::Parametersinlinestatic
    kRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic
    kRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic
    kRGBDAngularUpdate()rtabmap::Parametersinlinestatic
    kRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic
    kRGBDEnabled()rtabmap::Parametersinlinestatic
    kRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic
    kRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic
    kRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic
    kRGBDInvertedReg()rtabmap::Parametersinlinestatic
    kRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic
    kRGBDLinearUpdate()rtabmap::Parametersinlinestatic
    kRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic
    kRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic
    kRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic
    kRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic
    kRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic
    kRGBDLocalRadius()rtabmap::Parametersinlinestatic
    kRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic
    kRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic
    kRGBDLoopCovLimited()rtabmap::Parametersinlinestatic
    kRGBDMarkerDetection()rtabmap::Parametersinlinestatic
    kRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic
    kRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic
    kRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic
    kRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic
    kRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic
    kRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic
    kRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic
    kRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic
    kRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic
    kRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic
    kRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic
    kRGBDProximityAngle()rtabmap::Parametersinlinestatic
    kRGBDProximityBySpace()rtabmap::Parametersinlinestatic
    kRGBDProximityByTime()rtabmap::Parametersinlinestatic
    kRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic
    kRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic
    kRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic
    kRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic
    kRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic
    kRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic
    kRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic
    kRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic
    kRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic
    kRGBDStartAtOrigin()rtabmap::Parametersinlinestatic
    kRtabmapComputeRMSE()rtabmap::Parametersinlinestatic
    kRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic
    kRtabmapDetectionRate()rtabmap::Parametersinlinestatic
    kRtabmapImageBufferSize()rtabmap::Parametersinlinestatic
    kRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic
    kRtabmapLoopGPS()rtabmap::Parametersinlinestatic
    kRtabmapLoopRatio()rtabmap::Parametersinlinestatic
    kRtabmapLoopThr()rtabmap::Parametersinlinestatic
    kRtabmapMaxRepublished()rtabmap::Parametersinlinestatic
    kRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic
    kRtabmapMemoryThr()rtabmap::Parametersinlinestatic
    kRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic
    kRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic
    kRtabmapPublishPdf()rtabmap::Parametersinlinestatic
    kRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic
    kRtabmapPublishStats()rtabmap::Parametersinlinestatic
    kRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic
    kRtabmapSaveWMState()rtabmap::Parametersinlinestatic
    kRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic
    kRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic
    kRtabmapStatisticLogged()rtabmap::Parametersinlinestatic
    kRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic
    kRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic
    kRtabmapTimeThr()rtabmap::Parametersinlinestatic
    kRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic
    kRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic
    kSIFTContrastThreshold()rtabmap::Parametersinlinestatic
    kSIFTEdgeThreshold()rtabmap::Parametersinlinestatic
    kSIFTGaussianThreshold()rtabmap::Parametersinlinestatic
    kSIFTGpu()rtabmap::Parametersinlinestatic
    kSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic
    kSIFTNOctaveLayers()rtabmap::Parametersinlinestatic
    kSIFTPreciseUpscale()rtabmap::Parametersinlinestatic
    kSIFTRootSIFT()rtabmap::Parametersinlinestatic
    kSIFTSigma()rtabmap::Parametersinlinestatic
    kSIFTUpscale()rtabmap::Parametersinlinestatic
    kStereoBMBlockSize()rtabmap::Parametersinlinestatic
    kStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    kStereoBMMinDisparity()rtabmap::Parametersinlinestatic
    kStereoBMNumDisparities()rtabmap::Parametersinlinestatic
    kStereoBMPreFilterCap()rtabmap::Parametersinlinestatic
    kStereoBMPreFilterSize()rtabmap::Parametersinlinestatic
    kStereoBMSpeckleRange()rtabmap::Parametersinlinestatic
    kStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    kStereoBMTextureThreshold()rtabmap::Parametersinlinestatic
    kStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic
    kStereoDenseStrategy()rtabmap::Parametersinlinestatic
    kStereoEps()rtabmap::Parametersinlinestatic
    kStereoErrorThreshold()rtabmap::Parametersinlinestatic
    kStereoGpu()rtabmap::Parametersinlinestatic
    kStereoIterations()rtabmap::Parametersinlinestatic
    kStereoMaxDisparity()rtabmap::Parametersinlinestatic
    kStereoMaxLevel()rtabmap::Parametersinlinestatic
    kStereoMinDisparity()rtabmap::Parametersinlinestatic
    kStereoMinEigThreshold()rtabmap::Parametersinlinestatic
    kStereoOpticalFlow()rtabmap::Parametersinlinestatic
    kStereoSGBMBlockSize()rtabmap::Parametersinlinestatic
    kStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    kStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic
    kStereoSGBMMode()rtabmap::Parametersinlinestatic
    kStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic
    kStereoSGBMP1()rtabmap::Parametersinlinestatic
    kStereoSGBMP2()rtabmap::Parametersinlinestatic
    kStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic
    kStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic
    kStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    kStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic
    kStereoSSD()rtabmap::Parametersinlinestatic
    kStereoUseMinEigenVals()rtabmap::Parametersinlinestatic
    kStereoWinHeight()rtabmap::Parametersinlinestatic
    kStereoWinWidth()rtabmap::Parametersinlinestatic
    kSuperPointCuda()rtabmap::Parametersinlinestatic
    kSuperPointModelPath()rtabmap::Parametersinlinestatic
    kSuperPointNMS()rtabmap::Parametersinlinestatic
    kSuperPointNMSRadius()rtabmap::Parametersinlinestatic
    kSuperPointRpautratCuda()rtabmap::Parametersinlinestatic
    kSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic
    kSuperPointRpautratNMS()rtabmap::Parametersinlinestatic
    kSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic
    kSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic
    kSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic
    kSuperPointThreshold()rtabmap::Parametersinlinestatic
    kSURFExtended()rtabmap::Parametersinlinestatic
    kSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    kSURFGpuVersion()rtabmap::Parametersinlinestatic
    kSURFHessianThreshold()rtabmap::Parametersinlinestatic
    kSURFOctaveLayers()rtabmap::Parametersinlinestatic
    kSURFOctaves()rtabmap::Parametersinlinestatic
    kSURFUpright()rtabmap::Parametersinlinestatic
    kVhEpEnabled()rtabmap::Parametersinlinestatic
    kVhEpMatchCountMin()rtabmap::Parametersinlinestatic
    kVhEpRansacParam1()rtabmap::Parametersinlinestatic
    kVhEpRansacParam2()rtabmap::Parametersinlinestatic
    kVisBundleAdjustment()rtabmap::Parametersinlinestatic
    kVisCorFlowEps()rtabmap::Parametersinlinestatic
    kVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic
    kVisCorFlowGpu()rtabmap::Parametersinlinestatic
    kVisCorFlowIterations()rtabmap::Parametersinlinestatic
    kVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic
    kVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic
    kVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic
    kVisCorFlowWinSize()rtabmap::Parametersinlinestatic
    kVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic
    kVisCorGuessWinSize()rtabmap::Parametersinlinestatic
    kVisCorNNDR()rtabmap::Parametersinlinestatic
    kVisCorNNType()rtabmap::Parametersinlinestatic
    kVisCorType()rtabmap::Parametersinlinestatic
    kVisDepthAsMask()rtabmap::Parametersinlinestatic
    kVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    kVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic
    kVisEstimationType()rtabmap::Parametersinlinestatic
    kVisFeatureType()rtabmap::Parametersinlinestatic
    kVisGridCols()rtabmap::Parametersinlinestatic
    kVisGridRows()rtabmap::Parametersinlinestatic
    kVisInlierDistance()rtabmap::Parametersinlinestatic
    kVisIterations()rtabmap::Parametersinlinestatic
    kVisMaxDepth()rtabmap::Parametersinlinestatic
    kVisMaxFeatures()rtabmap::Parametersinlinestatic
    kVisMeanInliersDistance()rtabmap::Parametersinlinestatic
    kVisMinDepth()rtabmap::Parametersinlinestatic
    kVisMinInliers()rtabmap::Parametersinlinestatic
    kVisMinInliersDistribution()rtabmap::Parametersinlinestatic
    kVisPnPFlags()rtabmap::Parametersinlinestatic
    kVisPnPMaxVariance()rtabmap::Parametersinlinestatic
    kVisPnPRefineIterations()rtabmap::Parametersinlinestatic
    kVisPnPReprojError()rtabmap::Parametersinlinestatic
    kVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic
    kVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic
    kVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic
    kVisRefineIterations()rtabmap::Parametersinlinestatic
    kVisRoiRatios()rtabmap::Parametersinlinestatic
    kVisSSC()rtabmap::Parametersinlinestatic
    kVisSubPixEps()rtabmap::Parametersinlinestatic
    kVisSubPixIterations()rtabmap::Parametersinlinestatic
    kVisSubPixWinSize()rtabmap::Parametersinlinestatic
    parse(const ParametersMap &parameters, const std::string &key, bool &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    parse(const ParametersMap &parameters, const std::string &key, int &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    parse(const ParametersMap &parameters, const std::string &key, unsigned int &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    readINIStr(const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    serialize(const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    showUsage() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    writeINI(const std::string &configFile, const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    ~Parameters() (defined in rtabmap::Parameters)rtabmap::Parametersvirtual
    typeBayesFullPredictionUpdate()rtabmap::Parametersinlinestatic
    typeBayesPredictionLC()rtabmap::Parametersinlinestatic
    typeBayesVirtualPlacePriorThr()rtabmap::Parametersinlinestatic
    typeBRIEFBytes()rtabmap::Parametersinlinestatic
    typeBRISKOctaves()rtabmap::Parametersinlinestatic
    typeBRISKPatternScale()rtabmap::Parametersinlinestatic
    typeBRISKThresh()rtabmap::Parametersinlinestatic
    typeDbSqlite3CacheSize()rtabmap::Parametersinlinestatic
    typeDbSqlite3InMemory()rtabmap::Parametersinlinestatic
    typeDbSqlite3JournalMode()rtabmap::Parametersinlinestatic
    typeDbSqlite3Synchronous()rtabmap::Parametersinlinestatic
    typeDbSqlite3TempStore()rtabmap::Parametersinlinestatic
    typeDbTargetVersion()rtabmap::Parametersinlinestatic
    typeFASTCV()rtabmap::Parametersinlinestatic
    typeFASTGpu()rtabmap::Parametersinlinestatic
    typeFASTGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    typeFASTGridCols()rtabmap::Parametersinlinestatic
    typeFASTGridRows()rtabmap::Parametersinlinestatic
    typeFASTMaxThreshold()rtabmap::Parametersinlinestatic
    typeFASTMinThreshold()rtabmap::Parametersinlinestatic
    typeFASTNonmaxSuppression()rtabmap::Parametersinlinestatic
    typeFASTThreshold()rtabmap::Parametersinlinestatic
    typeFREAKNOctaves()rtabmap::Parametersinlinestatic
    typeFREAKOrientationNormalized()rtabmap::Parametersinlinestatic
    typeFREAKPatternScale()rtabmap::Parametersinlinestatic
    typeFREAKScaleNormalized()rtabmap::Parametersinlinestatic
    typeg2oOptimizer()rtabmap::Parametersinlinestatic
    typeg2oSolver()rtabmap::Parametersinlinestatic
    typeGFTTBlockSize()rtabmap::Parametersinlinestatic
    typeGFTTGpu()rtabmap::Parametersinlinestatic
    typeGFTTK()rtabmap::Parametersinlinestatic
    typeGFTTMinDistance()rtabmap::Parametersinlinestatic
    typeGFTTQualityLevel()rtabmap::Parametersinlinestatic
    typeGFTTUseHarrisDetector()rtabmap::Parametersinlinestatic
    typeGMSThresholdFactor()rtabmap::Parametersinlinestatic
    typeGMSWithRotation()rtabmap::Parametersinlinestatic
    typeGMSWithScale()rtabmap::Parametersinlinestatic
    typeGrid3D()rtabmap::Parametersinlinestatic
    typeGridCellSize()rtabmap::Parametersinlinestatic
    typeGridClusterRadius()rtabmap::Parametersinlinestatic
    typeGridDepthDecimation()rtabmap::Parametersinlinestatic
    typeGridDepthRoiRatios()rtabmap::Parametersinlinestatic
    typeGridFlatObstacleDetected()rtabmap::Parametersinlinestatic
    typeGridFootprintHeight()rtabmap::Parametersinlinestatic
    typeGridFootprintLength()rtabmap::Parametersinlinestatic
    typeGridFootprintWidth()rtabmap::Parametersinlinestatic
    typeGridGlobalAltitudeDelta()rtabmap::Parametersinlinestatic
    typeGridGlobalEroded()rtabmap::Parametersinlinestatic
    typeGridGlobalFloodFillDepth()rtabmap::Parametersinlinestatic
    typeGridGlobalFootprintRadius()rtabmap::Parametersinlinestatic
    typeGridGlobalMaxNodes()rtabmap::Parametersinlinestatic
    typeGridGlobalMinSize()rtabmap::Parametersinlinestatic
    typeGridGlobalOccupancyThr()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMax()rtabmap::Parametersinlinestatic
    typeGridGlobalProbClampingMin()rtabmap::Parametersinlinestatic
    typeGridGlobalProbHit()rtabmap::Parametersinlinestatic
    typeGridGlobalProbMiss()rtabmap::Parametersinlinestatic
    typeGridGlobalUpdateError()rtabmap::Parametersinlinestatic
    typeGridGroundIsObstacle()rtabmap::Parametersinlinestatic
    typeGridMapFrameProjection()rtabmap::Parametersinlinestatic
    typeGridMaxGroundAngle()rtabmap::Parametersinlinestatic
    typeGridMaxGroundHeight()rtabmap::Parametersinlinestatic
    typeGridMaxObstacleHeight()rtabmap::Parametersinlinestatic
    typeGridMinClusterSize()rtabmap::Parametersinlinestatic
    typeGridMinGroundHeight()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringMinNeighbors()rtabmap::Parametersinlinestatic
    typeGridNoiseFilteringRadius()rtabmap::Parametersinlinestatic
    typeGridNormalK()rtabmap::Parametersinlinestatic
    typeGridNormalsSegmentation()rtabmap::Parametersinlinestatic
    typeGridPreVoxelFiltering()rtabmap::Parametersinlinestatic
    typeGridRangeMax()rtabmap::Parametersinlinestatic
    typeGridRangeMin()rtabmap::Parametersinlinestatic
    typeGridRayTracing()rtabmap::Parametersinlinestatic
    typeGridScan2dUnknownSpaceFilled()rtabmap::Parametersinlinestatic
    typeGridScanDecimation()rtabmap::Parametersinlinestatic
    typeGridSensor()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeSkip()rtabmap::Parametersinlinestatic
    typeGTSAMIncRelinearizeThreshold()rtabmap::Parametersinlinestatic
    typeGTSAMIncremental()rtabmap::Parametersinlinestatic
    typeGTSAMOptimizer()rtabmap::Parametersinlinestatic
    typeIcpCCFilterOutFarthestPoints()rtabmap::Parametersinlinestatic
    typeIcpCCMaxFinalRMS()rtabmap::Parametersinlinestatic
    typeIcpCCSamplingLimit()rtabmap::Parametersinlinestatic
    typeIcpCorrespondenceRatio()rtabmap::Parametersinlinestatic
    typeIcpDebugExportFormat()rtabmap::Parametersinlinestatic
    typeIcpDownsamplingStep()rtabmap::Parametersinlinestatic
    typeIcpEpsilon()rtabmap::Parametersinlinestatic
    typeIcpFiltersEnabled()rtabmap::Parametersinlinestatic
    typeIcpForce4DoF()rtabmap::Parametersinlinestatic
    typeIcpIterations()rtabmap::Parametersinlinestatic
    typeIcpMaxCorrespondenceDistance()rtabmap::Parametersinlinestatic
    typeIcpMaxRotation()rtabmap::Parametersinlinestatic
    typeIcpMaxTranslation()rtabmap::Parametersinlinestatic
    typeIcpOutlierRatio()rtabmap::Parametersinlinestatic
    typeIcpPMConfig()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherEpsilon()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherIntensity()rtabmap::Parametersinlinestatic
    typeIcpPMMatcherKnn()rtabmap::Parametersinlinestatic
    typeIcpPointToPlane()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneComplexityCentered()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneGroundNormalsUp()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneK()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneLowComplexityStrategy()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneMinComplexity()rtabmap::Parametersinlinestatic
    typeIcpPointToPlaneRadius()rtabmap::Parametersinlinestatic
    typeIcpRangeMax()rtabmap::Parametersinlinestatic
    typeIcpRangeMin()rtabmap::Parametersinlinestatic
    typeIcpReciprocalCorrespondences()rtabmap::Parametersinlinestatic
    typeIcpStrategy()rtabmap::Parametersinlinestatic
    typeIcpVoxelSize()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryBiasAlpha()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoAdpativeGain()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryDoBiasEstimation()rtabmap::Parametersinlinestatic
    typeImuFilterComplementaryGainAcc()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickGain()rtabmap::Parametersinlinestatic
    typeImuFilterMadgwickZeta()rtabmap::Parametersinlinestatic
    typeKAZEDiffusivity()rtabmap::Parametersinlinestatic
    typeKAZEExtended()rtabmap::Parametersinlinestatic
    typeKAZENOctaveLayers()rtabmap::Parametersinlinestatic
    typeKAZENOctaves()rtabmap::Parametersinlinestatic
    typeKAZEThreshold()rtabmap::Parametersinlinestatic
    typeKAZEUpright()rtabmap::Parametersinlinestatic
    typeKpBadSignRatio()rtabmap::Parametersinlinestatic
    typeKpByteToFloat()rtabmap::Parametersinlinestatic
    typeKpDetectorStrategy()rtabmap::Parametersinlinestatic
    typeKpDictionaryPath()rtabmap::Parametersinlinestatic
    typeKpFlannIndexSaved()rtabmap::Parametersinlinestatic
    typeKpFlannRebalancingFactor()rtabmap::Parametersinlinestatic
    typeKpGridCols()rtabmap::Parametersinlinestatic
    typeKpGridRows()rtabmap::Parametersinlinestatic
    typeKpIncrementalDictionary()rtabmap::Parametersinlinestatic
    typeKpIncrementalFlann()rtabmap::Parametersinlinestatic
    typeKpMaxDepth()rtabmap::Parametersinlinestatic
    typeKpMaxFeatures()rtabmap::Parametersinlinestatic
    typeKpMinDepth()rtabmap::Parametersinlinestatic
    typeKpNewWordsComparedTogether()rtabmap::Parametersinlinestatic
    typeKpNndrRatio()rtabmap::Parametersinlinestatic
    typeKpNNStrategy()rtabmap::Parametersinlinestatic
    typeKpParallelized()rtabmap::Parametersinlinestatic
    typeKpRoiRatios()rtabmap::Parametersinlinestatic
    typeKpSerializeWithChecksum()rtabmap::Parametersinlinestatic
    typeKpSSC()rtabmap::Parametersinlinestatic
    typeKpSubPixEps()rtabmap::Parametersinlinestatic
    typeKpSubPixIterations()rtabmap::Parametersinlinestatic
    typeKpSubPixWinSize()rtabmap::Parametersinlinestatic
    typeKpTfIdfLikelihoodUsed()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDebug()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagDecodeSharpening()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagNThreads()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadDecimate()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagQuadSigma()rtabmap::Parametersinlinestatic
    typeMarkerAprilTagRefineEdges()rtabmap::Parametersinlinestatic
    typeMarkerDictionary()rtabmap::Parametersinlinestatic
    typeMarkerLength()rtabmap::Parametersinlinestatic
    typeMarkerLengths()rtabmap::Parametersinlinestatic
    typeMarkerMaxDepthError()rtabmap::Parametersinlinestatic
    typeMarkerMaxRange()rtabmap::Parametersinlinestatic
    typeMarkerMinRange()rtabmap::Parametersinlinestatic
    typeMarkerOpenCVCornerRefinementMethod()rtabmap::Parametersinlinestatic
    typeMarkerPriors()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerPriorsVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerStrategy()rtabmap::Parametersinlinestatic
    typeMarkerVarianceAngular()rtabmap::Parametersinlinestatic
    typeMarkerVarianceLinear()rtabmap::Parametersinlinestatic
    typeMarkerVarianceOrientationIgnored()rtabmap::Parametersinlinestatic
    typeMemBadSignaturesIgnored()rtabmap::Parametersinlinestatic
    typeMemBinDataKept()rtabmap::Parametersinlinestatic
    typeMemCompressionParallelized()rtabmap::Parametersinlinestatic
    typeMemCovOffDiagIgnored()rtabmap::Parametersinlinestatic
    typeMemDepthAsMask()rtabmap::Parametersinlinestatic
    typeMemDepthCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    typeMemGenerateIds()rtabmap::Parametersinlinestatic
    typeMemGlobalDescriptorStrategy()rtabmap::Parametersinlinestatic
    typeMemImageCompressionFormat()rtabmap::Parametersinlinestatic
    typeMemImageKept()rtabmap::Parametersinlinestatic
    typeMemImagePostDecimation()rtabmap::Parametersinlinestatic
    typeMemImagePreDecimation()rtabmap::Parametersinlinestatic
    typeMemIncrementalMemory()rtabmap::Parametersinlinestatic
    typeMemInitWMWithAllNodes()rtabmap::Parametersinlinestatic
    typeMemIntermediateNodeDataKept()rtabmap::Parametersinlinestatic
    typeMemLaserScanDownsampleStepSize()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalK()rtabmap::Parametersinlinestatic
    typeMemLaserScanNormalRadius()rtabmap::Parametersinlinestatic
    typeMemLaserScanVoxelSize()rtabmap::Parametersinlinestatic
    typeMemLoadVisualLocalFeaturesOnInit()rtabmap::Parametersinlinestatic
    typeMemLocalizationDataSaved()rtabmap::Parametersinlinestatic
    typeMemLocalizationReadOnly()rtabmap::Parametersinlinestatic
    typeMemMapLabelsAdded()rtabmap::Parametersinlinestatic
    typeMemNotLinkedNodesKept()rtabmap::Parametersinlinestatic
    typeMemRawDescriptorsKept()rtabmap::Parametersinlinestatic
    typeMemRecentWmRatio()rtabmap::Parametersinlinestatic
    typeMemReduceGraph()rtabmap::Parametersinlinestatic
    typeMemRehearsalIdUpdatedToNewOne()rtabmap::Parametersinlinestatic
    typeMemRehearsalSimilarity()rtabmap::Parametersinlinestatic
    typeMemRehearsalWeightIgnoredWhileMoving()rtabmap::Parametersinlinestatic
    typeMemRotateImagesUpsideUp()rtabmap::Parametersinlinestatic
    typeMemSaveDepth16Format()rtabmap::Parametersinlinestatic
    typeMemStereoFromMotion()rtabmap::Parametersinlinestatic
    typeMemSTMSize()rtabmap::Parametersinlinestatic
    typeMemTransferSortingByWeightId()rtabmap::Parametersinlinestatic
    typeMemUseOdomFeatures()rtabmap::Parametersinlinestatic
    typeMemUseOdomGravity()rtabmap::Parametersinlinestatic
    typeOdomAlignWithGround()rtabmap::Parametersinlinestatic
    typeOdomCuVSLAMMulticamMode()rtabmap::Parametersinlinestatic
    typeOdomDeskewing()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustment()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleAdjustmentMinMotion()rtabmap::Parametersinlinestatic
    typeOdomF2MBundleUpdateFeatureMapOnAllFrames()rtabmap::Parametersinlinestatic
    typeOdomF2MFloorThreshold()rtabmap::Parametersinlinestatic
    typeOdomF2MInitDepthFactor()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxNewFeatures()rtabmap::Parametersinlinestatic
    typeOdomF2MMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanMaxSize()rtabmap::Parametersinlinestatic
    typeOdomF2MScanRange()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractAngle()rtabmap::Parametersinlinestatic
    typeOdomF2MScanSubtractRadius()rtabmap::Parametersinlinestatic
    typeOdomF2MValidDepthRatio()rtabmap::Parametersinlinestatic
    typeOdomFillInfoData()rtabmap::Parametersinlinestatic
    typeOdomFilteringStrategy()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketHeight()rtabmap::Parametersinlinestatic
    typeOdomFovisBucketWidth()rtabmap::Parametersinlinestatic
    typeOdomFovisCliqueInlierThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisFastThresholdAdaptiveGain()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureSearchWindow()rtabmap::Parametersinlinestatic
    typeOdomFovisFeatureWindowSize()rtabmap::Parametersinlinestatic
    typeOdomFovisInlierMaxReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxKeypointsPerBucket()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxMeanReprojectionError()rtabmap::Parametersinlinestatic
    typeOdomFovisMaxPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisMinFeaturesForEstimate()rtabmap::Parametersinlinestatic
    typeOdomFovisMinPyramidLevel()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDisparity()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxDistEpipolarLine()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoMaxRefinementDisplacement()rtabmap::Parametersinlinestatic
    typeOdomFovisStereoRequireMutualMatch()rtabmap::Parametersinlinestatic
    typeOdomFovisTargetPixelsPerFeature()rtabmap::Parametersinlinestatic
    typeOdomFovisUpdateTargetFeaturesWithRefined()rtabmap::Parametersinlinestatic
    typeOdomFovisUseAdaptiveThreshold()rtabmap::Parametersinlinestatic
    typeOdomFovisUseBucketing()rtabmap::Parametersinlinestatic
    typeOdomFovisUseHomographyInitialization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseImageNormalization()rtabmap::Parametersinlinestatic
    typeOdomFovisUseSubpixelRefinement()rtabmap::Parametersinlinestatic
    typeOdomGuessMotion()rtabmap::Parametersinlinestatic
    typeOdomGuessSmoothingDelay()rtabmap::Parametersinlinestatic
    typeOdomHolonomic()rtabmap::Parametersinlinestatic
    typeOdomImageBufferSize()rtabmap::Parametersinlinestatic
    typeOdomImageDecimation()rtabmap::Parametersinlinestatic
    typeOdomKalmanMeasurementNoise()rtabmap::Parametersinlinestatic
    typeOdomKalmanProcessNoise()rtabmap::Parametersinlinestatic
    typeOdomKeyFrameThr()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMAngVar()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMConfigPath()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMEdgeThreshold()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMHorizonScan()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMImuAccBiasN()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMImuAccNoise()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMImuGravity()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMImuGyrBiasN()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMImuGyrNoise()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMLinVar()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMNScan()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMSensor()rtabmap::Parametersinlinestatic
    typeOdomLIOSAMSurfThreshold()rtabmap::Parametersinlinestatic
    typeOdomLOAMAngVar()rtabmap::Parametersinlinestatic
    typeOdomLOAMLinVar()rtabmap::Parametersinlinestatic
    typeOdomLOAMLocalMapping()rtabmap::Parametersinlinestatic
    typeOdomLOAMResolution()rtabmap::Parametersinlinestatic
    typeOdomLOAMScanPeriod()rtabmap::Parametersinlinestatic
    typeOdomLOAMSensor()rtabmap::Parametersinlinestatic
    typeOdomMonoInitMinFlow()rtabmap::Parametersinlinestatic
    typeOdomMonoInitMinTranslation()rtabmap::Parametersinlinestatic
    typeOdomMonoMaxVariance()rtabmap::Parametersinlinestatic
    typeOdomMonoMinTranslation()rtabmap::Parametersinlinestatic
    typeOdomMSCKFFastThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFGridCol()rtabmap::Parametersinlinestatic
    typeOdomMSCKFGridMaxFeatureNum()rtabmap::Parametersinlinestatic
    typeOdomMSCKFGridMinFeatureNum()rtabmap::Parametersinlinestatic
    typeOdomMSCKFGridRow()rtabmap::Parametersinlinestatic
    typeOdomMSCKFInitCovAccBias()rtabmap::Parametersinlinestatic
    typeOdomMSCKFInitCovExRot()rtabmap::Parametersinlinestatic
    typeOdomMSCKFInitCovExTrans()rtabmap::Parametersinlinestatic
    typeOdomMSCKFInitCovGyroBias()rtabmap::Parametersinlinestatic
    typeOdomMSCKFInitCovVel()rtabmap::Parametersinlinestatic
    typeOdomMSCKFMaxCamStateSize()rtabmap::Parametersinlinestatic
    typeOdomMSCKFMaxIteration()rtabmap::Parametersinlinestatic
    typeOdomMSCKFNoiseAcc()rtabmap::Parametersinlinestatic
    typeOdomMSCKFNoiseAccBias()rtabmap::Parametersinlinestatic
    typeOdomMSCKFNoiseFeature()rtabmap::Parametersinlinestatic
    typeOdomMSCKFNoiseGyro()rtabmap::Parametersinlinestatic
    typeOdomMSCKFNoiseGyroBias()rtabmap::Parametersinlinestatic
    typeOdomMSCKFOptTranslationThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFPatchSize()rtabmap::Parametersinlinestatic
    typeOdomMSCKFPositionStdThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFPyramidLevels()rtabmap::Parametersinlinestatic
    typeOdomMSCKFRansacThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFRotationThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFStereoThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFTrackingRateThreshold()rtabmap::Parametersinlinestatic
    typeOdomMSCKFTrackPrecision()rtabmap::Parametersinlinestatic
    typeOdomMSCKFTranslationThreshold()rtabmap::Parametersinlinestatic
    typeOdomOKVISConfigPath()rtabmap::Parametersinlinestatic
    typeOdomOpen3DMaxDepth()rtabmap::Parametersinlinestatic
    typeOdomOpen3DMethod()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSAccelerometerNoiseDensity()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSAccelerometerRandomWalk()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSCalibCamExtrinsics()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSCalibCamIntrinsics()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSCalibCamTimeoffset()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSCalibIMUGSensitivity()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSCalibIMUIntrinsics()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSConfigPath()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSDtSLAMDelay()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFeatRepMSCKF()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFeatRepSLAM()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFiMaxBaseline()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFiMaxCondNumber()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFiMaxRuns()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFiRefineFeatures()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSFiTriangulate1d()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSGravityMag()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSGyroscopeNoiseDensity()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSGyroscopeRandomWalk()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynInflationBa()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynInflationBg()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynInflationOri()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynInflationVel()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMinDeg()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMinRecCond()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMLEMaxIter()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMLEMaxThreads()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMLEMaxTime()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynMLEOptCalib()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynNumPose()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitDynUse()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitIMUThresh()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitMaxDisparity()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitMaxFeatures()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSInitWindowTime()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSIntegration()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSLeftMaskPath()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSMaxClones()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSMaxMSCKFInUpdate()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSMaxSLAM()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSMaxSLAMInUpdate()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSMinPxDist()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSNumPts()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSRightMaskPath()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSTryZUPT()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUpMSCKFChi2Multiplier()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUpMSCKFSigmaPx()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUpSLAMChi2Multiplier()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUpSLAMSigmaPx()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUseFEJ()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUseKLT()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSUseStereo()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSZUPTChi2Multiplier()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSZUPTMaxDisparity()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSZUPTMaxVelodicy()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSZUPTNoiseMultiplier()rtabmap::Parametersinlinestatic
    typeOdomOpenVINSZUPTOnlyAtBeginning()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMAccNoise()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMAccWalk()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMBf()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMFps()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMGyroNoise()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMGyroWalk()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMInertial()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMMapSize()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMMaxFeatures()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMSamplingRate()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMThDepth()rtabmap::Parametersinlinestatic
    typeOdomORBSLAMVocPath()rtabmap::Parametersinlinestatic
    typeOdomParticleLambdaR()rtabmap::Parametersinlinestatic
    typeOdomParticleLambdaT()rtabmap::Parametersinlinestatic
    typeOdomParticleNoiseR()rtabmap::Parametersinlinestatic
    typeOdomParticleNoiseT()rtabmap::Parametersinlinestatic
    typeOdomParticleSize()rtabmap::Parametersinlinestatic
    typeOdomResetCountdown()rtabmap::Parametersinlinestatic
    typeOdomScanKeyFrameThr()rtabmap::Parametersinlinestatic
    typeOdomStrategy()rtabmap::Parametersinlinestatic
    typeOdomVINSFusionConfigPath()rtabmap::Parametersinlinestatic
    typeOdomVisKeyFrameThr()rtabmap::Parametersinlinestatic
    typeOdomViso2BucketHeight()rtabmap::Parametersinlinestatic
    typeOdomViso2BucketMaxFeatures()rtabmap::Parametersinlinestatic
    typeOdomViso2BucketWidth()rtabmap::Parametersinlinestatic
    typeOdomViso2InlierThreshold()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchBinsize()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchDispTolerance()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchHalfResolution()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchMultiStage()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchNmsN()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchNmsTau()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchOutlierDispTolerance()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchOutlierFlowTolerance()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchRadius()rtabmap::Parametersinlinestatic
    typeOdomViso2MatchRefinement()rtabmap::Parametersinlinestatic
    typeOdomViso2RansacIters()rtabmap::Parametersinlinestatic
    typeOdomViso2Reweighting()rtabmap::Parametersinlinestatic
    typeOptimizerBaseline()rtabmap::Parametersinlinestatic
    typeOptimizerDisparityVariance()rtabmap::Parametersinlinestatic
    typeOptimizerEpsilon()rtabmap::Parametersinlinestatic
    typeOptimizerGravitySigma()rtabmap::Parametersinlinestatic
    typeOptimizerIterations()rtabmap::Parametersinlinestatic
    typeOptimizerLandmarksIgnored()rtabmap::Parametersinlinestatic
    typeOptimizerPixelVariance()rtabmap::Parametersinlinestatic
    typeOptimizerPriorsIgnored()rtabmap::Parametersinlinestatic
    typeOptimizerRobust()rtabmap::Parametersinlinestatic
    typeOptimizerRobustKernelDelta()rtabmap::Parametersinlinestatic
    typeOptimizerStrategy()rtabmap::Parametersinlinestatic
    typeOptimizerVarianceIgnored()rtabmap::Parametersinlinestatic
    typeORBEdgeThreshold()rtabmap::Parametersinlinestatic
    typeORBFirstLevel()rtabmap::Parametersinlinestatic
    typeORBGpu()rtabmap::Parametersinlinestatic
    typeORBNLevels()rtabmap::Parametersinlinestatic
    typeORBPatchSize()rtabmap::Parametersinlinestatic
    typeORBScaleFactor()rtabmap::Parametersinlinestatic
    typeORBScoreType()rtabmap::Parametersinlinestatic
    typeORBWTA_K()rtabmap::Parametersinlinestatic
    typePyDescriptorDim()rtabmap::Parametersinlinestatic
    typePyDescriptorPath()rtabmap::Parametersinlinestatic
    typePyDetectorCuda()rtabmap::Parametersinlinestatic
    typePyDetectorPath()rtabmap::Parametersinlinestatic
    typePyMatcherCuda()rtabmap::Parametersinlinestatic
    typePyMatcherIterations()rtabmap::Parametersinlinestatic
    typePyMatcherModel()rtabmap::Parametersinlinestatic
    typePyMatcherPath()rtabmap::Parametersinlinestatic
    typePyMatcherThreshold()rtabmap::Parametersinlinestatic
    typeRegForce3DoF()rtabmap::Parametersinlinestatic
    typeRegRepeatOnce()rtabmap::Parametersinlinestatic
    typeRegStrategy()rtabmap::Parametersinlinestatic
    typeRGBDAggressiveLoopThr()rtabmap::Parametersinlinestatic
    typeRGBDAngularSpeedUpdate()rtabmap::Parametersinlinestatic
    typeRGBDAngularUpdate()rtabmap::Parametersinlinestatic
    typeRGBDCreateOccupancyGrid()rtabmap::Parametersinlinestatic
    typeRGBDEnabled()rtabmap::Parametersinlinestatic
    typeRGBDForceOdom3DoF()rtabmap::Parametersinlinestatic
    typeRGBDGoalReachedRadius()rtabmap::Parametersinlinestatic
    typeRGBDGoalsSavedInUserData()rtabmap::Parametersinlinestatic
    typeRGBDInvertedReg()rtabmap::Parametersinlinestatic
    typeRGBDLinearSpeedUpdate()rtabmap::Parametersinlinestatic
    typeRGBDLinearUpdate()rtabmap::Parametersinlinestatic
    typeRGBDLocalBundleOnLoopClosure()rtabmap::Parametersinlinestatic
    typeRGBDLocalImmunizationRatio()rtabmap::Parametersinlinestatic
    typeRGBDLocalizationPriorError()rtabmap::Parametersinlinestatic
    typeRGBDLocalizationSecondTryWithoutProximityLinks()rtabmap::Parametersinlinestatic
    typeRGBDLocalizationSmoothing()rtabmap::Parametersinlinestatic
    typeRGBDLocalRadius()rtabmap::Parametersinlinestatic
    typeRGBDLoopClosureIdentityGuess()rtabmap::Parametersinlinestatic
    typeRGBDLoopClosureReextractFeatures()rtabmap::Parametersinlinestatic
    typeRGBDLoopCovLimited()rtabmap::Parametersinlinestatic
    typeRGBDMarkerDetection()rtabmap::Parametersinlinestatic
    typeRGBDMaxLocalRetrieved()rtabmap::Parametersinlinestatic
    typeRGBDMaxLoopClosureDistance()rtabmap::Parametersinlinestatic
    typeRGBDMaxOdomCacheSize()rtabmap::Parametersinlinestatic
    typeRGBDNeighborLinkRefining()rtabmap::Parametersinlinestatic
    typeRGBDNewMapOdomChangeDistance()rtabmap::Parametersinlinestatic
    typeRGBDOptimizeFromGraphEnd()rtabmap::Parametersinlinestatic
    typeRGBDOptimizeMaxError()rtabmap::Parametersinlinestatic
    typeRGBDOptimizeMaxErrorRepairRadius()rtabmap::Parametersinlinestatic
    typeRGBDPlanAngularVelocity()rtabmap::Parametersinlinestatic
    typeRGBDPlanLinearVelocity()rtabmap::Parametersinlinestatic
    typeRGBDPlanStuckIterations()rtabmap::Parametersinlinestatic
    typeRGBDProximityAngle()rtabmap::Parametersinlinestatic
    typeRGBDProximityBySpace()rtabmap::Parametersinlinestatic
    typeRGBDProximityByTime()rtabmap::Parametersinlinestatic
    typeRGBDProximityGlobalScanMap()rtabmap::Parametersinlinestatic
    typeRGBDProximityMaxGraphDepth()rtabmap::Parametersinlinestatic
    typeRGBDProximityMaxPaths()rtabmap::Parametersinlinestatic
    typeRGBDProximityMergedScanCovFactor()rtabmap::Parametersinlinestatic
    typeRGBDProximityOdomGuess()rtabmap::Parametersinlinestatic
    typeRGBDProximityPathFilteringRadius()rtabmap::Parametersinlinestatic
    typeRGBDProximityPathMaxNeighbors()rtabmap::Parametersinlinestatic
    typeRGBDProximityPathRawPosesUsed()rtabmap::Parametersinlinestatic
    typeRGBDScanMatchingIdsSavedInLinks()rtabmap::Parametersinlinestatic
    typeRGBDStartAtOrigin()rtabmap::Parametersinlinestatic
    typeRtabmapComputeRMSE()rtabmap::Parametersinlinestatic
    typeRtabmapCreateIntermediateNodes()rtabmap::Parametersinlinestatic
    typeRtabmapDetectionRate()rtabmap::Parametersinlinestatic
    typeRtabmapImageBufferSize()rtabmap::Parametersinlinestatic
    typeRtabmapImagesAlreadyRectified()rtabmap::Parametersinlinestatic
    typeRtabmapLoopGPS()rtabmap::Parametersinlinestatic
    typeRtabmapLoopRatio()rtabmap::Parametersinlinestatic
    typeRtabmapLoopThr()rtabmap::Parametersinlinestatic
    typeRtabmapMaxRepublished()rtabmap::Parametersinlinestatic
    typeRtabmapMaxRetrieved()rtabmap::Parametersinlinestatic
    typeRtabmapMemoryThr()rtabmap::Parametersinlinestatic
    typeRtabmapPublishLastSignature()rtabmap::Parametersinlinestatic
    typeRtabmapPublishLikelihood()rtabmap::Parametersinlinestatic
    typeRtabmapPublishPdf()rtabmap::Parametersinlinestatic
    typeRtabmapPublishRAMUsage()rtabmap::Parametersinlinestatic
    typeRtabmapPublishStats()rtabmap::Parametersinlinestatic
    typeRtabmapRectifyOnlyFeatures()rtabmap::Parametersinlinestatic
    typeRtabmapSaveWMState()rtabmap::Parametersinlinestatic
    typeRtabmapStartNewMapOnGoodSignature()rtabmap::Parametersinlinestatic
    typeRtabmapStartNewMapOnLoopClosure()rtabmap::Parametersinlinestatic
    typeRtabmapStatisticLogged()rtabmap::Parametersinlinestatic
    typeRtabmapStatisticLoggedHeaders()rtabmap::Parametersinlinestatic
    typeRtabmapStatisticLogsBufferedInRAM()rtabmap::Parametersinlinestatic
    typeRtabmapTimeThr()rtabmap::Parametersinlinestatic
    typeRtabmapVirtualPlaceLikelihoodRatio()rtabmap::Parametersinlinestatic
    typeRtabmapWorkingDirectory()rtabmap::Parametersinlinestatic
    typeSIFTContrastThreshold()rtabmap::Parametersinlinestatic
    typeSIFTEdgeThreshold()rtabmap::Parametersinlinestatic
    typeSIFTGaussianThreshold()rtabmap::Parametersinlinestatic
    typeSIFTGpu()rtabmap::Parametersinlinestatic
    typeSIFTMaxGaussianThreshold()rtabmap::Parametersinlinestatic
    typeSIFTNOctaveLayers()rtabmap::Parametersinlinestatic
    typeSIFTPreciseUpscale()rtabmap::Parametersinlinestatic
    typeSIFTRootSIFT()rtabmap::Parametersinlinestatic
    typeSIFTSigma()rtabmap::Parametersinlinestatic
    typeSIFTUpscale()rtabmap::Parametersinlinestatic
    typeStereoBMBlockSize()rtabmap::Parametersinlinestatic
    typeStereoBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    typeStereoBMMinDisparity()rtabmap::Parametersinlinestatic
    typeStereoBMNumDisparities()rtabmap::Parametersinlinestatic
    typeStereoBMPreFilterCap()rtabmap::Parametersinlinestatic
    typeStereoBMPreFilterSize()rtabmap::Parametersinlinestatic
    typeStereoBMSpeckleRange()rtabmap::Parametersinlinestatic
    typeStereoBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    typeStereoBMTextureThreshold()rtabmap::Parametersinlinestatic
    typeStereoBMUniquenessRatio()rtabmap::Parametersinlinestatic
    typeStereoDenseStrategy()rtabmap::Parametersinlinestatic
    typeStereoEps()rtabmap::Parametersinlinestatic
    typeStereoErrorThreshold()rtabmap::Parametersinlinestatic
    typeStereoGpu()rtabmap::Parametersinlinestatic
    typeStereoIterations()rtabmap::Parametersinlinestatic
    typeStereoMaxDisparity()rtabmap::Parametersinlinestatic
    typeStereoMaxLevel()rtabmap::Parametersinlinestatic
    typeStereoMinDisparity()rtabmap::Parametersinlinestatic
    typeStereoMinEigThreshold()rtabmap::Parametersinlinestatic
    typeStereoOpticalFlow()rtabmap::Parametersinlinestatic
    typeStereoSGBMBlockSize()rtabmap::Parametersinlinestatic
    typeStereoSGBMDisp12MaxDiff()rtabmap::Parametersinlinestatic
    typeStereoSGBMMinDisparity()rtabmap::Parametersinlinestatic
    typeStereoSGBMMode()rtabmap::Parametersinlinestatic
    typeStereoSGBMNumDisparities()rtabmap::Parametersinlinestatic
    typeStereoSGBMP1()rtabmap::Parametersinlinestatic
    typeStereoSGBMP2()rtabmap::Parametersinlinestatic
    typeStereoSGBMPreFilterCap()rtabmap::Parametersinlinestatic
    typeStereoSGBMSpeckleRange()rtabmap::Parametersinlinestatic
    typeStereoSGBMSpeckleWindowSize()rtabmap::Parametersinlinestatic
    typeStereoSGBMUniquenessRatio()rtabmap::Parametersinlinestatic
    typeStereoSSD()rtabmap::Parametersinlinestatic
    typeStereoUseMinEigenVals()rtabmap::Parametersinlinestatic
    typeStereoWinHeight()rtabmap::Parametersinlinestatic
    typeStereoWinWidth()rtabmap::Parametersinlinestatic
    typeSuperPointCuda()rtabmap::Parametersinlinestatic
    typeSuperPointModelPath()rtabmap::Parametersinlinestatic
    typeSuperPointNMS()rtabmap::Parametersinlinestatic
    typeSuperPointNMSRadius()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratCuda()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratModelPath()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratNMS()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratNMSRadius()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratThreshold()rtabmap::Parametersinlinestatic
    typeSuperPointRpautratWeightsPath()rtabmap::Parametersinlinestatic
    typeSuperPointThreshold()rtabmap::Parametersinlinestatic
    typeSURFExtended()rtabmap::Parametersinlinestatic
    typeSURFGpuKeypointsRatio()rtabmap::Parametersinlinestatic
    typeSURFGpuVersion()rtabmap::Parametersinlinestatic
    typeSURFHessianThreshold()rtabmap::Parametersinlinestatic
    typeSURFOctaveLayers()rtabmap::Parametersinlinestatic
    typeSURFOctaves()rtabmap::Parametersinlinestatic
    typeSURFUpright()rtabmap::Parametersinlinestatic
    typeVhEpEnabled()rtabmap::Parametersinlinestatic
    typeVhEpMatchCountMin()rtabmap::Parametersinlinestatic
    typeVhEpRansacParam1()rtabmap::Parametersinlinestatic
    typeVhEpRansacParam2()rtabmap::Parametersinlinestatic
    typeVisBundleAdjustment()rtabmap::Parametersinlinestatic
    typeVisCorFlowEps()rtabmap::Parametersinlinestatic
    typeVisCorFlowErrorThreshold()rtabmap::Parametersinlinestatic
    typeVisCorFlowGpu()rtabmap::Parametersinlinestatic
    typeVisCorFlowIterations()rtabmap::Parametersinlinestatic
    typeVisCorFlowMaxLevel()rtabmap::Parametersinlinestatic
    typeVisCorFlowMinEigThreshold()rtabmap::Parametersinlinestatic
    typeVisCorFlowUseMinEigenVals()rtabmap::Parametersinlinestatic
    typeVisCorFlowWinSize()rtabmap::Parametersinlinestatic
    typeVisCorGuessMatchToProjection()rtabmap::Parametersinlinestatic
    typeVisCorGuessWinSize()rtabmap::Parametersinlinestatic
    typeVisCorNNDR()rtabmap::Parametersinlinestatic
    typeVisCorNNType()rtabmap::Parametersinlinestatic
    typeVisCorType()rtabmap::Parametersinlinestatic
    typeVisDepthAsMask()rtabmap::Parametersinlinestatic
    typeVisDepthMaskFloorThr()rtabmap::Parametersinlinestatic
    typeVisEpipolarGeometryVar()rtabmap::Parametersinlinestatic
    typeVisEstimationType()rtabmap::Parametersinlinestatic
    typeVisFeatureType()rtabmap::Parametersinlinestatic
    typeVisGridCols()rtabmap::Parametersinlinestatic
    typeVisGridRows()rtabmap::Parametersinlinestatic
    typeVisInlierDistance()rtabmap::Parametersinlinestatic
    typeVisIterations()rtabmap::Parametersinlinestatic
    typeVisMaxDepth()rtabmap::Parametersinlinestatic
    typeVisMaxFeatures()rtabmap::Parametersinlinestatic
    typeVisMeanInliersDistance()rtabmap::Parametersinlinestatic
    typeVisMinDepth()rtabmap::Parametersinlinestatic
    typeVisMinInliers()rtabmap::Parametersinlinestatic
    typeVisMinInliersDistribution()rtabmap::Parametersinlinestatic
    typeVisPnPFlags()rtabmap::Parametersinlinestatic
    typeVisPnPMaxVariance()rtabmap::Parametersinlinestatic
    typeVisPnPRefineIterations()rtabmap::Parametersinlinestatic
    typeVisPnPReprojError()rtabmap::Parametersinlinestatic
    typeVisPnPSamplingPolicy()rtabmap::Parametersinlinestatic
    typeVisPnPSplitLinearCovComponents()rtabmap::Parametersinlinestatic
    typeVisPnPVarianceMedianRatio()rtabmap::Parametersinlinestatic
    typeVisRefineIterations()rtabmap::Parametersinlinestatic
    typeVisRoiRatios()rtabmap::Parametersinlinestatic
    typeVisSSC()rtabmap::Parametersinlinestatic
    typeVisSubPixEps()rtabmap::Parametersinlinestatic
    typeVisSubPixIterations()rtabmap::Parametersinlinestatic
    typeVisSubPixWinSize()rtabmap::Parametersinlinestatic
    writeINI(const std::string &configFile, const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
    ~Parameters() (defined in rtabmap::Parameters)rtabmap::Parametersvirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Parameters.html b/preview/pr-1492/api/latest/classrtabmap_1_1Parameters.html index 1aab737f..db735238 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Parameters.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Parameters.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +static bool  +static bool  +static bool  +static bool  +static bool  +static bool  +static void  +static ParametersMap  @@ -128,34 +5681,34 @@ static std::string  +static std::string  +static ParametersMap  +static ParametersMap  +static ParametersMap  - + +static void  +static void  +static void  - + @@ -169,11 +5722,53518 @@ static std::string  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    Public Member Functions | @@ -110,9 +127,13 @@ static PythonInterface
  • corelib/include/rtabmap/core/PythonInterface.h
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    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html index 21c442f4..3c91e3e4 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    rtabmap::Registration Member List
    @@ -104,10 +121,10 @@ $(function() { - - - - + + + + @@ -115,9 +132,12 @@ $(function() {

    Static Public Member Functions

    static const ParametersMap & getDefaultParameters ()
    static std::string kRtabmapPublishStats ()
     Key of parameter Rtabmap/PublishStats : "Publishing statistics." Default value: true ( bool ).
     
    static bool defaultRtabmapPublishStats ()
     Default value of parameter Rtabmap/PublishStats : true .
     
    static std::string typeRtabmapPublishStats ()
     Type of parameter Rtabmap/PublishStats , as a string: bool .
     
    static std::string kRtabmapPublishLastSignature ()
     Key of parameter Rtabmap/PublishLastSignature : "Publishing last signature." Default value: true ( bool ).
     
    static bool defaultRtabmapPublishLastSignature ()
     Default value of parameter Rtabmap/PublishLastSignature : true .
     
    static std::string typeRtabmapPublishLastSignature ()
     Type of parameter Rtabmap/PublishLastSignature , as a string: bool .
     
    static std::string kRtabmapPublishPdf ()
     Key of parameter Rtabmap/PublishPdf : "Publishing pdf." Default value: true ( bool ).
     
    static bool defaultRtabmapPublishPdf ()
     Default value of parameter Rtabmap/PublishPdf : true .
     
    static std::string typeRtabmapPublishPdf ()
     Type of parameter Rtabmap/PublishPdf , as a string: bool .
     
    static std::string kRtabmapPublishLikelihood ()
     Key of parameter Rtabmap/PublishLikelihood : "Publishing likelihood." Default value: true ( bool ).
     
    static bool defaultRtabmapPublishLikelihood ()
     Default value of parameter Rtabmap/PublishLikelihood : true .
     
    static std::string typeRtabmapPublishLikelihood ()
     Type of parameter Rtabmap/PublishLikelihood , as a string: bool .
     
    static std::string kRtabmapPublishRAMUsage ()
     Key of parameter Rtabmap/PublishRAMUsage : "Publishing RAM usage in statistics (may add a small overhead to get info from the system)." Default value: false ( bool ).
     
    static bool defaultRtabmapPublishRAMUsage ()
     Default value of parameter Rtabmap/PublishRAMUsage : false .
     
    static std::string typeRtabmapPublishRAMUsage ()
     Type of parameter Rtabmap/PublishRAMUsage , as a string: bool .
     
    static std::string kRtabmapComputeRMSE ()
     Key of parameter Rtabmap/ComputeRMSE : "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided." Default value: true ( bool ).
     
    static bool defaultRtabmapComputeRMSE ()
     Default value of parameter Rtabmap/ComputeRMSE : true .
     
    static std::string typeRtabmapComputeRMSE ()
     Type of parameter Rtabmap/ComputeRMSE , as a string: bool .
     
    static std::string kRtabmapSaveWMState ()
     Key of parameter Rtabmap/SaveWMState : "Save working memory state after each update in statistics." Default value: false ( bool ).
     
    static bool defaultRtabmapSaveWMState ()
     Default value of parameter Rtabmap/SaveWMState : false .
     
    static std::string typeRtabmapSaveWMState ()
     Type of parameter Rtabmap/SaveWMState , as a string: bool .
     
    static std::string kRtabmapTimeThr ()
     Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time." Default value: 0 ( float ).
     
    static float defaultRtabmapTimeThr ()
     Default value of parameter Rtabmap/TimeThr : 0 .
     
    static std::string typeRtabmapTimeThr ()
     Type of parameter Rtabmap/TimeThr , as a string: float .
     
    static std::string kRtabmapMemoryThr ()
     Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()) Default value: 0 ( int ).
     
    static int defaultRtabmapMemoryThr ()
     Default value of parameter Rtabmap/MemoryThr : 0 .
     
    static std::string typeRtabmapMemoryThr ()
     Type of parameter Rtabmap/MemoryThr , as a string: int .
     
    static std::string kRtabmapDetectionRate ()
     Key of parameter Rtabmap/DetectionRate : "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate." Default value: 1 ( float ).
     
    static float defaultRtabmapDetectionRate ()
     Default value of parameter Rtabmap/DetectionRate : 1 .
     
    static std::string typeRtabmapDetectionRate ()
     Type of parameter Rtabmap/DetectionRate , as a string: float .
     
    static std::string kRtabmapImageBufferSize ()
     Key of parameter Rtabmap/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).
     
    static unsigned int defaultRtabmapImageBufferSize ()
     Default value of parameter Rtabmap/ImageBufferSize : 1 .
     
    static std::string typeRtabmapImageBufferSize ()
     Type of parameter Rtabmap/ImageBufferSize , as a string: unsigned int .
     
    static std::string kRtabmapCreateIntermediateNodes ()
     Key of parameter Rtabmap/CreateIntermediateNodes : uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()) Default value: false ( bool ).
     
    static bool defaultRtabmapCreateIntermediateNodes ()
     Default value of parameter Rtabmap/CreateIntermediateNodes : false .
     
    static std::string typeRtabmapCreateIntermediateNodes ()
     Type of parameter Rtabmap/CreateIntermediateNodes , as a string: bool .
     
    static std::string kRtabmapWorkingDirectory ()
     Key of parameter Rtabmap/WorkingDirectory : "Working directory." Default value: "" (string).
     
    static std::string defaultRtabmapWorkingDirectory ()
     Default value of parameter Rtabmap/WorkingDirectory : "" .
     
    static std::string typeRtabmapWorkingDirectory ()
     Type of parameter Rtabmap/WorkingDirectory , as a string: string.
     
    static std::string kRtabmapMaxRetrieved ()
     Key of parameter Rtabmap/MaxRetrieved : "Maximum nodes retrieved at the same time from LTM." Default value: 2 ( unsigned int ).
     
    static unsigned int defaultRtabmapMaxRetrieved ()
     Default value of parameter Rtabmap/MaxRetrieved : 2 .
     
    static std::string typeRtabmapMaxRetrieved ()
     Type of parameter Rtabmap/MaxRetrieved , as a string: unsigned int .
     
    static std::string kRtabmapMaxRepublished ()
     Key of parameter Rtabmap/MaxRepublished : uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()) Default value: 2 ( unsigned int ).
     
    static unsigned int defaultRtabmapMaxRepublished ()
     Default value of parameter Rtabmap/MaxRepublished : 2 .
     
    static std::string typeRtabmapMaxRepublished ()
     Type of parameter Rtabmap/MaxRepublished , as a string: unsigned int .
     
    static std::string kRtabmapStatisticLogsBufferedInRAM ()
     Key of parameter Rtabmap/StatisticLogsBufferedInRAM : "Statistic logs buffered in RAM instead of written to hard drive after each iteration." Default value: true ( bool ).
     
    static bool defaultRtabmapStatisticLogsBufferedInRAM ()
     Default value of parameter Rtabmap/StatisticLogsBufferedInRAM : true .
     
    static std::string typeRtabmapStatisticLogsBufferedInRAM ()
     Type of parameter Rtabmap/StatisticLogsBufferedInRAM , as a string: bool .
     
    static std::string kRtabmapStatisticLogged ()
     Key of parameter Rtabmap/StatisticLogged : "Logging enabled." Default value: false ( bool ).
     
    static bool defaultRtabmapStatisticLogged ()
     Default value of parameter Rtabmap/StatisticLogged : false .
     
    static std::string typeRtabmapStatisticLogged ()
     Type of parameter Rtabmap/StatisticLogged , as a string: bool .
     
    static std::string kRtabmapStatisticLoggedHeaders ()
     Key of parameter Rtabmap/StatisticLoggedHeaders : "Add column header description to log files." Default value: true ( bool ).
     
    static bool defaultRtabmapStatisticLoggedHeaders ()
     Default value of parameter Rtabmap/StatisticLoggedHeaders : true .
     
    static std::string typeRtabmapStatisticLoggedHeaders ()
     Type of parameter Rtabmap/StatisticLoggedHeaders , as a string: bool .
     
    static std::string kRtabmapStartNewMapOnLoopClosure ()
     Key of parameter Rtabmap/StartNewMapOnLoopClosure : "Start a new map only if there is a global loop closure with a previous map." Default value: false ( bool ).
     
    static bool defaultRtabmapStartNewMapOnLoopClosure ()
     Default value of parameter Rtabmap/StartNewMapOnLoopClosure : false .
     
    static std::string typeRtabmapStartNewMapOnLoopClosure ()
     Type of parameter Rtabmap/StartNewMapOnLoopClosure , as a string: bool .
     
    static std::string kRtabmapStartNewMapOnGoodSignature ()
     Key of parameter Rtabmap/StartNewMapOnGoodSignature : uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()) Default value: false ( bool ).
     
    static bool defaultRtabmapStartNewMapOnGoodSignature ()
     Default value of parameter Rtabmap/StartNewMapOnGoodSignature : false .
     
    static std::string typeRtabmapStartNewMapOnGoodSignature ()
     Type of parameter Rtabmap/StartNewMapOnGoodSignature , as a string: bool .
     
    static std::string kRtabmapImagesAlreadyRectified ()
     Key of parameter Rtabmap/ImagesAlreadyRectified : "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false." Default value: true ( bool ).
     
    static bool defaultRtabmapImagesAlreadyRectified ()
     Default value of parameter Rtabmap/ImagesAlreadyRectified : true .
     
    static std::string typeRtabmapImagesAlreadyRectified ()
     Type of parameter Rtabmap/ImagesAlreadyRectified , as a string: bool .
     
    static std::string kRtabmapRectifyOnlyFeatures ()
     Key of parameter Rtabmap/RectifyOnlyFeatures : uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()) Default value: false ( bool ).
     
    static bool defaultRtabmapRectifyOnlyFeatures ()
     Default value of parameter Rtabmap/RectifyOnlyFeatures : false .
     
    static std::string typeRtabmapRectifyOnlyFeatures ()
     Type of parameter Rtabmap/RectifyOnlyFeatures , as a string: bool .
     
    static std::string kRtabmapLoopThr ()
     Key of parameter Rtabmap/LoopThr : "Loop closing threshold." Default value: 0.11 ( float ).
     
    static float defaultRtabmapLoopThr ()
     Default value of parameter Rtabmap/LoopThr : 0.11 .
     
    static std::string typeRtabmapLoopThr ()
     Type of parameter Rtabmap/LoopThr , as a string: float .
     
    static std::string kRtabmapLoopRatio ()
     Key of parameter Rtabmap/LoopRatio : "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue." Default value: 0 ( float ).
     
    static float defaultRtabmapLoopRatio ()
     Default value of parameter Rtabmap/LoopRatio : 0 .
     
    static std::string typeRtabmapLoopRatio ()
     Type of parameter Rtabmap/LoopRatio , as a string: float .
     
    static std::string kRtabmapLoopGPS ()
     Key of parameter Rtabmap/LoopGPS : uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()) Default value: true ( bool ).
     
    static bool defaultRtabmapLoopGPS ()
     Default value of parameter Rtabmap/LoopGPS : true .
     
    static std::string typeRtabmapLoopGPS ()
     Type of parameter Rtabmap/LoopGPS , as a string: bool .
     
    static std::string kRtabmapVirtualPlaceLikelihoodRatio ()
     Key of parameter Rtabmap/VirtualPlaceLikelihoodRatio : "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)" Default value: 0 ( int ).
     
    static int defaultRtabmapVirtualPlaceLikelihoodRatio ()
     Default value of parameter Rtabmap/VirtualPlaceLikelihoodRatio : 0 .
     
    static std::string typeRtabmapVirtualPlaceLikelihoodRatio ()
     Type of parameter Rtabmap/VirtualPlaceLikelihoodRatio , as a string: int .
     
    static std::string kMemRehearsalSimilarity ()
     Key of parameter Mem/RehearsalSimilarity : "Rehearsal similarity." Default value: 0.6 ( float ).
     
    static float defaultMemRehearsalSimilarity ()
     Default value of parameter Mem/RehearsalSimilarity : 0.6 .
     
    static std::string typeMemRehearsalSimilarity ()
     Type of parameter Mem/RehearsalSimilarity , as a string: float .
     
    static std::string kMemImageKept ()
     Key of parameter Mem/ImageKept : "Keep raw images in RAM." Default value: false ( bool ).
     
    static bool defaultMemImageKept ()
     Default value of parameter Mem/ImageKept : false .
     
    static std::string typeMemImageKept ()
     Type of parameter Mem/ImageKept , as a string: bool .
     
    static std::string kMemBinDataKept ()
     Key of parameter Mem/BinDataKept : "Keep binary data in db." Default value: true ( bool ).
     
    static bool defaultMemBinDataKept ()
     Default value of parameter Mem/BinDataKept : true .
     
    static std::string typeMemBinDataKept ()
     Type of parameter Mem/BinDataKept , as a string: bool .
     
    static std::string kMemRawDescriptorsKept ()
     Key of parameter Mem/RawDescriptorsKept : "Raw descriptors kept in memory." Default value: true ( bool ).
     
    static bool defaultMemRawDescriptorsKept ()
     Default value of parameter Mem/RawDescriptorsKept : true .
     
    static std::string typeMemRawDescriptorsKept ()
     Type of parameter Mem/RawDescriptorsKept , as a string: bool .
     
    static std::string kMemLoadVisualLocalFeaturesOnInit ()
     Key of parameter Mem/LoadVisualLocalFeaturesOnInit : "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated." Default value: true ( bool ).
     
    static bool defaultMemLoadVisualLocalFeaturesOnInit ()
     Default value of parameter Mem/LoadVisualLocalFeaturesOnInit : true .
     
    static std::string typeMemLoadVisualLocalFeaturesOnInit ()
     Type of parameter Mem/LoadVisualLocalFeaturesOnInit , as a string: bool .
     
    static std::string kMemMapLabelsAdded ()
     Key of parameter Mem/MapLabelsAdded : "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID." Default value: true ( bool ).
     
    static bool defaultMemMapLabelsAdded ()
     Default value of parameter Mem/MapLabelsAdded : true .
     
    static std::string typeMemMapLabelsAdded ()
     Type of parameter Mem/MapLabelsAdded , as a string: bool .
     
    static std::string kMemSaveDepth16Format ()
     Key of parameter Mem/SaveDepth16Format : "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)." Default value: false ( bool ).
     
    static bool defaultMemSaveDepth16Format ()
     Default value of parameter Mem/SaveDepth16Format : false .
     
    static std::string typeMemSaveDepth16Format ()
     Type of parameter Mem/SaveDepth16Format , as a string: bool .
     
    static std::string kMemNotLinkedNodesKept ()
     Key of parameter Mem/NotLinkedNodesKept : "Keep not linked nodes in db (rehearsed nodes and deleted nodes)." Default value: true ( bool ).
     
    static bool defaultMemNotLinkedNodesKept ()
     Default value of parameter Mem/NotLinkedNodesKept : true .
     
    static std::string typeMemNotLinkedNodesKept ()
     Type of parameter Mem/NotLinkedNodesKept , as a string: bool .
     
    static std::string kMemIntermediateNodeDataKept ()
     Key of parameter Mem/IntermediateNodeDataKept : "Keep intermediate node data in db." Default value: false ( bool ).
     
    static bool defaultMemIntermediateNodeDataKept ()
     Default value of parameter Mem/IntermediateNodeDataKept : false .
     
    static std::string typeMemIntermediateNodeDataKept ()
     Type of parameter Mem/IntermediateNodeDataKept , as a string: bool .
     
    static std::string kMemImageCompressionFormat ()
     Key of parameter Mem/ImageCompressionFormat : "RGB image compression format. It should be \".jpg\" or \".png\"." Default value: ".jpg" (string).
     
    static std::string defaultMemImageCompressionFormat ()
     Default value of parameter Mem/ImageCompressionFormat : ".jpg" .
     
    static std::string typeMemImageCompressionFormat ()
     Type of parameter Mem/ImageCompressionFormat , as a string: string.
     
    static std::string kMemDepthCompressionFormat ()
     Key of parameter Mem/DepthCompressionFormat : "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used." Default value: ".rvl" (string).
     
    static std::string defaultMemDepthCompressionFormat ()
     Default value of parameter Mem/DepthCompressionFormat : ".rvl" .
     
    static std::string typeMemDepthCompressionFormat ()
     Type of parameter Mem/DepthCompressionFormat , as a string: string.
     
    static std::string kMemSTMSize ()
     Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
     
    static unsigned int defaultMemSTMSize ()
     Default value of parameter Mem/STMSize : 10 .
     
    static std::string typeMemSTMSize ()
     Type of parameter Mem/STMSize , as a string: unsigned int .
     
    static std::string kMemIncrementalMemory ()
     Key of parameter Mem/IncrementalMemory : "SLAM mode, otherwise it is Localization mode." Default value: true ( bool ).
     
    static bool defaultMemIncrementalMemory ()
     Default value of parameter Mem/IncrementalMemory : true .
     
    static std::string typeMemIncrementalMemory ()
     Type of parameter Mem/IncrementalMemory , as a string: bool .
     
    static std::string kMemLocalizationReadOnly ()
     Key of parameter Mem/LocalizationReadOnly : uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str() Default value: false ( bool ).
     
    static bool defaultMemLocalizationReadOnly ()
     Default value of parameter Mem/LocalizationReadOnly : false .
     
    static std::string typeMemLocalizationReadOnly ()
     Type of parameter Mem/LocalizationReadOnly , as a string: bool .
     
    static std::string kMemLocalizationDataSaved ()
     Key of parameter Mem/LocalizationDataSaved : uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str() Default value: false ( bool ).
     
    static bool defaultMemLocalizationDataSaved ()
     Default value of parameter Mem/LocalizationDataSaved : false .
     
    static std::string typeMemLocalizationDataSaved ()
     Type of parameter Mem/LocalizationDataSaved , as a string: bool .
     
    static std::string kMemReduceGraph ()
     Key of parameter Mem/ReduceGraph : uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()) Default value: false ( bool ).
     
    static bool defaultMemReduceGraph ()
     Default value of parameter Mem/ReduceGraph : false .
     
    static std::string typeMemReduceGraph ()
     Type of parameter Mem/ReduceGraph , as a string: bool .
     
    static std::string kMemRecentWmRatio ()
     Key of parameter Mem/RecentWmRatio : "Ratio of locations after the last loop closure in WM that cannot be transferred." Default value: 0.2 ( float ).
     
    static float defaultMemRecentWmRatio ()
     Default value of parameter Mem/RecentWmRatio : 0.2 .
     
    static std::string typeMemRecentWmRatio ()
     Type of parameter Mem/RecentWmRatio , as a string: float .
     
    static std::string kMemTransferSortingByWeightId ()
     Key of parameter Mem/TransferSortingByWeightId : "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID." Default value: false ( bool ).
     
    static bool defaultMemTransferSortingByWeightId ()
     Default value of parameter Mem/TransferSortingByWeightId : false .
     
    static std::string typeMemTransferSortingByWeightId ()
     Type of parameter Mem/TransferSortingByWeightId , as a string: bool .
     
    static std::string kMemRehearsalIdUpdatedToNewOne ()
     Key of parameter Mem/RehearsalIdUpdatedToNewOne : uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()) Default value: false ( bool ).
     
    static bool defaultMemRehearsalIdUpdatedToNewOne ()
     Default value of parameter Mem/RehearsalIdUpdatedToNewOne : false .
     
    static std::string typeMemRehearsalIdUpdatedToNewOne ()
     Type of parameter Mem/RehearsalIdUpdatedToNewOne , as a string: bool .
     
    static std::string kMemRehearsalWeightIgnoredWhileMoving ()
     Key of parameter Mem/RehearsalWeightIgnoredWhileMoving : "When the robot is moving, weights are not updated on rehearsal." Default value: false ( bool ).
     
    static bool defaultMemRehearsalWeightIgnoredWhileMoving ()
     Default value of parameter Mem/RehearsalWeightIgnoredWhileMoving : false .
     
    static std::string typeMemRehearsalWeightIgnoredWhileMoving ()
     Type of parameter Mem/RehearsalWeightIgnoredWhileMoving , as a string: bool .
     
    static std::string kMemGenerateIds ()
     Key of parameter Mem/GenerateIds : "True=Generate location IDs, False=use input image IDs." Default value: true ( bool ).
     
    static bool defaultMemGenerateIds ()
     Default value of parameter Mem/GenerateIds : true .
     
    static std::string typeMemGenerateIds ()
     Type of parameter Mem/GenerateIds , as a string: bool .
     
    static std::string kMemBadSignaturesIgnored ()
     Key of parameter Mem/BadSignaturesIgnored : "Bad signatures are ignored." Default value: false ( bool ).
     
    static bool defaultMemBadSignaturesIgnored ()
     Default value of parameter Mem/BadSignaturesIgnored : false .
     
    static std::string typeMemBadSignaturesIgnored ()
     Type of parameter Mem/BadSignaturesIgnored , as a string: bool .
     
    static std::string kMemInitWMWithAllNodes ()
     Key of parameter Mem/InitWMWithAllNodes : "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session." Default value: false ( bool ).
     
    static bool defaultMemInitWMWithAllNodes ()
     Default value of parameter Mem/InitWMWithAllNodes : false .
     
    static std::string typeMemInitWMWithAllNodes ()
     Type of parameter Mem/InitWMWithAllNodes , as a string: bool .
     
    static std::string kMemDepthAsMask ()
     Key of parameter Mem/DepthAsMask : "Use depth image as mask when extracting features for vocabulary." Default value: true ( bool ).
     
    static bool defaultMemDepthAsMask ()
     Default value of parameter Mem/DepthAsMask : true .
     
    static std::string typeMemDepthAsMask ()
     Type of parameter Mem/DepthAsMask , as a string: bool .
     
    static std::string kMemDepthMaskFloorThr ()
     Key of parameter Mem/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()) Default value: 0.0 ( float ).
     
    static float defaultMemDepthMaskFloorThr ()
     Default value of parameter Mem/DepthMaskFloorThr : 0.0 .
     
    static std::string typeMemDepthMaskFloorThr ()
     Type of parameter Mem/DepthMaskFloorThr , as a string: float .
     
    static std::string kMemStereoFromMotion ()
     Key of parameter Mem/StereoFromMotion : uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()) Default value: false ( bool ).
     
    static bool defaultMemStereoFromMotion ()
     Default value of parameter Mem/StereoFromMotion : false .
     
    static std::string typeMemStereoFromMotion ()
     Type of parameter Mem/StereoFromMotion , as a string: bool .
     
    static std::string kMemImagePreDecimation ()
     Key of parameter Mem/ImagePreDecimation : uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()) Default value: 1 ( unsigned int ).
     
    static unsigned int defaultMemImagePreDecimation ()
     Default value of parameter Mem/ImagePreDecimation : 1 .
     
    static std::string typeMemImagePreDecimation ()
     Type of parameter Mem/ImagePreDecimation , as a string: unsigned int .
     
    static std::string kMemImagePostDecimation ()
     Key of parameter Mem/ImagePostDecimation : uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()) Default value: 1 ( unsigned int ).
     
    static unsigned int defaultMemImagePostDecimation ()
     Default value of parameter Mem/ImagePostDecimation : 1 .
     
    static std::string typeMemImagePostDecimation ()
     Type of parameter Mem/ImagePostDecimation , as a string: unsigned int .
     
    static std::string kMemCompressionParallelized ()
     Key of parameter Mem/CompressionParallelized : "Compression of sensor data is multi-threaded." Default value: true ( bool ).
     
    static bool defaultMemCompressionParallelized ()
     Default value of parameter Mem/CompressionParallelized : true .
     
    static std::string typeMemCompressionParallelized ()
     Type of parameter Mem/CompressionParallelized , as a string: bool .
     
    static std::string kMemLaserScanDownsampleStepSize ()
     Key of parameter Mem/LaserScanDownsampleStepSize : "If > 1, downsample the laser scans when creating a signature." Default value: 1 ( int ).
     
    static int defaultMemLaserScanDownsampleStepSize ()
     Default value of parameter Mem/LaserScanDownsampleStepSize : 1 .
     
    static std::string typeMemLaserScanDownsampleStepSize ()
     Type of parameter Mem/LaserScanDownsampleStepSize , as a string: int .
     
    static std::string kMemLaserScanVoxelSize ()
     Key of parameter Mem/LaserScanVoxelSize : uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()) Default value: 0.0 ( float ).
     
    static float defaultMemLaserScanVoxelSize ()
     Default value of parameter Mem/LaserScanVoxelSize : 0.0 .
     
    static std::string typeMemLaserScanVoxelSize ()
     Type of parameter Mem/LaserScanVoxelSize , as a string: float .
     
    static std::string kMemLaserScanNormalK ()
     Key of parameter Mem/LaserScanNormalK : "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature." Default value: 0 ( int ).
     
    static int defaultMemLaserScanNormalK ()
     Default value of parameter Mem/LaserScanNormalK : 0 .
     
    static std::string typeMemLaserScanNormalK ()
     Type of parameter Mem/LaserScanNormalK , as a string: int .
     
    static std::string kMemLaserScanNormalRadius ()
     Key of parameter Mem/LaserScanNormalRadius : "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature." Default value: 0.0 ( float ).
     
    static float defaultMemLaserScanNormalRadius ()
     Default value of parameter Mem/LaserScanNormalRadius : 0.0 .
     
    static std::string typeMemLaserScanNormalRadius ()
     Type of parameter Mem/LaserScanNormalRadius , as a string: float .
     
    static std::string kMemUseOdomFeatures ()
     Key of parameter Mem/UseOdomFeatures : "Use odometry features instead of regenerating them." Default value: true ( bool ).
     
    static bool defaultMemUseOdomFeatures ()
     Default value of parameter Mem/UseOdomFeatures : true .
     
    static std::string typeMemUseOdomFeatures ()
     Type of parameter Mem/UseOdomFeatures , as a string: bool .
     
    static std::string kMemUseOdomGravity ()
     Key of parameter Mem/UseOdomGravity : uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()) Default value: false ( bool ).
     
    static bool defaultMemUseOdomGravity ()
     Default value of parameter Mem/UseOdomGravity : false .
     
    static std::string typeMemUseOdomGravity ()
     Type of parameter Mem/UseOdomGravity , as a string: bool .
     
    static std::string kMemCovOffDiagIgnored ()
     Key of parameter Mem/CovOffDiagIgnored : "Ignore off diagonal values of the covariance matrix." Default value: true ( bool ).
     
    static bool defaultMemCovOffDiagIgnored ()
     Default value of parameter Mem/CovOffDiagIgnored : true .
     
    static std::string typeMemCovOffDiagIgnored ()
     Type of parameter Mem/CovOffDiagIgnored , as a string: bool .
     
    static std::string kMemGlobalDescriptorStrategy ()
     Key of parameter Mem/GlobalDescriptorStrategy : "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor" Default value: 0 ( int ).
     
    static int defaultMemGlobalDescriptorStrategy ()
     Default value of parameter Mem/GlobalDescriptorStrategy : 0 .
     
    static std::string typeMemGlobalDescriptorStrategy ()
     Type of parameter Mem/GlobalDescriptorStrategy , as a string: int .
     
    static std::string kMemRotateImagesUpsideUp ()
     Key of parameter Mem/RotateImagesUpsideUp : "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." Default value: false ( bool ).
     
    static bool defaultMemRotateImagesUpsideUp ()
     Default value of parameter Mem/RotateImagesUpsideUp : false .
     
    static std::string typeMemRotateImagesUpsideUp ()
     Type of parameter Mem/RotateImagesUpsideUp , as a string: bool .
     
    static std::string kKpNNStrategy ()
     Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4" Default value: 1 ( int ).
     
    static int defaultKpNNStrategy ()
     Default value of parameter Kp/NNStrategy : 1 .
     
    static std::string typeKpNNStrategy ()
     Type of parameter Kp/NNStrategy , as a string: int .
     
    static std::string kKpIncrementalDictionary ()
     Key of parameter Kp/IncrementalDictionary : "" Default value: true ( bool ).
     
    static bool defaultKpIncrementalDictionary ()
     Default value of parameter Kp/IncrementalDictionary : true .
     
    static std::string typeKpIncrementalDictionary ()
     Type of parameter Kp/IncrementalDictionary , as a string: bool .
     
    static std::string kKpIncrementalFlann ()
     Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()) Default value: true ( bool ).
     
    static bool defaultKpIncrementalFlann ()
     Default value of parameter Kp/IncrementalFlann : true .
     
    static std::string typeKpIncrementalFlann ()
     Type of parameter Kp/IncrementalFlann , as a string: bool .
     
    static std::string kKpFlannRebalancingFactor ()
     Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()) Default value: 2.0 ( float ).
     
    static float defaultKpFlannRebalancingFactor ()
     Default value of parameter Kp/FlannRebalancingFactor : 2.0 .
     
    static std::string typeKpFlannRebalancingFactor ()
     Type of parameter Kp/FlannRebalancingFactor , as a string: float .
     
    static std::string kKpByteToFloat ()
     Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()) Default value: false ( bool ).
     
    static bool defaultKpByteToFloat ()
     Default value of parameter Kp/ByteToFloat : false .
     
    static std::string typeKpByteToFloat ()
     Type of parameter Kp/ByteToFloat , as a string: bool .
     
    static std::string kKpMaxDepth ()
     Key of parameter Kp/MaxDepth : "Filter extracted keypoints by depth (0=inf)." Default value: 0 ( float ).
     
    static float defaultKpMaxDepth ()
     Default value of parameter Kp/MaxDepth : 0 .
     
    static std::string typeKpMaxDepth ()
     Type of parameter Kp/MaxDepth , as a string: float .
     
    static std::string kKpMinDepth ()
     Key of parameter Kp/MinDepth : "Filter extracted keypoints by depth." Default value: 0 ( float ).
     
    static float defaultKpMinDepth ()
     Default value of parameter Kp/MinDepth : 0 .
     
    static std::string typeKpMinDepth ()
     Type of parameter Kp/MinDepth , as a string: float .
     
    static std::string kKpMaxFeatures ()
     Key of parameter Kp/MaxFeatures : "Maximum features extracted from the images (0 means not bounded, <0 means no extraction)." Default value: 500 ( int ).
     
    static int defaultKpMaxFeatures ()
     Default value of parameter Kp/MaxFeatures : 500 .
     
    static std::string typeKpMaxFeatures ()
     Type of parameter Kp/MaxFeatures , as a string: int .
     
    static std::string kKpSSC ()
     Key of parameter Kp/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).
     
    static bool defaultKpSSC ()
     Default value of parameter Kp/SSC : false .
     
    static std::string typeKpSSC ()
     Type of parameter Kp/SSC , as a string: bool .
     
    static std::string kKpBadSignRatio ()
     Key of parameter Kp/BadSignRatio : uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()) Default value: 0.5 ( float ).
     
    static float defaultKpBadSignRatio ()
     Default value of parameter Kp/BadSignRatio : 0.5 .
     
    static std::string typeKpBadSignRatio ()
     Type of parameter Kp/BadSignRatio , as a string: float .
     
    static std::string kKpNndrRatio ()
     Key of parameter Kp/NndrRatio : "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)" Default value: 0.8 ( float ).
     
    static float defaultKpNndrRatio ()
     Default value of parameter Kp/NndrRatio : 0.8 .
     
    static std::string typeKpNndrRatio ()
     Type of parameter Kp/NndrRatio , as a string: float .
     
    static std::string kKpDetectorStrategy ()
     Key of parameter Kp/DetectorStrategy : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).
     
    static int defaultKpDetectorStrategy ()
     Default value of parameter Kp/DetectorStrategy : 6 .
     
    static std::string typeKpDetectorStrategy ()
     Type of parameter Kp/DetectorStrategy , as a string: int .
     
    static std::string kKpTfIdfLikelihoodUsed ()
     Key of parameter Kp/TfIdfLikelihoodUsed : "Use of the td-idf strategy to compute the likelihood." Default value: true ( bool ).
     
    static bool defaultKpTfIdfLikelihoodUsed ()
     Default value of parameter Kp/TfIdfLikelihoodUsed : true .
     
    static std::string typeKpTfIdfLikelihoodUsed ()
     Type of parameter Kp/TfIdfLikelihoodUsed , as a string: bool .
     
    static std::string kKpParallelized ()
     Key of parameter Kp/Parallelized : "If the dictionary update and signature creation were parallelized." Default value: true ( bool ).
     
    static bool defaultKpParallelized ()
     Default value of parameter Kp/Parallelized : true .
     
    static std::string typeKpParallelized ()
     Type of parameter Kp/Parallelized , as a string: bool .
     
    static std::string kKpRoiRatios ()
     Key of parameter Kp/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).
     
    static std::string defaultKpRoiRatios ()
     Default value of parameter Kp/RoiRatios : "0.0 0.0 0.0 0.0" .
     
    static std::string typeKpRoiRatios ()
     Type of parameter Kp/RoiRatios , as a string: string.
     
    static std::string kKpDictionaryPath ()
     Key of parameter Kp/DictionaryPath : "Path of the pre-computed dictionary" Default value: "" (string).
     
    static std::string defaultKpDictionaryPath ()
     Default value of parameter Kp/DictionaryPath : "" .
     
    static std::string typeKpDictionaryPath ()
     Type of parameter Kp/DictionaryPath , as a string: string.
     
    static std::string kKpNewWordsComparedTogether ()
     Key of parameter Kp/NewWordsComparedTogether : "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature)." Default value: true ( bool ).
     
    static bool defaultKpNewWordsComparedTogether ()
     Default value of parameter Kp/NewWordsComparedTogether : true .
     
    static std::string typeKpNewWordsComparedTogether ()
     Type of parameter Kp/NewWordsComparedTogether , as a string: bool .
     
    static std::string kKpFlannIndexSaved ()
     Key of parameter Kp/FlannIndexSaved : uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str() Default value: false ( bool ).
     
    static bool defaultKpFlannIndexSaved ()
     Default value of parameter Kp/FlannIndexSaved : false .
     
    static std::string typeKpFlannIndexSaved ()
     Type of parameter Kp/FlannIndexSaved , as a string: bool .
     
    static std::string kKpSerializeWithChecksum ()
     Key of parameter Kp/SerializeWithChecksum : "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built." Default value: true ( bool ).
     
    static bool defaultKpSerializeWithChecksum ()
     Default value of parameter Kp/SerializeWithChecksum : true .
     
    static std::string typeKpSerializeWithChecksum ()
     Type of parameter Kp/SerializeWithChecksum , as a string: bool .
     
    static std::string kKpSubPixWinSize ()
     Key of parameter Kp/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).
     
    static int defaultKpSubPixWinSize ()
     Default value of parameter Kp/SubPixWinSize : 3 .
     
    static std::string typeKpSubPixWinSize ()
     Type of parameter Kp/SubPixWinSize , as a string: int .
     
    static std::string kKpSubPixIterations ()
     Key of parameter Kp/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).
     
    static int defaultKpSubPixIterations ()
     Default value of parameter Kp/SubPixIterations : 0 .
     
    static std::string typeKpSubPixIterations ()
     Type of parameter Kp/SubPixIterations , as a string: int .
     
    static std::string kKpSubPixEps ()
     Key of parameter Kp/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( double ).
     
    static double defaultKpSubPixEps ()
     Default value of parameter Kp/SubPixEps : 0.02 .
     
    static std::string typeKpSubPixEps ()
     Type of parameter Kp/SubPixEps , as a string: double .
     
    static std::string kKpGridRows ()
     Key of parameter Kp/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).
     
    static int defaultKpGridRows ()
     Default value of parameter Kp/GridRows : 1 .
     
    static std::string typeKpGridRows ()
     Type of parameter Kp/GridRows , as a string: int .
     
    static std::string kKpGridCols ()
     Key of parameter Kp/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).
     
    static int defaultKpGridCols ()
     Default value of parameter Kp/GridCols : 1 .
     
    static std::string typeKpGridCols ()
     Type of parameter Kp/GridCols , as a string: int .
     
    static std::string kDbSqlite3InMemory ()
     Key of parameter DbSqlite3/InMemory : "Using database in the memory instead of a file on the hard disk." Default value: false ( bool ).
     
    static bool defaultDbSqlite3InMemory ()
     Default value of parameter DbSqlite3/InMemory : false .
     
    static std::string typeDbSqlite3InMemory ()
     Type of parameter DbSqlite3/InMemory , as a string: bool .
     
    static std::string kDbSqlite3CacheSize ()
     Key of parameter DbSqlite3/CacheSize : "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). " "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages." Default value: 10000 ( unsigned int ).
     
    static unsigned int defaultDbSqlite3CacheSize ()
     Default value of parameter DbSqlite3/CacheSize : 10000 .
     
    static std::string typeDbSqlite3CacheSize ()
     Type of parameter DbSqlite3/CacheSize , as a string: unsigned int .
     
    static std::string kDbSqlite3JournalMode ()
     Key of parameter DbSqlite3/JournalMode : "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. " "0=DELETE (SQLite default): journal file deleted after each commit. " "1=TRUNCATE: journal truncated to zero length. " "2=PERSIST: journal file kept, header zeroed after commit. " "3=MEMORY: journal in RAM only; faster, weaker crash safety. " "4=OFF: no journal; fastest, risk of corruption on crash." Default value: 3 ( int ).
     
    static int defaultDbSqlite3JournalMode ()
     Default value of parameter DbSqlite3/JournalMode : 3 .
     
    static std::string typeDbSqlite3JournalMode ()
     Type of parameter DbSqlite3/JournalMode , as a string: int .
     
    static std::string kDbSqlite3Synchronous ()
     Key of parameter DbSqlite3/Synchronous : "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. " "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. " "1=NORMAL: sync at critical moments (common SQLite default with WAL). " "2=FULL (SQLite safest default): sync after every commit; slowest." Default value: 0 ( int ).
     
    static int defaultDbSqlite3Synchronous ()
     Default value of parameter DbSqlite3/Synchronous : 0 .
     
    static std::string typeDbSqlite3Synchronous ()
     Type of parameter DbSqlite3/Synchronous , as a string: int .
     
    static std::string kDbSqlite3TempStore ()
     Key of parameter DbSqlite3/TempStore : "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." Default value: 2 ( int ).
     
    static int defaultDbSqlite3TempStore ()
     Default value of parameter DbSqlite3/TempStore : 2 .
     
    static std::string typeDbSqlite3TempStore ()
     Type of parameter DbSqlite3/TempStore , as a string: int .
     
    static std::string kDbTargetVersion ()
     Key of parameter Db/TargetVersion : "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)." Default value: "" (string).
     
    static std::string defaultDbTargetVersion ()
     Default value of parameter Db/TargetVersion : "" .
     
    static std::string typeDbTargetVersion ()
     Type of parameter Db/TargetVersion , as a string: string.
     
    static std::string kSURFExtended ()
     Key of parameter SURF/Extended : "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)." Default value: false ( bool ).
     
    static bool defaultSURFExtended ()
     Default value of parameter SURF/Extended : false .
     
    static std::string typeSURFExtended ()
     Type of parameter SURF/Extended , as a string: bool .
     
    static std::string kSURFHessianThreshold ()
     Key of parameter SURF/HessianThreshold : "Threshold for hessian keypoint detector used in SURF." Default value: 500 ( float ).
     
    static float defaultSURFHessianThreshold ()
     Default value of parameter SURF/HessianThreshold : 500 .
     
    static std::string typeSURFHessianThreshold ()
     Type of parameter SURF/HessianThreshold , as a string: float .
     
    static std::string kSURFOctaves ()
     Key of parameter SURF/Octaves : "Number of pyramid octaves the keypoint detector will use." Default value: 4 ( int ).
     
    static int defaultSURFOctaves ()
     Default value of parameter SURF/Octaves : 4 .
     
    static std::string typeSURFOctaves ()
     Type of parameter SURF/Octaves , as a string: int .
     
    static std::string kSURFOctaveLayers ()
     Key of parameter SURF/OctaveLayers : "Number of octave layers within each octave." Default value: 2 ( int ).
     
    static int defaultSURFOctaveLayers ()
     Default value of parameter SURF/OctaveLayers : 2 .
     
    static std::string typeSURFOctaveLayers ()
     Type of parameter SURF/OctaveLayers , as a string: int .
     
    static std::string kSURFUpright ()
     Key of parameter SURF/Upright : "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation)." Default value: false ( bool ).
     
    static bool defaultSURFUpright ()
     Default value of parameter SURF/Upright : false .
     
    static std::string typeSURFUpright ()
     Type of parameter SURF/Upright , as a string: bool .
     
    static std::string kSURFGpuVersion ()
     Key of parameter SURF/GpuVersion : "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
     
    static bool defaultSURFGpuVersion ()
     Default value of parameter SURF/GpuVersion : false .
     
    static std::string typeSURFGpuVersion ()
     Type of parameter SURF/GpuVersion , as a string: bool .
     
    static std::string kSURFGpuKeypointsRatio ()
     Key of parameter SURF/GpuKeypointsRatio : "Used with SURF GPU." Default value: 0.01 ( float ).
     
    static float defaultSURFGpuKeypointsRatio ()
     Default value of parameter SURF/GpuKeypointsRatio : 0.01 .
     
    static std::string typeSURFGpuKeypointsRatio ()
     Type of parameter SURF/GpuKeypointsRatio , as a string: float .
     
    static std::string kSIFTNOctaveLayers ()
     Key of parameter SIFT/NOctaveLayers : "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically." Default value: 3 ( int ).
     
    static int defaultSIFTNOctaveLayers ()
     Default value of parameter SIFT/NOctaveLayers : 3 .
     
    static std::string typeSIFTNOctaveLayers ()
     Type of parameter SIFT/NOctaveLayers , as a string: int .
     
    static std::string kSIFTContrastThreshold ()
     Key of parameter SIFT/ContrastThreshold : uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()) Default value: 0.04 ( double ).
     
    static double defaultSIFTContrastThreshold ()
     Default value of parameter SIFT/ContrastThreshold : 0.04 .
     
    static std::string typeSIFTContrastThreshold ()
     Type of parameter SIFT/ContrastThreshold , as a string: double .
     
    static std::string kSIFTEdgeThreshold ()
     Key of parameter SIFT/EdgeThreshold : "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained)." Default value: 10 ( double ).
     
    static double defaultSIFTEdgeThreshold ()
     Default value of parameter SIFT/EdgeThreshold : 10 .
     
    static std::string typeSIFTEdgeThreshold ()
     Type of parameter SIFT/EdgeThreshold , as a string: double .
     
    static std::string kSIFTSigma ()
     Key of parameter SIFT/Sigma : "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number." Default value: 1.6 ( double ).
     
    static double defaultSIFTSigma ()
     Default value of parameter SIFT/Sigma : 1.6 .
     
    static std::string typeSIFTSigma ()
     Type of parameter SIFT/Sigma , as a string: double .
     
    static std::string kSIFTPreciseUpscale ()
     Key of parameter SIFT/PreciseUpscale : "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8)." Default value: false ( bool ).
     
    static bool defaultSIFTPreciseUpscale ()
     Default value of parameter SIFT/PreciseUpscale : false .
     
    static std::string typeSIFTPreciseUpscale ()
     Type of parameter SIFT/PreciseUpscale , as a string: bool .
     
    static std::string kSIFTRootSIFT ()
     Key of parameter SIFT/RootSIFT : "Apply RootSIFT normalization of the descriptors." Default value: false ( bool ).
     
    static bool defaultSIFTRootSIFT ()
     Default value of parameter SIFT/RootSIFT : false .
     
    static std::string typeSIFTRootSIFT ()
     Type of parameter SIFT/RootSIFT , as a string: bool .
     
    static std::string kSIFTGpu ()
     Key of parameter SIFT/Gpu : "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected." Default value: false ( bool ).
     
    static bool defaultSIFTGpu ()
     Default value of parameter SIFT/Gpu : false .
     
    static std::string typeSIFTGpu ()
     Type of parameter SIFT/Gpu , as a string: bool .
     
    static std::string kSIFTGaussianThreshold ()
     Key of parameter SIFT/GaussianThreshold : "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector." Default value: 2.0 ( float ).
     
    static float defaultSIFTGaussianThreshold ()
     Default value of parameter SIFT/GaussianThreshold : 2.0 .
     
    static std::string typeSIFTGaussianThreshold ()
     Type of parameter SIFT/GaussianThreshold , as a string: float .
     
    static std::string kSIFTMaxGaussianThreshold ()
     Key of parameter SIFT/MaxGaussianThreshold : uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()) Default value: 0.0 ( float ).
     
    static float defaultSIFTMaxGaussianThreshold ()
     Default value of parameter SIFT/MaxGaussianThreshold : 0.0 .
     
    static std::string typeSIFTMaxGaussianThreshold ()
     Type of parameter SIFT/MaxGaussianThreshold , as a string: float .
     
    static std::string kSIFTUpscale ()
     Key of parameter SIFT/Upscale : "CudaSift: Whether to enable upscaling." Default value: false ( bool ).
     
    static bool defaultSIFTUpscale ()
     Default value of parameter SIFT/Upscale : false .
     
    static std::string typeSIFTUpscale ()
     Type of parameter SIFT/Upscale , as a string: bool .
     
    static std::string kBRIEFBytes ()
     Key of parameter BRIEF/Bytes : "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes." Default value: 32 ( int ).
     
    static int defaultBRIEFBytes ()
     Default value of parameter BRIEF/Bytes : 32 .
     
    static std::string typeBRIEFBytes ()
     Type of parameter BRIEF/Bytes , as a string: int .
     
    static std::string kFASTThreshold ()
     Key of parameter FAST/Threshold : "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel." Default value: 20 ( int ).
     
    static int defaultFASTThreshold ()
     Default value of parameter FAST/Threshold : 20 .
     
    static std::string typeFASTThreshold ()
     Type of parameter FAST/Threshold , as a string: int .
     
    static std::string kFASTNonmaxSuppression ()
     Key of parameter FAST/NonmaxSuppression : "If true, non-maximum suppression is applied to detected corners (keypoints)." Default value: true ( bool ).
     
    static bool defaultFASTNonmaxSuppression ()
     Default value of parameter FAST/NonmaxSuppression : true .
     
    static std::string typeFASTNonmaxSuppression ()
     Type of parameter FAST/NonmaxSuppression , as a string: bool .
     
    static std::string kFASTGpu ()
     Key of parameter FAST/Gpu : "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
     
    static bool defaultFASTGpu ()
     Default value of parameter FAST/Gpu : false .
     
    static std::string typeFASTGpu ()
     Type of parameter FAST/Gpu , as a string: bool .
     
    static std::string kFASTGpuKeypointsRatio ()
     Key of parameter FAST/GpuKeypointsRatio : "Used with FAST GPU." Default value: 0.05 ( double ).
     
    static double defaultFASTGpuKeypointsRatio ()
     Default value of parameter FAST/GpuKeypointsRatio : 0.05 .
     
    static std::string typeFASTGpuKeypointsRatio ()
     Type of parameter FAST/GpuKeypointsRatio , as a string: double .
     
    static std::string kFASTMinThreshold ()
     Key of parameter FAST/MinThreshold : "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 7 ( int ).
     
    static int defaultFASTMinThreshold ()
     Default value of parameter FAST/MinThreshold : 7 .
     
    static std::string typeFASTMinThreshold ()
     Type of parameter FAST/MinThreshold , as a string: int .
     
    static std::string kFASTMaxThreshold ()
     Key of parameter FAST/MaxThreshold : "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 200 ( int ).
     
    static int defaultFASTMaxThreshold ()
     Default value of parameter FAST/MaxThreshold : 200 .
     
    static std::string typeFASTMaxThreshold ()
     Type of parameter FAST/MaxThreshold , as a string: int .
     
    static std::string kFASTGridRows ()
     Key of parameter FAST/GridRows : "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).
     
    static int defaultFASTGridRows ()
     Default value of parameter FAST/GridRows : 0 .
     
    static std::string typeFASTGridRows ()
     Type of parameter FAST/GridRows , as a string: int .
     
    static std::string kFASTGridCols ()
     Key of parameter FAST/GridCols : "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).
     
    static int defaultFASTGridCols ()
     Default value of parameter FAST/GridCols : 0 .
     
    static std::string typeFASTGridCols ()
     Type of parameter FAST/GridCols , as a string: int .
     
    static std::string kFASTCV ()
     Key of parameter FAST/CV : "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10." Default value: 0 ( int ).
     
    static int defaultFASTCV ()
     Default value of parameter FAST/CV : 0 .
     
    static std::string typeFASTCV ()
     Type of parameter FAST/CV , as a string: int .
     
    static std::string kGFTTQualityLevel ()
     Key of parameter GFTT/QualityLevel : "" Default value: 0.001 ( double ).
     
    static double defaultGFTTQualityLevel ()
     Default value of parameter GFTT/QualityLevel : 0.001 .
     
    static std::string typeGFTTQualityLevel ()
     Type of parameter GFTT/QualityLevel , as a string: double .
     
    static std::string kGFTTMinDistance ()
     Key of parameter GFTT/MinDistance : "" Default value: 7 ( double ).
     
    static double defaultGFTTMinDistance ()
     Default value of parameter GFTT/MinDistance : 7 .
     
    static std::string typeGFTTMinDistance ()
     Type of parameter GFTT/MinDistance , as a string: double .
     
    static std::string kGFTTBlockSize ()
     Key of parameter GFTT/BlockSize : "" Default value: 3 ( int ).
     
    static int defaultGFTTBlockSize ()
     Default value of parameter GFTT/BlockSize : 3 .
     
    static std::string typeGFTTBlockSize ()
     Type of parameter GFTT/BlockSize , as a string: int .
     
    static std::string kGFTTUseHarrisDetector ()
     Key of parameter GFTT/UseHarrisDetector : "" Default value: false ( bool ).
     
    static bool defaultGFTTUseHarrisDetector ()
     Default value of parameter GFTT/UseHarrisDetector : false .
     
    static std::string typeGFTTUseHarrisDetector ()
     Type of parameter GFTT/UseHarrisDetector , as a string: bool .
     
    static std::string kGFTTK ()
     Key of parameter GFTT/K : "" Default value: 0.04 ( double ).
     
    static double defaultGFTTK ()
     Default value of parameter GFTT/K : 0.04 .
     
    static std::string typeGFTTK ()
     Type of parameter GFTT/K , as a string: double .
     
    static std::string kGFTTGpu ()
     Key of parameter GFTT/Gpu : "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected." Default value: false ( bool ).
     
    static bool defaultGFTTGpu ()
     Default value of parameter GFTT/Gpu : false .
     
    static std::string typeGFTTGpu ()
     Type of parameter GFTT/Gpu , as a string: bool .
     
    static std::string kORBScaleFactor ()
     Key of parameter ORB/ScaleFactor : "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer." Default value: 2 ( float ).
     
    static float defaultORBScaleFactor ()
     Default value of parameter ORB/ScaleFactor : 2 .
     
    static std::string typeORBScaleFactor ()
     Type of parameter ORB/ScaleFactor , as a string: float .
     
    static std::string kORBNLevels ()
     Key of parameter ORB/NLevels : "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)." Default value: 3 ( int ).
     
    static int defaultORBNLevels ()
     Default value of parameter ORB/NLevels : 3 .
     
    static std::string typeORBNLevels ()
     Type of parameter ORB/NLevels , as a string: int .
     
    static std::string kORBEdgeThreshold ()
     Key of parameter ORB/EdgeThreshold : "This is size of the border where the features are not detected. It should roughly match the patchSize parameter." Default value: 19 ( int ).
     
    static int defaultORBEdgeThreshold ()
     Default value of parameter ORB/EdgeThreshold : 19 .
     
    static std::string typeORBEdgeThreshold ()
     Type of parameter ORB/EdgeThreshold , as a string: int .
     
    static std::string kORBFirstLevel ()
     Key of parameter ORB/FirstLevel : "It should be 0 in the current implementation." Default value: 0 ( int ).
     
    static int defaultORBFirstLevel ()
     Default value of parameter ORB/FirstLevel : 0 .
     
    static std::string typeORBFirstLevel ()
     Type of parameter ORB/FirstLevel , as a string: int .
     
    static std::string kORBWTA_K ()
     Key of parameter ORB/WTA_K : "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3)." Default value: 2 ( int ).
     
    static int defaultORBWTA_K ()
     Default value of parameter ORB/WTA_K : 2 .
     
    static std::string typeORBWTA_K ()
     Type of parameter ORB/WTA_K , as a string: int .
     
    static std::string kORBScoreType ()
     Key of parameter ORB/ScoreType : "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute." Default value: 0 ( int ).
     
    static int defaultORBScoreType ()
     Default value of parameter ORB/ScoreType : 0 .
     
    static std::string typeORBScoreType ()
     Type of parameter ORB/ScoreType , as a string: int .
     
    static std::string kORBPatchSize ()
     Key of parameter ORB/PatchSize : "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger." Default value: 31 ( int ).
     
    static int defaultORBPatchSize ()
     Default value of parameter ORB/PatchSize : 31 .
     
    static std::string typeORBPatchSize ()
     Type of parameter ORB/PatchSize , as a string: int .
     
    static std::string kORBGpu ()
     Key of parameter ORB/Gpu : "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
     
    static bool defaultORBGpu ()
     Default value of parameter ORB/Gpu : false .
     
    static std::string typeORBGpu ()
     Type of parameter ORB/Gpu , as a string: bool .
     
    static std::string kFREAKOrientationNormalized ()
     Key of parameter FREAK/OrientationNormalized : "Enable orientation normalization." Default value: true ( bool ).
     
    static bool defaultFREAKOrientationNormalized ()
     Default value of parameter FREAK/OrientationNormalized : true .
     
    static std::string typeFREAKOrientationNormalized ()
     Type of parameter FREAK/OrientationNormalized , as a string: bool .
     
    static std::string kFREAKScaleNormalized ()
     Key of parameter FREAK/ScaleNormalized : "Enable scale normalization." Default value: true ( bool ).
     
    static bool defaultFREAKScaleNormalized ()
     Default value of parameter FREAK/ScaleNormalized : true .
     
    static std::string typeFREAKScaleNormalized ()
     Type of parameter FREAK/ScaleNormalized , as a string: bool .
     
    static std::string kFREAKPatternScale ()
     Key of parameter FREAK/PatternScale : "Scaling of the description pattern." Default value: 22 ( float ).
     
    static float defaultFREAKPatternScale ()
     Default value of parameter FREAK/PatternScale : 22 .
     
    static std::string typeFREAKPatternScale ()
     Type of parameter FREAK/PatternScale , as a string: float .
     
    static std::string kFREAKNOctaves ()
     Key of parameter FREAK/NOctaves : "Number of octaves covered by the detected keypoints." Default value: 4 ( int ).
     
    static int defaultFREAKNOctaves ()
     Default value of parameter FREAK/NOctaves : 4 .
     
    static std::string typeFREAKNOctaves ()
     Type of parameter FREAK/NOctaves , as a string: int .
     
    static std::string kBRISKThresh ()
     Key of parameter BRISK/Thresh : "FAST/AGAST detection threshold score." Default value: 30 ( int ).
     
    static int defaultBRISKThresh ()
     Default value of parameter BRISK/Thresh : 30 .
     
    static std::string typeBRISKThresh ()
     Type of parameter BRISK/Thresh , as a string: int .
     
    static std::string kBRISKOctaves ()
     Key of parameter BRISK/Octaves : "Detection octaves. Use 0 to do single scale." Default value: 3 ( int ).
     
    static int defaultBRISKOctaves ()
     Default value of parameter BRISK/Octaves : 3 .
     
    static std::string typeBRISKOctaves ()
     Type of parameter BRISK/Octaves , as a string: int .
     
    static std::string kBRISKPatternScale ()
     Key of parameter BRISK/PatternScale : "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint." Default value: 1 ( float ).
     
    static float defaultBRISKPatternScale ()
     Default value of parameter BRISK/PatternScale : 1 .
     
    static std::string typeBRISKPatternScale ()
     Type of parameter BRISK/PatternScale , as a string: float .
     
    static std::string kKAZEExtended ()
     Key of parameter KAZE/Extended : "Set to enable extraction of extended (128-byte) descriptor." Default value: false ( bool ).
     
    static bool defaultKAZEExtended ()
     Default value of parameter KAZE/Extended : false .
     
    static std::string typeKAZEExtended ()
     Type of parameter KAZE/Extended , as a string: bool .
     
    static std::string kKAZEUpright ()
     Key of parameter KAZE/Upright : "Set to enable use of upright descriptors (non rotation-invariant)." Default value: false ( bool ).
     
    static bool defaultKAZEUpright ()
     Default value of parameter KAZE/Upright : false .
     
    static std::string typeKAZEUpright ()
     Type of parameter KAZE/Upright , as a string: bool .
     
    static std::string kKAZEThreshold ()
     Key of parameter KAZE/Threshold : "Detector response threshold to accept keypoint." Default value: 0.001 ( float ).
     
    static float defaultKAZEThreshold ()
     Default value of parameter KAZE/Threshold : 0.001 .
     
    static std::string typeKAZEThreshold ()
     Type of parameter KAZE/Threshold , as a string: float .
     
    static std::string kKAZENOctaves ()
     Key of parameter KAZE/NOctaves : "Maximum octave evolution of the image." Default value: 4 ( int ).
     
    static int defaultKAZENOctaves ()
     Default value of parameter KAZE/NOctaves : 4 .
     
    static std::string typeKAZENOctaves ()
     Type of parameter KAZE/NOctaves , as a string: int .
     
    static std::string kKAZENOctaveLayers ()
     Key of parameter KAZE/NOctaveLayers : "Default number of sublevels per scale level." Default value: 4 ( int ).
     
    static int defaultKAZENOctaveLayers ()
     Default value of parameter KAZE/NOctaveLayers : 4 .
     
    static std::string typeKAZENOctaveLayers ()
     Type of parameter KAZE/NOctaveLayers , as a string: int .
     
    static std::string kKAZEDiffusivity ()
     Key of parameter KAZE/Diffusivity : "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER." Default value: 1 ( int ).
     
    static int defaultKAZEDiffusivity ()
     Default value of parameter KAZE/Diffusivity : 1 .
     
    static std::string typeKAZEDiffusivity ()
     Type of parameter KAZE/Diffusivity , as a string: int .
     
    static std::string kSuperPointModelPath ()
     Key of parameter SuperPoint/ModelPath : "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt)." Default value: "" (string).
     
    static std::string defaultSuperPointModelPath ()
     Default value of parameter SuperPoint/ModelPath : "" .
     
    static std::string typeSuperPointModelPath ()
     Type of parameter SuperPoint/ModelPath , as a string: string.
     
    static std::string kSuperPointThreshold ()
     Key of parameter SuperPoint/Threshold : "Detector response threshold to accept keypoint." Default value: 0.010 ( float ).
     
    static float defaultSuperPointThreshold ()
     Default value of parameter SuperPoint/Threshold : 0.010 .
     
    static std::string typeSuperPointThreshold ()
     Type of parameter SuperPoint/Threshold , as a string: float .
     
    static std::string kSuperPointNMS ()
     Key of parameter SuperPoint/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).
     
    static bool defaultSuperPointNMS ()
     Default value of parameter SuperPoint/NMS : true .
     
    static std::string typeSuperPointNMS ()
     Type of parameter SuperPoint/NMS , as a string: bool .
     
    static std::string kSuperPointNMSRadius ()
     Key of parameter SuperPoint/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()) Default value: 4 ( int ).
     
    static int defaultSuperPointNMSRadius ()
     Default value of parameter SuperPoint/NMSRadius : 4 .
     
    static std::string typeSuperPointNMSRadius ()
     Type of parameter SuperPoint/NMSRadius , as a string: int .
     
    static std::string kSuperPointCuda ()
     Key of parameter SuperPoint/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).
     
    static bool defaultSuperPointCuda ()
     Default value of parameter SuperPoint/Cuda : true .
     
    static std::string typeSuperPointCuda ()
     Type of parameter SuperPoint/Cuda , as a string: bool .
     
    static std::string kSuperPointRpautratWeightsPath ()
     Key of parameter SuperPointRpautrat/WeightsPath : "[Required] SuperPoint weights file (*.pth)." Default value: "" (string).
     
    static std::string defaultSuperPointRpautratWeightsPath ()
     Default value of parameter SuperPointRpautrat/WeightsPath : "" .
     
    static std::string typeSuperPointRpautratWeightsPath ()
     Type of parameter SuperPointRpautrat/WeightsPath , as a string: string.
     
    static std::string kSuperPointRpautratModelPath ()
     Key of parameter SuperPointRpautrat/ModelPath : "[Required] SuperPoint python model file (superpoint_pytorch.py)." Default value: "" (string).
     
    static std::string defaultSuperPointRpautratModelPath ()
     Default value of parameter SuperPointRpautrat/ModelPath : "" .
     
    static std::string typeSuperPointRpautratModelPath ()
     Type of parameter SuperPointRpautrat/ModelPath , as a string: string.
     
    static std::string kSuperPointRpautratThreshold ()
     Key of parameter SuperPointRpautrat/Threshold : "Detector response threshold to accept keypoint." Default value: 0.005 ( float ).
     
    static float defaultSuperPointRpautratThreshold ()
     Default value of parameter SuperPointRpautrat/Threshold : 0.005 .
     
    static std::string typeSuperPointRpautratThreshold ()
     Type of parameter SuperPointRpautrat/Threshold , as a string: float .
     
    static std::string kSuperPointRpautratNMS ()
     Key of parameter SuperPointRpautrat/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).
     
    static bool defaultSuperPointRpautratNMS ()
     Default value of parameter SuperPointRpautrat/NMS : true .
     
    static std::string typeSuperPointRpautratNMS ()
     Type of parameter SuperPointRpautrat/NMS , as a string: bool .
     
    static std::string kSuperPointRpautratNMSRadius ()
     Key of parameter SuperPointRpautrat/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()) Default value: 4 ( int ).
     
    static int defaultSuperPointRpautratNMSRadius ()
     Default value of parameter SuperPointRpautrat/NMSRadius : 4 .
     
    static std::string typeSuperPointRpautratNMSRadius ()
     Type of parameter SuperPointRpautrat/NMSRadius , as a string: int .
     
    static std::string kSuperPointRpautratCuda ()
     Key of parameter SuperPointRpautrat/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).
     
    static bool defaultSuperPointRpautratCuda ()
     Default value of parameter SuperPointRpautrat/Cuda : true .
     
    static std::string typeSuperPointRpautratCuda ()
     Type of parameter SuperPointRpautrat/Cuda , as a string: bool .
     
    static std::string kPyDetectorPath ()
     Key of parameter PyDetector/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).
     
    static std::string defaultPyDetectorPath ()
     Default value of parameter PyDetector/Path : "" .
     
    static std::string typePyDetectorPath ()
     Type of parameter PyDetector/Path , as a string: string.
     
    static std::string kPyDetectorCuda ()
     Key of parameter PyDetector/Cuda : "Use cuda." Default value: true ( bool ).
     
    static bool defaultPyDetectorCuda ()
     Default value of parameter PyDetector/Cuda : true .
     
    static std::string typePyDetectorCuda ()
     Type of parameter PyDetector/Cuda , as a string: bool .
     
    static std::string kBayesVirtualPlacePriorThr ()
     Key of parameter Bayes/VirtualPlacePriorThr : "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations)." Default value: 0.9 ( float ).
     
    static float defaultBayesVirtualPlacePriorThr ()
     Default value of parameter Bayes/VirtualPlacePriorThr : 0.9 .
     
    static std::string typeBayesVirtualPlacePriorThr ()
     Type of parameter Bayes/VirtualPlacePriorThr , as a string: float .
     
    static std::string kBayesPredictionLC ()
     Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).
     
    static std::string defaultBayesPredictionLC ()
     Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .
     
    static std::string typeBayesPredictionLC ()
     Type of parameter Bayes/PredictionLC , as a string: string.
     
    static std::string kBayesFullPredictionUpdate ()
     Key of parameter Bayes/FullPredictionUpdate : "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated)." Default value: false ( bool ).
     
    static bool defaultBayesFullPredictionUpdate ()
     Default value of parameter Bayes/FullPredictionUpdate : false .
     
    static std::string typeBayesFullPredictionUpdate ()
     Type of parameter Bayes/FullPredictionUpdate , as a string: bool .
     
    static std::string kVhEpEnabled ()
     Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).
     
    static bool defaultVhEpEnabled ()
     Default value of parameter VhEp/Enabled : false .
     
    static std::string typeVhEpEnabled ()
     Type of parameter VhEp/Enabled , as a string: bool .
     
    static std::string kVhEpMatchCountMin ()
     Key of parameter VhEp/MatchCountMin : "Minimum of matching visual words pairs to accept the loop hypothesis." Default value: 8 ( int ).
     
    static int defaultVhEpMatchCountMin ()
     Default value of parameter VhEp/MatchCountMin : 8 .
     
    static std::string typeVhEpMatchCountMin ()
     Type of parameter VhEp/MatchCountMin , as a string: int .
     
    static std::string kVhEpRansacParam1 ()
     Key of parameter VhEp/RansacParam1 : "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier." Default value: 3 ( float ).
     
    static float defaultVhEpRansacParam1 ()
     Default value of parameter VhEp/RansacParam1 : 3 .
     
    static std::string typeVhEpRansacParam1 ()
     Type of parameter VhEp/RansacParam1 , as a string: float .
     
    static std::string kVhEpRansacParam2 ()
     Key of parameter VhEp/RansacParam2 : "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC." Default value: 0.99 ( float ).
     
    static float defaultVhEpRansacParam2 ()
     Default value of parameter VhEp/RansacParam2 : 0.99 .
     
    static std::string typeVhEpRansacParam2 ()
     Type of parameter VhEp/RansacParam2 , as a string: float .
     
    static std::string kRGBDEnabled ()
     Key of parameter RGBD/Enabled : "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information." Default value: true ( bool ).
     
    static bool defaultRGBDEnabled ()
     Default value of parameter RGBD/Enabled : true .
     
    static std::string typeRGBDEnabled ()
     Type of parameter RGBD/Enabled , as a string: bool .
     
    static std::string kRGBDLinearUpdate ()
     Key of parameter RGBD/LinearUpdate : uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).
     
    static float defaultRGBDLinearUpdate ()
     Default value of parameter RGBD/LinearUpdate : 0.1 .
     
    static std::string typeRGBDLinearUpdate ()
     Type of parameter RGBD/LinearUpdate , as a string: float .
     
    static std::string kRGBDAngularUpdate ()
     Key of parameter RGBD/AngularUpdate : uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).
     
    static float defaultRGBDAngularUpdate ()
     Default value of parameter RGBD/AngularUpdate : 0.1 .
     
    static std::string typeRGBDAngularUpdate ()
     Type of parameter RGBD/AngularUpdate , as a string: float .
     
    static std::string kRGBDLinearSpeedUpdate ()
     Key of parameter RGBD/LinearSpeedUpdate : "Maximum linear speed (m/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).
     
    static float defaultRGBDLinearSpeedUpdate ()
     Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .
     
    static std::string typeRGBDLinearSpeedUpdate ()
     Type of parameter RGBD/LinearSpeedUpdate , as a string: float .
     
    static std::string kRGBDAngularSpeedUpdate ()
     Key of parameter RGBD/AngularSpeedUpdate : "Maximum angular speed (rad/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).
     
    static float defaultRGBDAngularSpeedUpdate ()
     Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .
     
    static std::string typeRGBDAngularSpeedUpdate ()
     Type of parameter RGBD/AngularSpeedUpdate , as a string: float .
     
    static std::string kRGBDAggressiveLoopThr ()
     Key of parameter RGBD/AggressiveLoopThr : uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()) Default value: 0.05 ( float ).
     
    static float defaultRGBDAggressiveLoopThr ()
     Default value of parameter RGBD/AggressiveLoopThr : 0.05 .
     
    static std::string typeRGBDAggressiveLoopThr ()
     Type of parameter RGBD/AggressiveLoopThr , as a string: float .
     
    static std::string kRGBDNewMapOdomChangeDistance ()
     Key of parameter RGBD/NewMapOdomChangeDistance : "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)." Default value: 0 ( float ).
     
    static float defaultRGBDNewMapOdomChangeDistance ()
     Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .
     
    static std::string typeRGBDNewMapOdomChangeDistance ()
     Type of parameter RGBD/NewMapOdomChangeDistance , as a string: float .
     
    static std::string kRGBDOptimizeFromGraphEnd ()
     Key of parameter RGBD/OptimizeFromGraphEnd : "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation)." Default value: false ( bool ).
     
    static bool defaultRGBDOptimizeFromGraphEnd ()
     Default value of parameter RGBD/OptimizeFromGraphEnd : false .
     
    static std::string typeRGBDOptimizeFromGraphEnd ()
     Type of parameter RGBD/OptimizeFromGraphEnd , as a string: bool .
     
    static std::string kRGBDOptimizeMaxError ()
     Key of parameter RGBD/OptimizeMaxError : uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()) Default value: 3.0 ( float ).
     
    static float defaultRGBDOptimizeMaxError ()
     Default value of parameter RGBD/OptimizeMaxError : 3.0 .
     
    static std::string typeRGBDOptimizeMaxError ()
     Type of parameter RGBD/OptimizeMaxError , as a string: float .
     
    static std::string kRGBDOptimizeMaxErrorRepairRadius ()
     Key of parameter RGBD/OptimizeMaxErrorRepairRadius : uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()) Default value: 0.0 ( float ).
     
    static float defaultRGBDOptimizeMaxErrorRepairRadius ()
     Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .
     
    static std::string typeRGBDOptimizeMaxErrorRepairRadius ()
     Type of parameter RGBD/OptimizeMaxErrorRepairRadius , as a string: float .
     
    static std::string kRGBDMaxLoopClosureDistance ()
     Key of parameter RGBD/MaxLoopClosureDistance : "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled)." Default value: 0.0 ( float ).
     
    static float defaultRGBDMaxLoopClosureDistance ()
     Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .
     
    static std::string typeRGBDMaxLoopClosureDistance ()
     Type of parameter RGBD/MaxLoopClosureDistance , as a string: float .
     
    static std::string kRGBDForceOdom3DoF ()
     Key of parameter RGBD/ForceOdom3DoF : uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()) Default value: true ( bool ).
     
    static bool defaultRGBDForceOdom3DoF ()
     Default value of parameter RGBD/ForceOdom3DoF : true .
     
    static std::string typeRGBDForceOdom3DoF ()
     Type of parameter RGBD/ForceOdom3DoF , as a string: bool .
     
    static std::string kRGBDStartAtOrigin ()
     Key of parameter RGBD/StartAtOrigin : uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()) Default value: false ( bool ).
     
    static bool defaultRGBDStartAtOrigin ()
     Default value of parameter RGBD/StartAtOrigin : false .
     
    static std::string typeRGBDStartAtOrigin ()
     Type of parameter RGBD/StartAtOrigin , as a string: bool .
     
    static std::string kRGBDGoalReachedRadius ()
     Key of parameter RGBD/GoalReachedRadius : "Goal reached radius (m)." Default value: 0.5 ( float ).
     
    static float defaultRGBDGoalReachedRadius ()
     Default value of parameter RGBD/GoalReachedRadius : 0.5 .
     
    static std::string typeRGBDGoalReachedRadius ()
     Type of parameter RGBD/GoalReachedRadius , as a string: float .
     
    static std::string kRGBDPlanStuckIterations ()
     Key of parameter RGBD/PlanStuckIterations : "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails." Default value: 0 ( int ).
     
    static int defaultRGBDPlanStuckIterations ()
     Default value of parameter RGBD/PlanStuckIterations : 0 .
     
    static std::string typeRGBDPlanStuckIterations ()
     Type of parameter RGBD/PlanStuckIterations , as a string: int .
     
    static std::string kRGBDPlanLinearVelocity ()
     Key of parameter RGBD/PlanLinearVelocity : "Linear velocity (m/sec) used to compute path weights." Default value: 0 ( float ).
     
    static float defaultRGBDPlanLinearVelocity ()
     Default value of parameter RGBD/PlanLinearVelocity : 0 .
     
    static std::string typeRGBDPlanLinearVelocity ()
     Type of parameter RGBD/PlanLinearVelocity , as a string: float .
     
    static std::string kRGBDPlanAngularVelocity ()
     Key of parameter RGBD/PlanAngularVelocity : "Angular velocity (rad/sec) used to compute path weights." Default value: 0 ( float ).
     
    static float defaultRGBDPlanAngularVelocity ()
     Default value of parameter RGBD/PlanAngularVelocity : 0 .
     
    static std::string typeRGBDPlanAngularVelocity ()
     Type of parameter RGBD/PlanAngularVelocity , as a string: float .
     
    static std::string kRGBDGoalsSavedInUserData ()
     Key of parameter RGBD/GoalsSavedInUserData : "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\"." Default value: false ( bool ).
     
    static bool defaultRGBDGoalsSavedInUserData ()
     Default value of parameter RGBD/GoalsSavedInUserData : false .
     
    static std::string typeRGBDGoalsSavedInUserData ()
     Type of parameter RGBD/GoalsSavedInUserData , as a string: bool .
     
    static std::string kRGBDMaxLocalRetrieved ()
     Key of parameter RGBD/MaxLocalRetrieved : "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority)." Default value: 2 ( unsigned int ).
     
    static unsigned int defaultRGBDMaxLocalRetrieved ()
     Default value of parameter RGBD/MaxLocalRetrieved : 2 .
     
    static std::string typeRGBDMaxLocalRetrieved ()
     Type of parameter RGBD/MaxLocalRetrieved , as a string: unsigned int .
     
    static std::string kRGBDLocalRadius ()
     Key of parameter RGBD/LocalRadius : "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management." Default value: 10 ( float ).
     
    static float defaultRGBDLocalRadius ()
     Default value of parameter RGBD/LocalRadius : 10 .
     
    static std::string typeRGBDLocalRadius ()
     Type of parameter RGBD/LocalRadius , as a string: float .
     
    static std::string kRGBDLocalImmunizationRatio ()
     Key of parameter RGBD/LocalImmunizationRatio : "Ratio of working memory for which local nodes are immunized from transfer." Default value: 0.25 ( float ).
     
    static float defaultRGBDLocalImmunizationRatio ()
     Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .
     
    static std::string typeRGBDLocalImmunizationRatio ()
     Type of parameter RGBD/LocalImmunizationRatio , as a string: float .
     
    static std::string kRGBDScanMatchingIdsSavedInLinks ()
     Key of parameter RGBD/ScanMatchingIdsSavedInLinks : "Save scan matching IDs from one-to-many proximity detection in link's user data." Default value: true ( bool ).
     
    static bool defaultRGBDScanMatchingIdsSavedInLinks ()
     Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .
     
    static std::string typeRGBDScanMatchingIdsSavedInLinks ()
     Type of parameter RGBD/ScanMatchingIdsSavedInLinks , as a string: bool .
     
    static std::string kRGBDNeighborLinkRefining ()
     Key of parameter RGBD/NeighborLinkRefining : uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()) Default value: false ( bool ).
     
    static bool defaultRGBDNeighborLinkRefining ()
     Default value of parameter RGBD/NeighborLinkRefining : false .
     
    static std::string typeRGBDNeighborLinkRefining ()
     Type of parameter RGBD/NeighborLinkRefining , as a string: bool .
     
    static std::string kRGBDLoopClosureIdentityGuess ()
     Key of parameter RGBD/LoopClosureIdentityGuess : uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()) Default value: false ( bool ).
     
    static bool defaultRGBDLoopClosureIdentityGuess ()
     Default value of parameter RGBD/LoopClosureIdentityGuess : false .
     
    static std::string typeRGBDLoopClosureIdentityGuess ()
     Type of parameter RGBD/LoopClosureIdentityGuess , as a string: bool .
     
    static std::string kRGBDLoopClosureReextractFeatures ()
     Key of parameter RGBD/LoopClosureReextractFeatures : "Extract features even if there are some already in the nodes. Raw features are not saved in database." Default value: false ( bool ).
     
    static bool defaultRGBDLoopClosureReextractFeatures ()
     Default value of parameter RGBD/LoopClosureReextractFeatures : false .
     
    static std::string typeRGBDLoopClosureReextractFeatures ()
     Type of parameter RGBD/LoopClosureReextractFeatures , as a string: bool .
     
    static std::string kRGBDLocalBundleOnLoopClosure ()
     Key of parameter RGBD/LocalBundleOnLoopClosure : "Do local bundle adjustment with neighborhood of the loop closure." Default value: false ( bool ).
     
    static bool defaultRGBDLocalBundleOnLoopClosure ()
     Default value of parameter RGBD/LocalBundleOnLoopClosure : false .
     
    static std::string typeRGBDLocalBundleOnLoopClosure ()
     Type of parameter RGBD/LocalBundleOnLoopClosure , as a string: bool .
     
    static std::string kRGBDInvertedReg ()
     Key of parameter RGBD/InvertedReg : "On loop closure, do registration from the target to reference instead of reference to target." Default value: false ( bool ).
     
    static bool defaultRGBDInvertedReg ()
     Default value of parameter RGBD/InvertedReg : false .
     
    static std::string typeRGBDInvertedReg ()
     Type of parameter RGBD/InvertedReg , as a string: bool .
     
    static std::string kRGBDCreateOccupancyGrid ()
     Key of parameter RGBD/CreateOccupancyGrid : "Create local occupancy grid maps. See \"Grid\" group for parameters." Default value: false ( bool ).
     
    static bool defaultRGBDCreateOccupancyGrid ()
     Default value of parameter RGBD/CreateOccupancyGrid : false .
     
    static std::string typeRGBDCreateOccupancyGrid ()
     Type of parameter RGBD/CreateOccupancyGrid , as a string: bool .
     
    static std::string kRGBDMarkerDetection ()
     Key of parameter RGBD/MarkerDetection : "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters." Default value: false ( bool ).
     
    static bool defaultRGBDMarkerDetection ()
     Default value of parameter RGBD/MarkerDetection : false .
     
    static std::string typeRGBDMarkerDetection ()
     Type of parameter RGBD/MarkerDetection , as a string: bool .
     
    static std::string kRGBDLoopCovLimited ()
     Key of parameter RGBD/LoopCovLimited : "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links." Default value: false ( bool ).
     
    static bool defaultRGBDLoopCovLimited ()
     Default value of parameter RGBD/LoopCovLimited : false .
     
    static std::string typeRGBDLoopCovLimited ()
     Type of parameter RGBD/LoopCovLimited , as a string: bool .
     
    static std::string kRGBDMaxOdomCacheSize ()
     Key of parameter RGBD/MaxOdomCacheSize : uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()) Default value: 10 ( int ).
     
    static int defaultRGBDMaxOdomCacheSize ()
     Default value of parameter RGBD/MaxOdomCacheSize : 10 .
     
    static std::string typeRGBDMaxOdomCacheSize ()
     Type of parameter RGBD/MaxOdomCacheSize , as a string: int .
     
    static std::string kRGBDLocalizationSmoothing ()
     Key of parameter RGBD/LocalizationSmoothing : uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).
     
    static bool defaultRGBDLocalizationSmoothing ()
     Default value of parameter RGBD/LocalizationSmoothing : true .
     
    static std::string typeRGBDLocalizationSmoothing ()
     Type of parameter RGBD/LocalizationSmoothing , as a string: bool .
     
    static std::string kRGBDLocalizationPriorError ()
     Key of parameter RGBD/LocalizationPriorError : uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: 0.001 ( double ).
     
    static double defaultRGBDLocalizationPriorError ()
     Default value of parameter RGBD/LocalizationPriorError : 0.001 .
     
    static std::string typeRGBDLocalizationPriorError ()
     Type of parameter RGBD/LocalizationPriorError , as a string: double .
     
    static std::string kRGBDLocalizationSecondTryWithoutProximityLinks ()
     Key of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).
     
    static bool defaultRGBDLocalizationSecondTryWithoutProximityLinks ()
     Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .
     
    static std::string typeRGBDLocalizationSecondTryWithoutProximityLinks ()
     Type of parameter RGBD/LocalizationSecondTryWithoutProximityLinks , as a string: bool .
     
    static std::string kRGBDProximityByTime ()
     Key of parameter RGBD/ProximityByTime : "Detection over all locations in STM." Default value: false ( bool ).
     
    static bool defaultRGBDProximityByTime ()
     Default value of parameter RGBD/ProximityByTime : false .
     
    static std::string typeRGBDProximityByTime ()
     Type of parameter RGBD/ProximityByTime , as a string: bool .
     
    static std::string kRGBDProximityBySpace ()
     Key of parameter RGBD/ProximityBySpace : "Detection over locations (in Working Memory) near in space." Default value: true ( bool ).
     
    static bool defaultRGBDProximityBySpace ()
     Default value of parameter RGBD/ProximityBySpace : true .
     
    static std::string typeRGBDProximityBySpace ()
     Type of parameter RGBD/ProximityBySpace , as a string: bool .
     
    static std::string kRGBDProximityMaxGraphDepth ()
     Key of parameter RGBD/ProximityMaxGraphDepth : "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore." Default value: 50 ( int ).
     
    static int defaultRGBDProximityMaxGraphDepth ()
     Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .
     
    static std::string typeRGBDProximityMaxGraphDepth ()
     Type of parameter RGBD/ProximityMaxGraphDepth , as a string: int .
     
    static std::string kRGBDProximityMaxPaths ()
     Key of parameter RGBD/ProximityMaxPaths : "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit." Default value: 3 ( int ).
     
    static int defaultRGBDProximityMaxPaths ()
     Default value of parameter RGBD/ProximityMaxPaths : 3 .
     
    static std::string typeRGBDProximityMaxPaths ()
     Type of parameter RGBD/ProximityMaxPaths , as a string: int .
     
    static std::string kRGBDProximityPathFilteringRadius ()
     Key of parameter RGBD/ProximityPathFilteringRadius : "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection." Default value: 1 ( float ).
     
    static float defaultRGBDProximityPathFilteringRadius ()
     Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .
     
    static std::string typeRGBDProximityPathFilteringRadius ()
     Type of parameter RGBD/ProximityPathFilteringRadius , as a string: float .
     
    static std::string kRGBDProximityPathMaxNeighbors ()
     Key of parameter RGBD/ProximityPathMaxNeighbors : "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans)." Default value: 0 ( int ).
     
    static int defaultRGBDProximityPathMaxNeighbors ()
     Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .
     
    static std::string typeRGBDProximityPathMaxNeighbors ()
     Type of parameter RGBD/ProximityPathMaxNeighbors , as a string: int .
     
    static std::string kRGBDProximityPathRawPosesUsed ()
     Key of parameter RGBD/ProximityPathRawPosesUsed : "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph." Default value: true ( bool ).
     
    static bool defaultRGBDProximityPathRawPosesUsed ()
     Default value of parameter RGBD/ProximityPathRawPosesUsed : true .
     
    static std::string typeRGBDProximityPathRawPosesUsed ()
     Type of parameter RGBD/ProximityPathRawPosesUsed , as a string: bool .
     
    static std::string kRGBDProximityAngle ()
     Key of parameter RGBD/ProximityAngle : "Maximum angle (degrees) for one-to-one proximity detection." Default value: 45 ( float ).
     
    static float defaultRGBDProximityAngle ()
     Default value of parameter RGBD/ProximityAngle : 45 .
     
    static std::string typeRGBDProximityAngle ()
     Type of parameter RGBD/ProximityAngle , as a string: float .
     
    static std::string kRGBDProximityOdomGuess ()
     Key of parameter RGBD/ProximityOdomGuess : "Use odometry as motion guess for one-to-one proximity detection." Default value: false ( bool ).
     
    static bool defaultRGBDProximityOdomGuess ()
     Default value of parameter RGBD/ProximityOdomGuess : false .
     
    static std::string typeRGBDProximityOdomGuess ()
     Type of parameter RGBD/ProximityOdomGuess , as a string: bool .
     
    static std::string kRGBDProximityGlobalScanMap ()
     Key of parameter RGBD/ProximityGlobalScanMap : uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()) Default value: false ( bool ).
     
    static bool defaultRGBDProximityGlobalScanMap ()
     Default value of parameter RGBD/ProximityGlobalScanMap : false .
     
    static std::string typeRGBDProximityGlobalScanMap ()
     Type of parameter RGBD/ProximityGlobalScanMap , as a string: bool .
     
    static std::string kRGBDProximityMergedScanCovFactor ()
     Key of parameter RGBD/ProximityMergedScanCovFactor : uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()) Default value: 100.0 ( double ).
     
    static double defaultRGBDProximityMergedScanCovFactor ()
     Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .
     
    static std::string typeRGBDProximityMergedScanCovFactor ()
     Type of parameter RGBD/ProximityMergedScanCovFactor , as a string: double .
     
    static std::string kOptimizerStrategy ()
     Key of parameter Optimizer/Strategy : "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres." Default value: 0 ( int ).
     
    static int defaultOptimizerStrategy ()
     Default value of parameter Optimizer/Strategy : 0 .
     
    static std::string typeOptimizerStrategy ()
     Type of parameter Optimizer/Strategy , as a string: int .
     
    static std::string kOptimizerIterations ()
     Key of parameter Optimizer/Iterations : "Optimization iterations." Default value: 100 ( int ).
     
    static int defaultOptimizerIterations ()
     Default value of parameter Optimizer/Iterations : 100 .
     
    static std::string typeOptimizerIterations ()
     Type of parameter Optimizer/Iterations , as a string: int .
     
    static std::string kOptimizerEpsilon ()
     Key of parameter Optimizer/Epsilon : "Stop optimizing when the error improvement is less than this value." Default value: 0.00001 ( double ).
     
    static double defaultOptimizerEpsilon ()
     Default value of parameter Optimizer/Epsilon : 0.00001 .
     
    static std::string typeOptimizerEpsilon ()
     Type of parameter Optimizer/Epsilon , as a string: double .
     
    static std::string kOptimizerVarianceIgnored ()
     Key of parameter Optimizer/VarianceIgnored : "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links." Default value: false ( bool ).
     
    static bool defaultOptimizerVarianceIgnored ()
     Default value of parameter Optimizer/VarianceIgnored : false .
     
    static std::string typeOptimizerVarianceIgnored ()
     Type of parameter Optimizer/VarianceIgnored , as a string: bool .
     
    static std::string kOptimizerRobust ()
     Key of parameter Optimizer/Robust : "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)." Default value: false ( bool ).
     
    static bool defaultOptimizerRobust ()
     Default value of parameter Optimizer/Robust : false .
     
    static std::string typeOptimizerRobust ()
     Type of parameter Optimizer/Robust , as a string: bool .
     
    static std::string kOptimizerPriorsIgnored ()
     Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ).
     
    static bool defaultOptimizerPriorsIgnored ()
     Default value of parameter Optimizer/PriorsIgnored : true .
     
    static std::string typeOptimizerPriorsIgnored ()
     Type of parameter Optimizer/PriorsIgnored , as a string: bool .
     
    static std::string kOptimizerLandmarksIgnored ()
     Key of parameter Optimizer/LandmarksIgnored : "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this." Default value: false ( bool ).
     
    static bool defaultOptimizerLandmarksIgnored ()
     Default value of parameter Optimizer/LandmarksIgnored : false .
     
    static std::string typeOptimizerLandmarksIgnored ()
     Type of parameter Optimizer/LandmarksIgnored , as a string: bool .
     
    static std::string kOptimizerGravitySigma ()
     Key of parameter Optimizer/GravitySigma : uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()) Default value: 0.0 ( float ).
     
    static float defaultOptimizerGravitySigma ()
     Default value of parameter Optimizer/GravitySigma : 0.0 .
     
    static std::string typeOptimizerGravitySigma ()
     Type of parameter Optimizer/GravitySigma , as a string: float .
     
    static std::string kg2oSolver ()
     Key of parameter g2o/Solver : "0=csparse 1=pcg 2=cholmod 3=Eigen" Default value: 0 ( int ).
     
    static int defaultg2oSolver ()
     Default value of parameter g2o/Solver : 0 .
     
    static std::string typeg2oSolver ()
     Type of parameter g2o/Solver , as a string: int .
     
    static std::string kg2oOptimizer ()
     Key of parameter g2o/Optimizer : "0=Levenberg 1=GaussNewton" Default value: 0 ( int ).
     
    static int defaultg2oOptimizer ()
     Default value of parameter g2o/Optimizer : 0 .
     
    static std::string typeg2oOptimizer ()
     Type of parameter g2o/Optimizer , as a string: int .
     
    static std::string kOptimizerBaseline ()
     Key of parameter Optimizer/Baseline : "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly." Default value: 0.075 ( double ).
     
    static double defaultOptimizerBaseline ()
     Default value of parameter Optimizer/Baseline : 0.075 .
     
    static std::string typeOptimizerBaseline ()
     Type of parameter Optimizer/Baseline , as a string: double .
     
    static std::string kOptimizerPixelVariance ()
     Key of parameter Optimizer/PixelVariance : "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions." Default value: 1.0 ( double ).
     
    static double defaultOptimizerPixelVariance ()
     Default value of parameter Optimizer/PixelVariance : 1.0 .
     
    static std::string typeOptimizerPixelVariance ()
     Type of parameter Optimizer/PixelVariance , as a string: double .
     
    static std::string kOptimizerDisparityVariance ()
     Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).
     
    static double defaultOptimizerDisparityVariance ()
     Default value of parameter Optimizer/DisparityVariance : 1.0 .
     
    static std::string typeOptimizerDisparityVariance ()
     Type of parameter Optimizer/DisparityVariance , as a string: double .
     
    static std::string kOptimizerRobustKernelDelta ()
     Key of parameter Optimizer/RobustKernelDelta : "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." Default value: 8 ( double ).
     
    static double defaultOptimizerRobustKernelDelta ()
     Default value of parameter Optimizer/RobustKernelDelta : 8 .
     
    static std::string typeOptimizerRobustKernelDelta ()
     Type of parameter Optimizer/RobustKernelDelta , as a string: double .
     
    static std::string kGTSAMOptimizer ()
     Key of parameter GTSAM/Optimizer : "0=Levenberg 1=GaussNewton 2=Dogleg" Default value: 1 ( int ).
     
    static int defaultGTSAMOptimizer ()
     Default value of parameter GTSAM/Optimizer : 1 .
     
    static std::string typeGTSAMOptimizer ()
     Type of parameter GTSAM/Optimizer , as a string: int .
     
    static std::string kGTSAMIncremental ()
     Key of parameter GTSAM/Incremental : uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()) Default value: false ( bool ).
     
    static bool defaultGTSAMIncremental ()
     Default value of parameter GTSAM/Incremental : false .
     
    static std::string typeGTSAMIncremental ()
     Type of parameter GTSAM/Incremental , as a string: bool .
     
    static std::string kGTSAMIncRelinearizeThreshold ()
     Key of parameter GTSAM/IncRelinearizeThreshold : "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info." Default value: 0.01 ( double ).
     
    static double defaultGTSAMIncRelinearizeThreshold ()
     Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .
     
    static std::string typeGTSAMIncRelinearizeThreshold ()
     Type of parameter GTSAM/IncRelinearizeThreshold , as a string: double .
     
    static std::string kGTSAMIncRelinearizeSkip ()
     Key of parameter GTSAM/IncRelinearizeSkip : "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info." Default value: 1 ( int ).
     
    static int defaultGTSAMIncRelinearizeSkip ()
     Default value of parameter GTSAM/IncRelinearizeSkip : 1 .
     
    static std::string typeGTSAMIncRelinearizeSkip ()
     Type of parameter GTSAM/IncRelinearizeSkip , as a string: int .
     
    static std::string kOdomStrategy ()
     Key of parameter Odom/Strategy : "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM" Default value: 0 ( int ).
     
    static int defaultOdomStrategy ()
     Default value of parameter Odom/Strategy : 0 .
     
    static std::string typeOdomStrategy ()
     Type of parameter Odom/Strategy , as a string: int .
     
    static std::string kOdomResetCountdown ()
     Key of parameter Odom/ResetCountdown : "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered." Default value: 0 ( int ).
     
    static int defaultOdomResetCountdown ()
     Default value of parameter Odom/ResetCountdown : 0 .
     
    static std::string typeOdomResetCountdown ()
     Type of parameter Odom/ResetCountdown , as a string: int .
     
    static std::string kOdomHolonomic ()
     Key of parameter Odom/Holonomic : "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))." Default value: true ( bool ).
     
    static bool defaultOdomHolonomic ()
     Default value of parameter Odom/Holonomic : true .
     
    static std::string typeOdomHolonomic ()
     Type of parameter Odom/Holonomic , as a string: bool .
     
    static std::string kOdomFillInfoData ()
     Key of parameter Odom/FillInfoData : "Fill info with data (inliers/outliers features)." Default value: true ( bool ).
     
    static bool defaultOdomFillInfoData ()
     Default value of parameter Odom/FillInfoData : true .
     
    static std::string typeOdomFillInfoData ()
     Type of parameter Odom/FillInfoData , as a string: bool .
     
    static std::string kOdomImageBufferSize ()
     Key of parameter Odom/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).
     
    static unsigned int defaultOdomImageBufferSize ()
     Default value of parameter Odom/ImageBufferSize : 1 .
     
    static std::string typeOdomImageBufferSize ()
     Type of parameter Odom/ImageBufferSize , as a string: unsigned int .
     
    static std::string kOdomFilteringStrategy ()
     Key of parameter Odom/FilteringStrategy : "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output." Default value: 0 ( int ).
     
    static int defaultOdomFilteringStrategy ()
     Default value of parameter Odom/FilteringStrategy : 0 .
     
    static std::string typeOdomFilteringStrategy ()
     Type of parameter Odom/FilteringStrategy , as a string: int .
     
    static std::string kOdomParticleSize ()
     Key of parameter Odom/ParticleSize : "Number of particles of the filter." Default value: 400 ( unsigned int ).
     
    static unsigned int defaultOdomParticleSize ()
     Default value of parameter Odom/ParticleSize : 400 .
     
    static std::string typeOdomParticleSize ()
     Type of parameter Odom/ParticleSize , as a string: unsigned int .
     
    static std::string kOdomParticleNoiseT ()
     Key of parameter Odom/ParticleNoiseT : "Noise (m) of translation components (x,y,z)." Default value: 0.002 ( float ).
     
    static float defaultOdomParticleNoiseT ()
     Default value of parameter Odom/ParticleNoiseT : 0.002 .
     
    static std::string typeOdomParticleNoiseT ()
     Type of parameter Odom/ParticleNoiseT , as a string: float .
     
    static std::string kOdomParticleLambdaT ()
     Key of parameter Odom/ParticleLambdaT : "Lambda of translation components (x,y,z)." Default value: 100 ( float ).
     
    static float defaultOdomParticleLambdaT ()
     Default value of parameter Odom/ParticleLambdaT : 100 .
     
    static std::string typeOdomParticleLambdaT ()
     Type of parameter Odom/ParticleLambdaT , as a string: float .
     
    static std::string kOdomParticleNoiseR ()
     Key of parameter Odom/ParticleNoiseR : "Noise (rad) of rotational components (roll,pitch,yaw)." Default value: 0.002 ( float ).
     
    static float defaultOdomParticleNoiseR ()
     Default value of parameter Odom/ParticleNoiseR : 0.002 .
     
    static std::string typeOdomParticleNoiseR ()
     Type of parameter Odom/ParticleNoiseR , as a string: float .
     
    static std::string kOdomParticleLambdaR ()
     Key of parameter Odom/ParticleLambdaR : "Lambda of rotational components (roll,pitch,yaw)." Default value: 100 ( float ).
     
    static float defaultOdomParticleLambdaR ()
     Default value of parameter Odom/ParticleLambdaR : 100 .
     
    static std::string typeOdomParticleLambdaR ()
     Type of parameter Odom/ParticleLambdaR , as a string: float .
     
    static std::string kOdomKalmanProcessNoise ()
     Key of parameter Odom/KalmanProcessNoise : "Process noise covariance value." Default value: 0.001 ( float ).
     
    static float defaultOdomKalmanProcessNoise ()
     Default value of parameter Odom/KalmanProcessNoise : 0.001 .
     
    static std::string typeOdomKalmanProcessNoise ()
     Type of parameter Odom/KalmanProcessNoise , as a string: float .
     
    static std::string kOdomKalmanMeasurementNoise ()
     Key of parameter Odom/KalmanMeasurementNoise : "Process measurement covariance value." Default value: 0.01 ( float ).
     
    static float defaultOdomKalmanMeasurementNoise ()
     Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .
     
    static std::string typeOdomKalmanMeasurementNoise ()
     Type of parameter Odom/KalmanMeasurementNoise , as a string: float .
     
    static std::string kOdomGuessMotion ()
     Key of parameter Odom/GuessMotion : "Guess next transformation from the last motion computed." Default value: true ( bool ).
     
    static bool defaultOdomGuessMotion ()
     Default value of parameter Odom/GuessMotion : true .
     
    static std::string typeOdomGuessMotion ()
     Type of parameter Odom/GuessMotion , as a string: bool .
     
    static std::string kOdomGuessSmoothingDelay ()
     Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).
     
    static float defaultOdomGuessSmoothingDelay ()
     Default value of parameter Odom/GuessSmoothingDelay : 0 .
     
    static std::string typeOdomGuessSmoothingDelay ()
     Type of parameter Odom/GuessSmoothingDelay , as a string: float .
     
    static std::string kOdomKeyFrameThr ()
     Key of parameter Odom/KeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.3 ( float ).
     
    static float defaultOdomKeyFrameThr ()
     Default value of parameter Odom/KeyFrameThr : 0.3 .
     
    static std::string typeOdomKeyFrameThr ()
     Type of parameter Odom/KeyFrameThr , as a string: float .
     
    static std::string kOdomVisKeyFrameThr ()
     Key of parameter Odom/VisKeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 150 ( int ).
     
    static int defaultOdomVisKeyFrameThr ()
     Default value of parameter Odom/VisKeyFrameThr : 150 .
     
    static std::string typeOdomVisKeyFrameThr ()
     Type of parameter Odom/VisKeyFrameThr , as a string: int .
     
    static std::string kOdomScanKeyFrameThr ()
     Key of parameter Odom/ScanKeyFrameThr : "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.9 ( float ).
     
    static float defaultOdomScanKeyFrameThr ()
     Default value of parameter Odom/ScanKeyFrameThr : 0.9 .
     
    static std::string typeOdomScanKeyFrameThr ()
     Type of parameter Odom/ScanKeyFrameThr , as a string: float .
     
    static std::string kOdomImageDecimation ()
     Key of parameter Odom/ImageDecimation : uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()) Default value: 1 ( unsigned int ).
     
    static unsigned int defaultOdomImageDecimation ()
     Default value of parameter Odom/ImageDecimation : 1 .
     
    static std::string typeOdomImageDecimation ()
     Type of parameter Odom/ImageDecimation , as a string: unsigned int .
     
    static std::string kOdomAlignWithGround ()
     Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).
     
    static bool defaultOdomAlignWithGround ()
     Default value of parameter Odom/AlignWithGround : false .
     
    static std::string typeOdomAlignWithGround ()
     Type of parameter Odom/AlignWithGround , as a string: bool .
     
    static std::string kOdomDeskewing ()
     Key of parameter Odom/Deskewing : "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)." Default value: true ( bool ).
     
    static bool defaultOdomDeskewing ()
     Default value of parameter Odom/Deskewing : true .
     
    static std::string typeOdomDeskewing ()
     Type of parameter Odom/Deskewing , as a string: bool .
     
    static std::string kOdomF2MMaxSize ()
     Key of parameter OdomF2M/MaxSize : "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words." Default value: 2000 ( int ).
     
    static int defaultOdomF2MMaxSize ()
     Default value of parameter OdomF2M/MaxSize : 2000 .
     
    static std::string typeOdomF2MMaxSize ()
     Type of parameter OdomF2M/MaxSize , as a string: int .
     
    static std::string kOdomF2MMaxNewFeatures ()
     Key of parameter OdomF2M/MaxNewFeatures : "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit." Default value: 0 ( int ).
     
    static int defaultOdomF2MMaxNewFeatures ()
     Default value of parameter OdomF2M/MaxNewFeatures : 0 .
     
    static std::string typeOdomF2MMaxNewFeatures ()
     Type of parameter OdomF2M/MaxNewFeatures , as a string: int .
     
    static std::string kOdomF2MInitDepthFactor ()
     Key of parameter OdomF2M/InitDepthFactor : "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx." Default value: 0.05 ( float ).
     
    static float defaultOdomF2MInitDepthFactor ()
     Default value of parameter OdomF2M/InitDepthFactor : 0.05 .
     
    static std::string typeOdomF2MInitDepthFactor ()
     Type of parameter OdomF2M/InitDepthFactor , as a string: float .
     
    static std::string kOdomF2MFloorThreshold ()
     Key of parameter OdomF2M/FloorThreshold : "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled." Default value: 0.0 ( float ).
     
    static float defaultOdomF2MFloorThreshold ()
     Default value of parameter OdomF2M/FloorThreshold : 0.0 .
     
    static std::string typeOdomF2MFloorThreshold ()
     Type of parameter OdomF2M/FloorThreshold , as a string: float .
     
    static std::string kOdomF2MScanMaxSize ()
     Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).
     
    static int defaultOdomF2MScanMaxSize ()
     Default value of parameter OdomF2M/ScanMaxSize : 2000 .
     
    static std::string typeOdomF2MScanMaxSize ()
     Type of parameter OdomF2M/ScanMaxSize , as a string: int .
     
    static std::string kOdomF2MScanSubtractRadius ()
     Key of parameter OdomF2M/ScanSubtractRadius : "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans." Default value: 0.05 ( float ).
     
    static float defaultOdomF2MScanSubtractRadius ()
     Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .
     
    static std::string typeOdomF2MScanSubtractRadius ()
     Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .
     
    static std::string kOdomF2MScanSubtractAngle ()
     Key of parameter OdomF2M/ScanSubtractAngle : uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str() Default value: 45 ( float ).
     
    static float defaultOdomF2MScanSubtractAngle ()
     Default value of parameter OdomF2M/ScanSubtractAngle : 45 .
     
    static std::string typeOdomF2MScanSubtractAngle ()
     Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .
     
    static std::string kOdomF2MScanRange ()
     Key of parameter OdomF2M/ScanRange : "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range." Default value: 0 ( float ).
     
    static float defaultOdomF2MScanRange ()
     Default value of parameter OdomF2M/ScanRange : 0 .
     
    static std::string typeOdomF2MScanRange ()
     Type of parameter OdomF2M/ScanRange , as a string: float .
     
    static std::string kOdomF2MValidDepthRatio ()
     Key of parameter OdomF2M/ValidDepthRatio : "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map." Default value: 0.75 ( float ).
     
    static float defaultOdomF2MValidDepthRatio ()
     Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .
     
    static std::string typeOdomF2MValidDepthRatio ()
     Type of parameter OdomF2M/ValidDepthRatio , as a string: float .
     
    static std::string kOdomF2MBundleAdjustment ()
     Key of parameter OdomF2M/BundleAdjustment : uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).
     
    static int defaultOdomF2MBundleAdjustment ()
     Default value of parameter OdomF2M/BundleAdjustment : 0 .
     
    static std::string typeOdomF2MBundleAdjustment ()
     Type of parameter OdomF2M/BundleAdjustment , as a string: int .
     
    static std::string kOdomF2MBundleAdjustmentMaxFrames ()
     Key of parameter OdomF2M/BundleAdjustmentMaxFrames : "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)." Default value: 10 ( int ).
     
    static int defaultOdomF2MBundleAdjustmentMaxFrames ()
     Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .
     
    static std::string typeOdomF2MBundleAdjustmentMaxFrames ()
     Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .
     
    static std::string kOdomF2MBundleAdjustmentMinMotion ()
     Key of parameter OdomF2M/BundleAdjustmentMinMotion : "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame." Default value: 0.0 ( float ).
     
    static float defaultOdomF2MBundleAdjustmentMinMotion ()
     Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .
     
    static std::string typeOdomF2MBundleAdjustmentMinMotion ()
     Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .
     
    static std::string kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
     Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).
     
    static int defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
     Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .
     
    static std::string typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
     Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .
     
    static std::string kOdomF2MBundleUpdateFeatureMapOnAllFrames ()
     Key of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=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).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()) Default value: false ( bool ).
     
    static bool defaultOdomF2MBundleUpdateFeatureMapOnAllFrames ()
     Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .
     
    static std::string typeOdomF2MBundleUpdateFeatureMapOnAllFrames ()
     Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .
     
    static std::string kOdomMonoInitMinFlow ()
     Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).
     
    static float defaultOdomMonoInitMinFlow ()
     Default value of parameter OdomMono/InitMinFlow : 100 .
     
    static std::string typeOdomMonoInitMinFlow ()
     Type of parameter OdomMono/InitMinFlow , as a string: float .
     
    static std::string kOdomMonoInitMinTranslation ()
     Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).
     
    static float defaultOdomMonoInitMinTranslation ()
     Default value of parameter OdomMono/InitMinTranslation : 0.1 .
     
    static std::string typeOdomMonoInitMinTranslation ()
     Type of parameter OdomMono/InitMinTranslation , as a string: float .
     
    static std::string kOdomMonoMinTranslation ()
     Key of parameter OdomMono/MinTranslation : "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum." Default value: 0.02 ( float ).
     
    static float defaultOdomMonoMinTranslation ()
     Default value of parameter OdomMono/MinTranslation : 0.02 .
     
    static std::string typeOdomMonoMinTranslation ()
     Type of parameter OdomMono/MinTranslation , as a string: float .
     
    static std::string kOdomMonoMaxVariance ()
     Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).
     
    static float defaultOdomMonoMaxVariance ()
     Default value of parameter OdomMono/MaxVariance : 0.01 .
     
    static std::string typeOdomMonoMaxVariance ()
     Type of parameter OdomMono/MaxVariance , as a string: float .
     
    static std::string kOdomFovisFeatureWindowSize ()
     Key of parameter OdomFovis/FeatureWindowSize : "The size of the n x n image patch surrounding each feature, used for keypoint matching." Default value: 9 ( int ).
     
    static int defaultOdomFovisFeatureWindowSize ()
     Default value of parameter OdomFovis/FeatureWindowSize : 9 .
     
    static std::string typeOdomFovisFeatureWindowSize ()
     Type of parameter OdomFovis/FeatureWindowSize , as a string: int .
     
    static std::string kOdomFovisMaxPyramidLevel ()
     Key of parameter OdomFovis/MaxPyramidLevel : "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image." Default value: 3 ( int ).
     
    static int defaultOdomFovisMaxPyramidLevel ()
     Default value of parameter OdomFovis/MaxPyramidLevel : 3 .
     
    static std::string typeOdomFovisMaxPyramidLevel ()
     Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .
     
    static std::string kOdomFovisMinPyramidLevel ()
     Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).
     
    static int defaultOdomFovisMinPyramidLevel ()
     Default value of parameter OdomFovis/MinPyramidLevel : 0 .
     
    static std::string typeOdomFovisMinPyramidLevel ()
     Type of parameter OdomFovis/MinPyramidLevel , as a string: int .
     
    static std::string kOdomFovisTargetPixelsPerFeature ()
     Key of parameter OdomFovis/TargetPixelsPerFeature : "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding." Default value: 250 ( int ).
     
    static int defaultOdomFovisTargetPixelsPerFeature ()
     Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .
     
    static std::string typeOdomFovisTargetPixelsPerFeature ()
     Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .
     
    static std::string kOdomFovisFastThreshold ()
     Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).
     
    static int defaultOdomFovisFastThreshold ()
     Default value of parameter OdomFovis/FastThreshold : 20 .
     
    static std::string typeOdomFovisFastThreshold ()
     Type of parameter OdomFovis/FastThreshold , as a string: int .
     
    static std::string kOdomFovisUseAdaptiveThreshold ()
     Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).
     
    static bool defaultOdomFovisUseAdaptiveThreshold ()
     Default value of parameter OdomFovis/UseAdaptiveThreshold : true .
     
    static std::string typeOdomFovisUseAdaptiveThreshold ()
     Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .
     
    static std::string kOdomFovisFastThresholdAdaptiveGain ()
     Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).
     
    static double defaultOdomFovisFastThresholdAdaptiveGain ()
     Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .
     
    static std::string typeOdomFovisFastThresholdAdaptiveGain ()
     Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .
     
    static std::string kOdomFovisUseHomographyInitialization ()
     Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).
     
    static bool defaultOdomFovisUseHomographyInitialization ()
     Default value of parameter OdomFovis/UseHomographyInitialization : true .
     
    static std::string typeOdomFovisUseHomographyInitialization ()
     Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .
     
    static std::string kOdomFovisUseBucketing ()
     Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).
     
    static bool defaultOdomFovisUseBucketing ()
     Default value of parameter OdomFovis/UseBucketing : true .
     
    static std::string typeOdomFovisUseBucketing ()
     Type of parameter OdomFovis/UseBucketing , as a string: bool .
     
    static std::string kOdomFovisBucketWidth ()
     Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).
     
    static int defaultOdomFovisBucketWidth ()
     Default value of parameter OdomFovis/BucketWidth : 80 .
     
    static std::string typeOdomFovisBucketWidth ()
     Type of parameter OdomFovis/BucketWidth , as a string: int .
     
    static std::string kOdomFovisBucketHeight ()
     Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).
     
    static int defaultOdomFovisBucketHeight ()
     Default value of parameter OdomFovis/BucketHeight : 80 .
     
    static std::string typeOdomFovisBucketHeight ()
     Type of parameter OdomFovis/BucketHeight , as a string: int .
     
    static std::string kOdomFovisMaxKeypointsPerBucket ()
     Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).
     
    static int defaultOdomFovisMaxKeypointsPerBucket ()
     Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .
     
    static std::string typeOdomFovisMaxKeypointsPerBucket ()
     Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .
     
    static std::string kOdomFovisUseImageNormalization ()
     Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).
     
    static bool defaultOdomFovisUseImageNormalization ()
     Default value of parameter OdomFovis/UseImageNormalization : false .
     
    static std::string typeOdomFovisUseImageNormalization ()
     Type of parameter OdomFovis/UseImageNormalization , as a string: bool .
     
    static std::string kOdomFovisInlierMaxReprojectionError ()
     Key of parameter OdomFovis/InlierMaxReprojectionError : "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation." Default value: 1.5 ( double ).
     
    static double defaultOdomFovisInlierMaxReprojectionError ()
     Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .
     
    static std::string typeOdomFovisInlierMaxReprojectionError ()
     Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .
     
    static std::string kOdomFovisCliqueInlierThreshold ()
     Key of parameter OdomFovis/CliqueInlierThreshold : "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters." Default value: 0.1 ( double ).
     
    static double defaultOdomFovisCliqueInlierThreshold ()
     Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .
     
    static std::string typeOdomFovisCliqueInlierThreshold ()
     Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .
     
    static std::string kOdomFovisMinFeaturesForEstimate ()
     Key of parameter OdomFovis/MinFeaturesForEstimate : "Minimum number of features in the inlier set for the motion estimate to be considered valid." Default value: 20 ( int ).
     
    static int defaultOdomFovisMinFeaturesForEstimate ()
     Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .
     
    static std::string typeOdomFovisMinFeaturesForEstimate ()
     Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .
     
    static std::string kOdomFovisMaxMeanReprojectionError ()
     Key of parameter OdomFovis/MaxMeanReprojectionError : "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid." Default value: 10.0 ( double ).
     
    static double defaultOdomFovisMaxMeanReprojectionError ()
     Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .
     
    static std::string typeOdomFovisMaxMeanReprojectionError ()
     Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .
     
    static std::string kOdomFovisUseSubpixelRefinement ()
     Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).
     
    static bool defaultOdomFovisUseSubpixelRefinement ()
     Default value of parameter OdomFovis/UseSubpixelRefinement : true .
     
    static std::string typeOdomFovisUseSubpixelRefinement ()
     Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .
     
    static std::string kOdomFovisFeatureSearchWindow ()
     Key of parameter OdomFovis/FeatureSearchWindow : "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate." Default value: 25 ( int ).
     
    static int defaultOdomFovisFeatureSearchWindow ()
     Default value of parameter OdomFovis/FeatureSearchWindow : 25 .
     
    static std::string typeOdomFovisFeatureSearchWindow ()
     Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .
     
    static std::string kOdomFovisUpdateTargetFeaturesWithRefined ()
     Key of parameter OdomFovis/UpdateTargetFeaturesWithRefined : "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm." Default value: false ( bool ).
     
    static bool defaultOdomFovisUpdateTargetFeaturesWithRefined ()
     Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .
     
    static std::string typeOdomFovisUpdateTargetFeaturesWithRefined ()
     Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .
     
    static std::string kOdomFovisStereoRequireMutualMatch ()
     Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).
     
    static bool defaultOdomFovisStereoRequireMutualMatch ()
     Default value of parameter OdomFovis/StereoRequireMutualMatch : true .
     
    static std::string typeOdomFovisStereoRequireMutualMatch ()
     Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .
     
    static std::string kOdomFovisStereoMaxDistEpipolarLine ()
     Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).
     
    static double defaultOdomFovisStereoMaxDistEpipolarLine ()
     Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .
     
    static std::string typeOdomFovisStereoMaxDistEpipolarLine ()
     Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .
     
    static std::string kOdomFovisStereoMaxRefinementDisplacement ()
     Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).
     
    static double defaultOdomFovisStereoMaxRefinementDisplacement ()
     Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .
     
    static std::string typeOdomFovisStereoMaxRefinementDisplacement ()
     Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .
     
    static std::string kOdomFovisStereoMaxDisparity ()
     Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).
     
    static int defaultOdomFovisStereoMaxDisparity ()
     Default value of parameter OdomFovis/StereoMaxDisparity : 128 .
     
    static std::string typeOdomFovisStereoMaxDisparity ()
     Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .
     
    static std::string kOdomViso2RansacIters ()
     Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).
     
    static int defaultOdomViso2RansacIters ()
     Default value of parameter OdomViso2/RansacIters : 200 .
     
    static std::string typeOdomViso2RansacIters ()
     Type of parameter OdomViso2/RansacIters , as a string: int .
     
    static std::string kOdomViso2InlierThreshold ()
     Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).
     
    static double defaultOdomViso2InlierThreshold ()
     Default value of parameter OdomViso2/InlierThreshold : 2.0 .
     
    static std::string typeOdomViso2InlierThreshold ()
     Type of parameter OdomViso2/InlierThreshold , as a string: double .
     
    static std::string kOdomViso2Reweighting ()
     Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).
     
    static bool defaultOdomViso2Reweighting ()
     Default value of parameter OdomViso2/Reweighting : true .
     
    static std::string typeOdomViso2Reweighting ()
     Type of parameter OdomViso2/Reweighting , as a string: bool .
     
    static std::string kOdomViso2MatchNmsN ()
     Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).
     
    static int defaultOdomViso2MatchNmsN ()
     Default value of parameter OdomViso2/MatchNmsN : 3 .
     
    static std::string typeOdomViso2MatchNmsN ()
     Type of parameter OdomViso2/MatchNmsN , as a string: int .
     
    static std::string kOdomViso2MatchNmsTau ()
     Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).
     
    static int defaultOdomViso2MatchNmsTau ()
     Default value of parameter OdomViso2/MatchNmsTau : 50 .
     
    static std::string typeOdomViso2MatchNmsTau ()
     Type of parameter OdomViso2/MatchNmsTau , as a string: int .
     
    static std::string kOdomViso2MatchBinsize ()
     Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).
     
    static int defaultOdomViso2MatchBinsize ()
     Default value of parameter OdomViso2/MatchBinsize : 50 .
     
    static std::string typeOdomViso2MatchBinsize ()
     Type of parameter OdomViso2/MatchBinsize , as a string: int .
     
    static std::string kOdomViso2MatchRadius ()
     Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).
     
    static int defaultOdomViso2MatchRadius ()
     Default value of parameter OdomViso2/MatchRadius : 200 .
     
    static std::string typeOdomViso2MatchRadius ()
     Type of parameter OdomViso2/MatchRadius , as a string: int .
     
    static std::string kOdomViso2MatchDispTolerance ()
     Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).
     
    static int defaultOdomViso2MatchDispTolerance ()
     Default value of parameter OdomViso2/MatchDispTolerance : 2 .
     
    static std::string typeOdomViso2MatchDispTolerance ()
     Type of parameter OdomViso2/MatchDispTolerance , as a string: int .
     
    static std::string kOdomViso2MatchOutlierDispTolerance ()
     Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).
     
    static int defaultOdomViso2MatchOutlierDispTolerance ()
     Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .
     
    static std::string typeOdomViso2MatchOutlierDispTolerance ()
     Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .
     
    static std::string kOdomViso2MatchOutlierFlowTolerance ()
     Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).
     
    static int defaultOdomViso2MatchOutlierFlowTolerance ()
     Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .
     
    static std::string typeOdomViso2MatchOutlierFlowTolerance ()
     Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .
     
    static std::string kOdomViso2MatchMultiStage ()
     Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).
     
    static bool defaultOdomViso2MatchMultiStage ()
     Default value of parameter OdomViso2/MatchMultiStage : true .
     
    static std::string typeOdomViso2MatchMultiStage ()
     Type of parameter OdomViso2/MatchMultiStage , as a string: bool .
     
    static std::string kOdomViso2MatchHalfResolution ()
     Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).
     
    static bool defaultOdomViso2MatchHalfResolution ()
     Default value of parameter OdomViso2/MatchHalfResolution : true .
     
    static std::string typeOdomViso2MatchHalfResolution ()
     Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .
     
    static std::string kOdomViso2MatchRefinement ()
     Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).
     
    static int defaultOdomViso2MatchRefinement ()
     Default value of parameter OdomViso2/MatchRefinement : 1 .
     
    static std::string typeOdomViso2MatchRefinement ()
     Type of parameter OdomViso2/MatchRefinement , as a string: int .
     
    static std::string kOdomViso2BucketMaxFeatures ()
     Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).
     
    static int defaultOdomViso2BucketMaxFeatures ()
     Default value of parameter OdomViso2/BucketMaxFeatures : 2 .
     
    static std::string typeOdomViso2BucketMaxFeatures ()
     Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .
     
    static std::string kOdomViso2BucketWidth ()
     Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).
     
    static double defaultOdomViso2BucketWidth ()
     Default value of parameter OdomViso2/BucketWidth : 50 .
     
    static std::string typeOdomViso2BucketWidth ()
     Type of parameter OdomViso2/BucketWidth , as a string: double .
     
    static std::string kOdomViso2BucketHeight ()
     Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).
     
    static double defaultOdomViso2BucketHeight ()
     Default value of parameter OdomViso2/BucketHeight : 50 .
     
    static std::string typeOdomViso2BucketHeight ()
     Type of parameter OdomViso2/BucketHeight , as a string: double .
     
    static std::string kOdomORBSLAMVocPath ()
     Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).
     
    static std::string defaultOdomORBSLAMVocPath ()
     Default value of parameter OdomORBSLAM/VocPath : "" .
     
    static std::string typeOdomORBSLAMVocPath ()
     Type of parameter OdomORBSLAM/VocPath , as a string: string.
     
    static std::string kOdomORBSLAMBf ()
     Key of parameter OdomORBSLAM/Bf : "Fake IR projector baseline (m) used only when stereo is not used." Default value: 0.076 ( double ).
     
    static double defaultOdomORBSLAMBf ()
     Default value of parameter OdomORBSLAM/Bf : 0.076 .
     
    static std::string typeOdomORBSLAMBf ()
     Type of parameter OdomORBSLAM/Bf , as a string: double .
     
    static std::string kOdomORBSLAMThDepth ()
     Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).
     
    static double defaultOdomORBSLAMThDepth ()
     Default value of parameter OdomORBSLAM/ThDepth : 40.0 .
     
    static std::string typeOdomORBSLAMThDepth ()
     Type of parameter OdomORBSLAM/ThDepth , as a string: double .
     
    static std::string kOdomORBSLAMFps ()
     Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).
     
    static float defaultOdomORBSLAMFps ()
     Default value of parameter OdomORBSLAM/Fps : 0.0 .
     
    static std::string typeOdomORBSLAMFps ()
     Type of parameter OdomORBSLAM/Fps , as a string: float .
     
    static std::string kOdomORBSLAMMaxFeatures ()
     Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).
     
    static int defaultOdomORBSLAMMaxFeatures ()
     Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .
     
    static std::string typeOdomORBSLAMMaxFeatures ()
     Type of parameter OdomORBSLAM/MaxFeatures , as a string: int .
     
    static std::string kOdomORBSLAMMapSize ()
     Key of parameter OdomORBSLAM/MapSize : "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2." Default value: 3000 ( int ).
     
    static int defaultOdomORBSLAMMapSize ()
     Default value of parameter OdomORBSLAM/MapSize : 3000 .
     
    static std::string typeOdomORBSLAMMapSize ()
     Type of parameter OdomORBSLAM/MapSize , as a string: int .
     
    static std::string kOdomORBSLAMInertial ()
     Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).
     
    static bool defaultOdomORBSLAMInertial ()
     Default value of parameter OdomORBSLAM/Inertial : false .
     
    static std::string typeOdomORBSLAMInertial ()
     Type of parameter OdomORBSLAM/Inertial , as a string: bool .
     
    static std::string kOdomORBSLAMGyroNoise ()
     Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).
     
    static double defaultOdomORBSLAMGyroNoise ()
     Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .
     
    static std::string typeOdomORBSLAMGyroNoise ()
     Type of parameter OdomORBSLAM/GyroNoise , as a string: double .
     
    static std::string kOdomORBSLAMAccNoise ()
     Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).
     
    static double defaultOdomORBSLAMAccNoise ()
     Default value of parameter OdomORBSLAM/AccNoise : 0.1 .
     
    static std::string typeOdomORBSLAMAccNoise ()
     Type of parameter OdomORBSLAM/AccNoise , as a string: double .
     
    static std::string kOdomORBSLAMGyroWalk ()
     Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).
     
    static double defaultOdomORBSLAMGyroWalk ()
     Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .
     
    static std::string typeOdomORBSLAMGyroWalk ()
     Type of parameter OdomORBSLAM/GyroWalk , as a string: double .
     
    static std::string kOdomORBSLAMAccWalk ()
     Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).
     
    static double defaultOdomORBSLAMAccWalk ()
     Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .
     
    static std::string typeOdomORBSLAMAccWalk ()
     Type of parameter OdomORBSLAM/AccWalk , as a string: double .
     
    static std::string kOdomORBSLAMSamplingRate ()
     Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).
     
    static double defaultOdomORBSLAMSamplingRate ()
     Default value of parameter OdomORBSLAM/SamplingRate : 0 .
     
    static std::string typeOdomORBSLAMSamplingRate ()
     Type of parameter OdomORBSLAM/SamplingRate , as a string: double .
     
    static std::string kOdomOKVISConfigPath ()
     Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).
     
    static std::string defaultOdomOKVISConfigPath ()
     Default value of parameter OdomOKVIS/ConfigPath : "" .
     
    static std::string typeOdomOKVISConfigPath ()
     Type of parameter OdomOKVIS/ConfigPath , as a string: string.
     
    static std::string kOdomLOAMSensor ()
     Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).
     
    static int defaultOdomLOAMSensor ()
     Default value of parameter OdomLOAM/Sensor : 2 .
     
    static std::string typeOdomLOAMSensor ()
     Type of parameter OdomLOAM/Sensor , as a string: int .
     
    static std::string kOdomLOAMScanPeriod ()
     Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).
     
    static float defaultOdomLOAMScanPeriod ()
     Default value of parameter OdomLOAM/ScanPeriod : 0.1 .
     
    static std::string typeOdomLOAMScanPeriod ()
     Type of parameter OdomLOAM/ScanPeriod , as a string: float .
     
    static std::string kOdomLOAMResolution ()
     Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).
     
    static float defaultOdomLOAMResolution ()
     Default value of parameter OdomLOAM/Resolution : 0.2 .
     
    static std::string typeOdomLOAMResolution ()
     Type of parameter OdomLOAM/Resolution , as a string: float .
     
    static std::string kOdomLOAMLinVar ()
     Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).
     
    static float defaultOdomLOAMLinVar ()
     Default value of parameter OdomLOAM/LinVar : 0.01 .
     
    static std::string typeOdomLOAMLinVar ()
     Type of parameter OdomLOAM/LinVar , as a string: float .
     
    static std::string kOdomLOAMAngVar ()
     Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).
     
    static float defaultOdomLOAMAngVar ()
     Default value of parameter OdomLOAM/AngVar : 0.01 .
     
    static std::string typeOdomLOAMAngVar ()
     Type of parameter OdomLOAM/AngVar , as a string: float .
     
    static std::string kOdomLOAMLocalMapping ()
     Key of parameter OdomLOAM/LocalMapping : "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved." Default value: true ( bool ).
     
    static bool defaultOdomLOAMLocalMapping ()
     Default value of parameter OdomLOAM/LocalMapping : true .
     
    static std::string typeOdomLOAMLocalMapping ()
     Type of parameter OdomLOAM/LocalMapping , as a string: bool .
     
    static std::string kOdomMSCKFGridRow ()
     Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).
     
    static int defaultOdomMSCKFGridRow ()
     Default value of parameter OdomMSCKF/GridRow : 4 .
     
    static std::string typeOdomMSCKFGridRow ()
     Type of parameter OdomMSCKF/GridRow , as a string: int .
     
    static std::string kOdomMSCKFGridCol ()
     Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).
     
    static int defaultOdomMSCKFGridCol ()
     Default value of parameter OdomMSCKF/GridCol : 5 .
     
    static std::string typeOdomMSCKFGridCol ()
     Type of parameter OdomMSCKF/GridCol , as a string: int .
     
    static std::string kOdomMSCKFGridMinFeatureNum ()
     Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).
     
    static int defaultOdomMSCKFGridMinFeatureNum ()
     Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .
     
    static std::string typeOdomMSCKFGridMinFeatureNum ()
     Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .
     
    static std::string kOdomMSCKFGridMaxFeatureNum ()
     Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).
     
    static int defaultOdomMSCKFGridMaxFeatureNum ()
     Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .
     
    static std::string typeOdomMSCKFGridMaxFeatureNum ()
     Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .
     
    static std::string kOdomMSCKFPyramidLevels ()
     Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).
     
    static int defaultOdomMSCKFPyramidLevels ()
     Default value of parameter OdomMSCKF/PyramidLevels : 3 .
     
    static std::string typeOdomMSCKFPyramidLevels ()
     Type of parameter OdomMSCKF/PyramidLevels , as a string: int .
     
    static std::string kOdomMSCKFPatchSize ()
     Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).
     
    static int defaultOdomMSCKFPatchSize ()
     Default value of parameter OdomMSCKF/PatchSize : 15 .
     
    static std::string typeOdomMSCKFPatchSize ()
     Type of parameter OdomMSCKF/PatchSize , as a string: int .
     
    static std::string kOdomMSCKFFastThreshold ()
     Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).
     
    static int defaultOdomMSCKFFastThreshold ()
     Default value of parameter OdomMSCKF/FastThreshold : 10 .
     
    static std::string typeOdomMSCKFFastThreshold ()
     Type of parameter OdomMSCKF/FastThreshold , as a string: int .
     
    static std::string kOdomMSCKFMaxIteration ()
     Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).
     
    static int defaultOdomMSCKFMaxIteration ()
     Default value of parameter OdomMSCKF/MaxIteration : 30 .
     
    static std::string typeOdomMSCKFMaxIteration ()
     Type of parameter OdomMSCKF/MaxIteration , as a string: int .
     
    static std::string kOdomMSCKFTrackPrecision ()
     Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).
     
    static double defaultOdomMSCKFTrackPrecision ()
     Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .
     
    static std::string typeOdomMSCKFTrackPrecision ()
     Type of parameter OdomMSCKF/TrackPrecision , as a string: double .
     
    static std::string kOdomMSCKFRansacThreshold ()
     Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).
     
    static double defaultOdomMSCKFRansacThreshold ()
     Default value of parameter OdomMSCKF/RansacThreshold : 3 .
     
    static std::string typeOdomMSCKFRansacThreshold ()
     Type of parameter OdomMSCKF/RansacThreshold , as a string: double .
     
    static std::string kOdomMSCKFStereoThreshold ()
     Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).
     
    static double defaultOdomMSCKFStereoThreshold ()
     Default value of parameter OdomMSCKF/StereoThreshold : 5 .
     
    static std::string typeOdomMSCKFStereoThreshold ()
     Type of parameter OdomMSCKF/StereoThreshold , as a string: double .
     
    static std::string kOdomMSCKFPositionStdThreshold ()
     Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).
     
    static double defaultOdomMSCKFPositionStdThreshold ()
     Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .
     
    static std::string typeOdomMSCKFPositionStdThreshold ()
     Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .
     
    static std::string kOdomMSCKFRotationThreshold ()
     Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).
     
    static double defaultOdomMSCKFRotationThreshold ()
     Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .
     
    static std::string typeOdomMSCKFRotationThreshold ()
     Type of parameter OdomMSCKF/RotationThreshold , as a string: double .
     
    static std::string kOdomMSCKFTranslationThreshold ()
     Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).
     
    static double defaultOdomMSCKFTranslationThreshold ()
     Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .
     
    static std::string typeOdomMSCKFTranslationThreshold ()
     Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .
     
    static std::string kOdomMSCKFTrackingRateThreshold ()
     Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).
     
    static double defaultOdomMSCKFTrackingRateThreshold ()
     Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .
     
    static std::string typeOdomMSCKFTrackingRateThreshold ()
     Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .
     
    static std::string kOdomMSCKFOptTranslationThreshold ()
     Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).
     
    static double defaultOdomMSCKFOptTranslationThreshold ()
     Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .
     
    static std::string typeOdomMSCKFOptTranslationThreshold ()
     Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .
     
    static std::string kOdomMSCKFNoiseGyro ()
     Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).
     
    static double defaultOdomMSCKFNoiseGyro ()
     Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .
     
    static std::string typeOdomMSCKFNoiseGyro ()
     Type of parameter OdomMSCKF/NoiseGyro , as a string: double .
     
    static std::string kOdomMSCKFNoiseAcc ()
     Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).
     
    static double defaultOdomMSCKFNoiseAcc ()
     Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .
     
    static std::string typeOdomMSCKFNoiseAcc ()
     Type of parameter OdomMSCKF/NoiseAcc , as a string: double .
     
    static std::string kOdomMSCKFNoiseGyroBias ()
     Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).
     
    static double defaultOdomMSCKFNoiseGyroBias ()
     Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .
     
    static std::string typeOdomMSCKFNoiseGyroBias ()
     Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .
     
    static std::string kOdomMSCKFNoiseAccBias ()
     Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).
     
    static double defaultOdomMSCKFNoiseAccBias ()
     Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .
     
    static std::string typeOdomMSCKFNoiseAccBias ()
     Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .
     
    static std::string kOdomMSCKFNoiseFeature ()
     Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).
     
    static double defaultOdomMSCKFNoiseFeature ()
     Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .
     
    static std::string typeOdomMSCKFNoiseFeature ()
     Type of parameter OdomMSCKF/NoiseFeature , as a string: double .
     
    static std::string kOdomMSCKFInitCovVel ()
     Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).
     
    static double defaultOdomMSCKFInitCovVel ()
     Default value of parameter OdomMSCKF/InitCovVel : 0.25 .
     
    static std::string typeOdomMSCKFInitCovVel ()
     Type of parameter OdomMSCKF/InitCovVel , as a string: double .
     
    static std::string kOdomMSCKFInitCovGyroBias ()
     Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).
     
    static double defaultOdomMSCKFInitCovGyroBias ()
     Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .
     
    static std::string typeOdomMSCKFInitCovGyroBias ()
     Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .
     
    static std::string kOdomMSCKFInitCovAccBias ()
     Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).
     
    static double defaultOdomMSCKFInitCovAccBias ()
     Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .
     
    static std::string typeOdomMSCKFInitCovAccBias ()
     Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .
     
    static std::string kOdomMSCKFInitCovExRot ()
     Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).
     
    static double defaultOdomMSCKFInitCovExRot ()
     Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .
     
    static std::string typeOdomMSCKFInitCovExRot ()
     Type of parameter OdomMSCKF/InitCovExRot , as a string: double .
     
    static std::string kOdomMSCKFInitCovExTrans ()
     Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).
     
    static double defaultOdomMSCKFInitCovExTrans ()
     Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .
     
    static std::string typeOdomMSCKFInitCovExTrans ()
     Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .
     
    static std::string kOdomMSCKFMaxCamStateSize ()
     Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).
     
    static int defaultOdomMSCKFMaxCamStateSize ()
     Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .
     
    static std::string typeOdomMSCKFMaxCamStateSize ()
     Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .
     
    static std::string kOdomVINSFusionConfigPath ()
     Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).
     
    static std::string defaultOdomVINSFusionConfigPath ()
     Default value of parameter OdomVINSFusion/ConfigPath : "" .
     
    static std::string typeOdomVINSFusionConfigPath ()
     Type of parameter OdomVINSFusion/ConfigPath , as a string: string.
     
    static std::string kOdomOpenVINSConfigPath ()
     Key of parameter OdomOpenVINS/ConfigPath : "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group." Default value: "" (string).
     
    static std::string defaultOdomOpenVINSConfigPath ()
     Default value of parameter OdomOpenVINS/ConfigPath : "" .
     
    static std::string typeOdomOpenVINSConfigPath ()
     Type of parameter OdomOpenVINS/ConfigPath , as a string: string.
     
    static std::string kOdomOpenVINSUseStereo ()
     Key of parameter OdomOpenVINS/UseStereo : "If we have more than 1 camera, if we should try to track stereo constraints between pairs." Default value: true ( bool ).
     
    static bool defaultOdomOpenVINSUseStereo ()
     Default value of parameter OdomOpenVINS/UseStereo : true .
     
    static std::string typeOdomOpenVINSUseStereo ()
     Type of parameter OdomOpenVINS/UseStereo , as a string: bool .
     
    static std::string kOdomOpenVINSUseKLT ()
     Key of parameter OdomOpenVINS/UseKLT : "If true we will use KLT, otherwise use a ORB descriptor + robust matching." Default value: true ( bool ).
     
    static bool defaultOdomOpenVINSUseKLT ()
     Default value of parameter OdomOpenVINS/UseKLT : true .
     
    static std::string typeOdomOpenVINSUseKLT ()
     Type of parameter OdomOpenVINS/UseKLT , as a string: bool .
     
    static std::string kOdomOpenVINSNumPts ()
     Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).
     
    static int defaultOdomOpenVINSNumPts ()
     Default value of parameter OdomOpenVINS/NumPts : 200 .
     
    static std::string typeOdomOpenVINSNumPts ()
     Type of parameter OdomOpenVINS/NumPts , as a string: int .
     
    static std::string kOdomOpenVINSMinPxDist ()
     Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).
     
    static int defaultOdomOpenVINSMinPxDist ()
     Default value of parameter OdomOpenVINS/MinPxDist : 15 .
     
    static std::string typeOdomOpenVINSMinPxDist ()
     Type of parameter OdomOpenVINS/MinPxDist , as a string: int .
     
    static std::string kOdomOpenVINSFiTriangulate1d ()
     Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSFiTriangulate1d ()
     Default value of parameter OdomOpenVINS/FiTriangulate1d : false .
     
    static std::string typeOdomOpenVINSFiTriangulate1d ()
     Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .
     
    static std::string kOdomOpenVINSFiRefineFeatures ()
     Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).
     
    static bool defaultOdomOpenVINSFiRefineFeatures ()
     Default value of parameter OdomOpenVINS/FiRefineFeatures : true .
     
    static std::string typeOdomOpenVINSFiRefineFeatures ()
     Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .
     
    static std::string kOdomOpenVINSFiMaxRuns ()
     Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).
     
    static int defaultOdomOpenVINSFiMaxRuns ()
     Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .
     
    static std::string typeOdomOpenVINSFiMaxRuns ()
     Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .
     
    static std::string kOdomOpenVINSFiMaxBaseline ()
     Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).
     
    static double defaultOdomOpenVINSFiMaxBaseline ()
     Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .
     
    static std::string typeOdomOpenVINSFiMaxBaseline ()
     Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .
     
    static std::string kOdomOpenVINSFiMaxCondNumber ()
     Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).
     
    static double defaultOdomOpenVINSFiMaxCondNumber ()
     Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .
     
    static std::string typeOdomOpenVINSFiMaxCondNumber ()
     Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .
     
    static std::string kOdomOpenVINSUseFEJ ()
     Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).
     
    static bool defaultOdomOpenVINSUseFEJ ()
     Default value of parameter OdomOpenVINS/UseFEJ : true .
     
    static std::string typeOdomOpenVINSUseFEJ ()
     Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .
     
    static std::string kOdomOpenVINSIntegration ()
     Key of parameter OdomOpenVINS/Integration : "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)." Default value: 1 ( int ).
     
    static int defaultOdomOpenVINSIntegration ()
     Default value of parameter OdomOpenVINS/Integration : 1 .
     
    static std::string typeOdomOpenVINSIntegration ()
     Type of parameter OdomOpenVINS/Integration , as a string: int .
     
    static std::string kOdomOpenVINSCalibCamExtrinsics ()
     Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSCalibCamExtrinsics ()
     Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .
     
    static std::string typeOdomOpenVINSCalibCamExtrinsics ()
     Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .
     
    static std::string kOdomOpenVINSCalibCamIntrinsics ()
     Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSCalibCamIntrinsics ()
     Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .
     
    static std::string typeOdomOpenVINSCalibCamIntrinsics ()
     Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .
     
    static std::string kOdomOpenVINSCalibCamTimeoffset ()
     Key of parameter OdomOpenVINS/CalibCamTimeoffset : "Bool to determine whether or not to calibrate camera to IMU time offset." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSCalibCamTimeoffset ()
     Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .
     
    static std::string typeOdomOpenVINSCalibCamTimeoffset ()
     Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .
     
    static std::string kOdomOpenVINSCalibIMUIntrinsics ()
     Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSCalibIMUIntrinsics ()
     Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .
     
    static std::string typeOdomOpenVINSCalibIMUIntrinsics ()
     Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .
     
    static std::string kOdomOpenVINSCalibIMUGSensitivity ()
     Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSCalibIMUGSensitivity ()
     Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .
     
    static std::string typeOdomOpenVINSCalibIMUGSensitivity ()
     Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .
     
    static std::string kOdomOpenVINSMaxClones ()
     Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).
     
    static int defaultOdomOpenVINSMaxClones ()
     Default value of parameter OdomOpenVINS/MaxClones : 11 .
     
    static std::string typeOdomOpenVINSMaxClones ()
     Type of parameter OdomOpenVINS/MaxClones , as a string: int .
     
    static std::string kOdomOpenVINSMaxSLAM ()
     Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).
     
    static int defaultOdomOpenVINSMaxSLAM ()
     Default value of parameter OdomOpenVINS/MaxSLAM : 50 .
     
    static std::string typeOdomOpenVINSMaxSLAM ()
     Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .
     
    static std::string kOdomOpenVINSMaxSLAMInUpdate ()
     Key of parameter OdomOpenVINS/MaxSLAMInUpdate : "Max number of SLAM features we allow to be included in a single EKF update.." Default value: 25 ( int ).
     
    static int defaultOdomOpenVINSMaxSLAMInUpdate ()
     Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .
     
    static std::string typeOdomOpenVINSMaxSLAMInUpdate ()
     Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .
     
    static std::string kOdomOpenVINSMaxMSCKFInUpdate ()
     Key of parameter OdomOpenVINS/MaxMSCKFInUpdate : "Max number of MSCKF features we will use at a given image timestep.." Default value: 50 ( int ).
     
    static int defaultOdomOpenVINSMaxMSCKFInUpdate ()
     Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .
     
    static std::string typeOdomOpenVINSMaxMSCKFInUpdate ()
     Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .
     
    static std::string kOdomOpenVINSFeatRepMSCKF ()
     Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).
     
    static int defaultOdomOpenVINSFeatRepMSCKF ()
     Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .
     
    static std::string typeOdomOpenVINSFeatRepMSCKF ()
     Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .
     
    static std::string kOdomOpenVINSFeatRepSLAM ()
     Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).
     
    static int defaultOdomOpenVINSFeatRepSLAM ()
     Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .
     
    static std::string typeOdomOpenVINSFeatRepSLAM ()
     Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .
     
    static std::string kOdomOpenVINSDtSLAMDelay ()
     Key of parameter OdomOpenVINS/DtSLAMDelay : "Delay, in seconds, that we should wait from init before we start estimating SLAM features." Default value: 0.0 ( double ).
     
    static double defaultOdomOpenVINSDtSLAMDelay ()
     Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .
     
    static std::string typeOdomOpenVINSDtSLAMDelay ()
     Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .
     
    static std::string kOdomOpenVINSGravityMag ()
     Key of parameter OdomOpenVINS/GravityMag : "Gravity magnitude in the global frame (i.e. should be 9.81 typically)." Default value: 9.81 ( double ).
     
    static double defaultOdomOpenVINSGravityMag ()
     Default value of parameter OdomOpenVINS/GravityMag : 9.81 .
     
    static std::string typeOdomOpenVINSGravityMag ()
     Type of parameter OdomOpenVINS/GravityMag , as a string: double .
     
    static std::string kOdomOpenVINSLeftMaskPath ()
     Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).
     
    static std::string defaultOdomOpenVINSLeftMaskPath ()
     Default value of parameter OdomOpenVINS/LeftMaskPath : "" .
     
    static std::string typeOdomOpenVINSLeftMaskPath ()
     Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.
     
    static std::string kOdomOpenVINSRightMaskPath ()
     Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).
     
    static std::string defaultOdomOpenVINSRightMaskPath ()
     Default value of parameter OdomOpenVINS/RightMaskPath : "" .
     
    static std::string typeOdomOpenVINSRightMaskPath ()
     Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.
     
    static std::string kOdomOpenVINSInitWindowTime ()
     Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).
     
    static double defaultOdomOpenVINSInitWindowTime ()
     Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .
     
    static std::string typeOdomOpenVINSInitWindowTime ()
     Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .
     
    static std::string kOdomOpenVINSInitIMUThresh ()
     Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).
     
    static double defaultOdomOpenVINSInitIMUThresh ()
     Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .
     
    static std::string typeOdomOpenVINSInitIMUThresh ()
     Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .
     
    static std::string kOdomOpenVINSInitMaxDisparity ()
     Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).
     
    static double defaultOdomOpenVINSInitMaxDisparity ()
     Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .
     
    static std::string typeOdomOpenVINSInitMaxDisparity ()
     Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .
     
    static std::string kOdomOpenVINSInitMaxFeatures ()
     Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).
     
    static int defaultOdomOpenVINSInitMaxFeatures ()
     Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .
     
    static std::string typeOdomOpenVINSInitMaxFeatures ()
     Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .
     
    static std::string kOdomOpenVINSInitDynUse ()
     Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSInitDynUse ()
     Default value of parameter OdomOpenVINS/InitDynUse : false .
     
    static std::string typeOdomOpenVINSInitDynUse ()
     Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .
     
    static std::string kOdomOpenVINSInitDynMLEOptCalib ()
     Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSInitDynMLEOptCalib ()
     Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .
     
    static std::string typeOdomOpenVINSInitDynMLEOptCalib ()
     Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .
     
    static std::string kOdomOpenVINSInitDynMLEMaxIter ()
     Key of parameter OdomOpenVINS/InitDynMLEMaxIter : "How many iterations the MLE refinement should use (zero to skip the MLE)." Default value: 50 ( int ).
     
    static int defaultOdomOpenVINSInitDynMLEMaxIter ()
     Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .
     
    static std::string typeOdomOpenVINSInitDynMLEMaxIter ()
     Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .
     
    static std::string kOdomOpenVINSInitDynMLEMaxTime ()
     Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).
     
    static double defaultOdomOpenVINSInitDynMLEMaxTime ()
     Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .
     
    static std::string typeOdomOpenVINSInitDynMLEMaxTime ()
     Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .
     
    static std::string kOdomOpenVINSInitDynMLEMaxThreads ()
     Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).
     
    static int defaultOdomOpenVINSInitDynMLEMaxThreads ()
     Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .
     
    static std::string typeOdomOpenVINSInitDynMLEMaxThreads ()
     Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .
     
    static std::string kOdomOpenVINSInitDynNumPose ()
     Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).
     
    static int defaultOdomOpenVINSInitDynNumPose ()
     Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .
     
    static std::string typeOdomOpenVINSInitDynNumPose ()
     Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .
     
    static std::string kOdomOpenVINSInitDynMinDeg ()
     Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).
     
    static double defaultOdomOpenVINSInitDynMinDeg ()
     Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .
     
    static std::string typeOdomOpenVINSInitDynMinDeg ()
     Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .
     
    static std::string kOdomOpenVINSInitDynInflationOri ()
     Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).
     
    static double defaultOdomOpenVINSInitDynInflationOri ()
     Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .
     
    static std::string typeOdomOpenVINSInitDynInflationOri ()
     Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .
     
    static std::string kOdomOpenVINSInitDynInflationVel ()
     Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).
     
    static double defaultOdomOpenVINSInitDynInflationVel ()
     Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .
     
    static std::string typeOdomOpenVINSInitDynInflationVel ()
     Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .
     
    static std::string kOdomOpenVINSInitDynInflationBg ()
     Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).
     
    static double defaultOdomOpenVINSInitDynInflationBg ()
     Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .
     
    static std::string typeOdomOpenVINSInitDynInflationBg ()
     Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .
     
    static std::string kOdomOpenVINSInitDynInflationBa ()
     Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).
     
    static double defaultOdomOpenVINSInitDynInflationBa ()
     Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .
     
    static std::string typeOdomOpenVINSInitDynInflationBa ()
     Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .
     
    static std::string kOdomOpenVINSInitDynMinRecCond ()
     Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).
     
    static double defaultOdomOpenVINSInitDynMinRecCond ()
     Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .
     
    static std::string typeOdomOpenVINSInitDynMinRecCond ()
     Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .
     
    static std::string kOdomOpenVINSTryZUPT ()
     Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).
     
    static bool defaultOdomOpenVINSTryZUPT ()
     Default value of parameter OdomOpenVINS/TryZUPT : true .
     
    static std::string typeOdomOpenVINSTryZUPT ()
     Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .
     
    static std::string kOdomOpenVINSZUPTChi2Multiplier ()
     Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).
     
    static double defaultOdomOpenVINSZUPTChi2Multiplier ()
     Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .
     
    static std::string typeOdomOpenVINSZUPTChi2Multiplier ()
     Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .
     
    static std::string kOdomOpenVINSZUPTMaxVelodicy ()
     Key of parameter OdomOpenVINS/ZUPTMaxVelodicy : "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.1 ( double ).
     
    static double defaultOdomOpenVINSZUPTMaxVelodicy ()
     Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .
     
    static std::string typeOdomOpenVINSZUPTMaxVelodicy ()
     Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .
     
    static std::string kOdomOpenVINSZUPTNoiseMultiplier ()
     Key of parameter OdomOpenVINS/ZUPTNoiseMultiplier : "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)." Default value: 10.0 ( double ).
     
    static double defaultOdomOpenVINSZUPTNoiseMultiplier ()
     Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .
     
    static std::string typeOdomOpenVINSZUPTNoiseMultiplier ()
     Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .
     
    static std::string kOdomOpenVINSZUPTMaxDisparity ()
     Key of parameter OdomOpenVINS/ZUPTMaxDisparity : "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.5 ( double ).
     
    static double defaultOdomOpenVINSZUPTMaxDisparity ()
     Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .
     
    static std::string typeOdomOpenVINSZUPTMaxDisparity ()
     Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .
     
    static std::string kOdomOpenVINSZUPTOnlyAtBeginning ()
     Key of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : "If we should only use the zupt at the very beginning static initialization phase." Default value: false ( bool ).
     
    static bool defaultOdomOpenVINSZUPTOnlyAtBeginning ()
     Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .
     
    static std::string typeOdomOpenVINSZUPTOnlyAtBeginning ()
     Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .
     
    static std::string kOdomOpenVINSAccelerometerNoiseDensity ()
     Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).
     
    static double defaultOdomOpenVINSAccelerometerNoiseDensity ()
     Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .
     
    static std::string typeOdomOpenVINSAccelerometerNoiseDensity ()
     Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .
     
    static std::string kOdomOpenVINSAccelerometerRandomWalk ()
     Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).
     
    static double defaultOdomOpenVINSAccelerometerRandomWalk ()
     Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .
     
    static std::string typeOdomOpenVINSAccelerometerRandomWalk ()
     Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .
     
    static std::string kOdomOpenVINSGyroscopeNoiseDensity ()
     Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).
     
    static double defaultOdomOpenVINSGyroscopeNoiseDensity ()
     Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .
     
    static std::string typeOdomOpenVINSGyroscopeNoiseDensity ()
     Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .
     
    static std::string kOdomOpenVINSGyroscopeRandomWalk ()
     Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).
     
    static double defaultOdomOpenVINSGyroscopeRandomWalk ()
     Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .
     
    static std::string typeOdomOpenVINSGyroscopeRandomWalk ()
     Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .
     
    static std::string kOdomOpenVINSUpMSCKFSigmaPx ()
     Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).
     
    static double defaultOdomOpenVINSUpMSCKFSigmaPx ()
     Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .
     
    static std::string typeOdomOpenVINSUpMSCKFSigmaPx ()
     Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .
     
    static std::string kOdomOpenVINSUpMSCKFChi2Multiplier ()
     Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).
     
    static double defaultOdomOpenVINSUpMSCKFChi2Multiplier ()
     Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .
     
    static std::string typeOdomOpenVINSUpMSCKFChi2Multiplier ()
     Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .
     
    static std::string kOdomOpenVINSUpSLAMSigmaPx ()
     Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).
     
    static double defaultOdomOpenVINSUpSLAMSigmaPx ()
     Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .
     
    static std::string typeOdomOpenVINSUpSLAMSigmaPx ()
     Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .
     
    static std::string kOdomOpenVINSUpSLAMChi2Multiplier ()
     Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).
     
    static double defaultOdomOpenVINSUpSLAMChi2Multiplier ()
     Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .
     
    static std::string typeOdomOpenVINSUpSLAMChi2Multiplier ()
     Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .
     
    static std::string kOdomOpen3DMaxDepth ()
     Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).
     
    static float defaultOdomOpen3DMaxDepth ()
     Default value of parameter OdomOpen3D/MaxDepth : 3.0 .
     
    static std::string typeOdomOpen3DMaxDepth ()
     Type of parameter OdomOpen3D/MaxDepth , as a string: float .
     
    static std::string kOdomOpen3DMethod ()
     Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).
     
    static int defaultOdomOpen3DMethod ()
     Default value of parameter OdomOpen3D/Method : 0 .
     
    static std::string typeOdomOpen3DMethod ()
     Type of parameter OdomOpen3D/Method , as a string: int .
     
    static std::string kOdomCuVSLAMMulticamMode ()
     Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).
     
    static int defaultOdomCuVSLAMMulticamMode ()
     Default value of parameter OdomCuVSLAM/MulticamMode : 0 .
     
    static std::string typeOdomCuVSLAMMulticamMode ()
     Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .
     
    static std::string kOdomLIOSAMConfigPath ()
     Key of parameter OdomLIOSAM/ConfigPath : "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored." Default value: "" (string).
     
    static std::string defaultOdomLIOSAMConfigPath ()
     Default value of parameter OdomLIOSAM/ConfigPath : "" .
     
    static std::string typeOdomLIOSAMConfigPath ()
     Type of parameter OdomLIOSAM/ConfigPath , as a string: string.
     
    static std::string kOdomLIOSAMSensor ()
     Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).
     
    static int defaultOdomLIOSAMSensor ()
     Default value of parameter OdomLIOSAM/Sensor : 0 .
     
    static std::string typeOdomLIOSAMSensor ()
     Type of parameter OdomLIOSAM/Sensor , as a string: int .
     
    static std::string kOdomLIOSAMNScan ()
     Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).
     
    static int defaultOdomLIOSAMNScan ()
     Default value of parameter OdomLIOSAM/NScan : 16 .
     
    static std::string typeOdomLIOSAMNScan ()
     Type of parameter OdomLIOSAM/NScan , as a string: int .
     
    static std::string kOdomLIOSAMHorizonScan ()
     Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).
     
    static int defaultOdomLIOSAMHorizonScan ()
     Default value of parameter OdomLIOSAM/HorizonScan : 1800 .
     
    static std::string typeOdomLIOSAMHorizonScan ()
     Type of parameter OdomLIOSAM/HorizonScan , as a string: int .
     
    static std::string kOdomLIOSAMImuAccNoise ()
     Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).
     
    static float defaultOdomLIOSAMImuAccNoise ()
     Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .
     
    static std::string typeOdomLIOSAMImuAccNoise ()
     Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .
     
    static std::string kOdomLIOSAMImuGyrNoise ()
     Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).
     
    static float defaultOdomLIOSAMImuGyrNoise ()
     Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .
     
    static std::string typeOdomLIOSAMImuGyrNoise ()
     Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .
     
    static std::string kOdomLIOSAMImuAccBiasN ()
     Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).
     
    static float defaultOdomLIOSAMImuAccBiasN ()
     Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .
     
    static std::string typeOdomLIOSAMImuAccBiasN ()
     Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .
     
    static std::string kOdomLIOSAMImuGyrBiasN ()
     Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).
     
    static float defaultOdomLIOSAMImuGyrBiasN ()
     Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .
     
    static std::string typeOdomLIOSAMImuGyrBiasN ()
     Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .
     
    static std::string kOdomLIOSAMImuGravity ()
     Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).
     
    static float defaultOdomLIOSAMImuGravity ()
     Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .
     
    static std::string typeOdomLIOSAMImuGravity ()
     Type of parameter OdomLIOSAM/ImuGravity , as a string: float .
     
    static std::string kOdomLIOSAMEdgeThreshold ()
     Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).
     
    static float defaultOdomLIOSAMEdgeThreshold ()
     Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .
     
    static std::string typeOdomLIOSAMEdgeThreshold ()
     Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .
     
    static std::string kOdomLIOSAMSurfThreshold ()
     Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).
     
    static float defaultOdomLIOSAMSurfThreshold ()
     Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .
     
    static std::string typeOdomLIOSAMSurfThreshold ()
     Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .
     
    static std::string kOdomLIOSAMLinVar ()
     Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).
     
    static float defaultOdomLIOSAMLinVar ()
     Default value of parameter OdomLIOSAM/LinVar : 0.01 .
     
    static std::string typeOdomLIOSAMLinVar ()
     Type of parameter OdomLIOSAM/LinVar , as a string: float .
     
    static std::string kOdomLIOSAMAngVar ()
     Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).
     
    static float defaultOdomLIOSAMAngVar ()
     Default value of parameter OdomLIOSAM/AngVar : 0.01 .
     
    static std::string typeOdomLIOSAMAngVar ()
     Type of parameter OdomLIOSAM/AngVar , as a string: float .
     
    static std::string kRegRepeatOnce ()
     Key of parameter Reg/RepeatOnce : "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches." Default value: true ( bool ).
     
    static bool defaultRegRepeatOnce ()
     Default value of parameter Reg/RepeatOnce : true .
     
    static std::string typeRegRepeatOnce ()
     Type of parameter Reg/RepeatOnce , as a string: bool .
     
    static std::string kRegStrategy ()
     Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).
     
    static int defaultRegStrategy ()
     Default value of parameter Reg/Strategy : 0 .
     
    static std::string typeRegStrategy ()
     Type of parameter Reg/Strategy , as a string: int .
     
    static std::string kRegForce3DoF ()
     Key of parameter Reg/Force3DoF : "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0." Default value: false ( bool ).
     
    static bool defaultRegForce3DoF ()
     Default value of parameter Reg/Force3DoF : false .
     
    static std::string typeRegForce3DoF ()
     Type of parameter Reg/Force3DoF , as a string: bool .
     
    static std::string kVisEstimationType ()
     Key of parameter Vis/EstimationType : "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)" Default value: 1 ( int ).
     
    static int defaultVisEstimationType ()
     Default value of parameter Vis/EstimationType : 1 .
     
    static std::string typeVisEstimationType ()
     Type of parameter Vis/EstimationType , as a string: int .
     
    static std::string kVisInlierDistance ()
     Key of parameter Vis/InlierDistance : uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).
     
    static float defaultVisInlierDistance ()
     Default value of parameter Vis/InlierDistance : 0.1 .
     
    static std::string typeVisInlierDistance ()
     Type of parameter Vis/InlierDistance , as a string: float .
     
    static std::string kVisRefineIterations ()
     Key of parameter Vis/RefineIterations : uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()) Default value: 5 ( int ).
     
    static int defaultVisRefineIterations ()
     Default value of parameter Vis/RefineIterations : 5 .
     
    static std::string typeVisRefineIterations ()
     Type of parameter Vis/RefineIterations , as a string: int .
     
    static std::string kVisPnPReprojError ()
     Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).
     
    static float defaultVisPnPReprojError ()
     Default value of parameter Vis/PnPReprojError : 2 .
     
    static std::string typeVisPnPReprojError ()
     Type of parameter Vis/PnPReprojError , as a string: float .
     
    static std::string kVisPnPFlags ()
     Key of parameter Vis/PnPFlags : uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()) Default value: 0 ( int ).
     
    static int defaultVisPnPFlags ()
     Default value of parameter Vis/PnPFlags : 0 .
     
    static std::string typeVisPnPFlags ()
     Type of parameter Vis/PnPFlags , as a string: int .
     
    static std::string kVisPnPRefineIterations ()
     Key of parameter Vis/PnPRefineIterations : uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()) Default value: 1 ( int ).
     
    static int defaultVisPnPRefineIterations ()
     Default value of parameter Vis/PnPRefineIterations : 1 .
     
    static std::string typeVisPnPRefineIterations ()
     Type of parameter Vis/PnPRefineIterations , as a string: int .
     
    static std::string kVisPnPVarianceMedianRatio ()
     Key of parameter Vis/PnPVarianceMedianRatio : uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()) Default value: 4 ( int ).
     
    static int defaultVisPnPVarianceMedianRatio ()
     Default value of parameter Vis/PnPVarianceMedianRatio : 4 .
     
    static std::string typeVisPnPVarianceMedianRatio ()
     Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .
     
    static std::string kVisPnPMaxVariance ()
     Key of parameter Vis/PnPMaxVariance : uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()) Default value: 0.0 ( float ).
     
    static float defaultVisPnPMaxVariance ()
     Default value of parameter Vis/PnPMaxVariance : 0.0 .
     
    static std::string typeVisPnPMaxVariance ()
     Type of parameter Vis/PnPMaxVariance , as a string: float .
     
    static std::string kVisPnPSamplingPolicy ()
     Key of parameter Vis/PnPSamplingPolicy : uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str() Default value: 1 ( unsigned int ).
     
    static unsigned int defaultVisPnPSamplingPolicy ()
     Default value of parameter Vis/PnPSamplingPolicy : 1 .
     
    static std::string typeVisPnPSamplingPolicy ()
     Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .
     
    static std::string kVisPnPSplitLinearCovComponents ()
     Key of parameter Vis/PnPSplitLinearCovComponents : uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str() Default value: false ( bool ).
     
    static bool defaultVisPnPSplitLinearCovComponents ()
     Default value of parameter Vis/PnPSplitLinearCovComponents : false .
     
    static std::string typeVisPnPSplitLinearCovComponents ()
     Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .
     
    static std::string kVisEpipolarGeometryVar ()
     Key of parameter Vis/EpipolarGeometryVar : uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).
     
    static float defaultVisEpipolarGeometryVar ()
     Default value of parameter Vis/EpipolarGeometryVar : 0.1 .
     
    static std::string typeVisEpipolarGeometryVar ()
     Type of parameter Vis/EpipolarGeometryVar , as a string: float .
     
    static std::string kVisMinInliers ()
     Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).
     
    static int defaultVisMinInliers ()
     Default value of parameter Vis/MinInliers : 20 .
     
    static std::string typeVisMinInliers ()
     Type of parameter Vis/MinInliers , as a string: int .
     
    static std::string kVisMeanInliersDistance ()
     Key of parameter Vis/MeanInliersDistance : "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled." Default value: 0.0 ( float ).
     
    static float defaultVisMeanInliersDistance ()
     Default value of parameter Vis/MeanInliersDistance : 0.0 .
     
    static std::string typeVisMeanInliersDistance ()
     Type of parameter Vis/MeanInliersDistance , as a string: float .
     
    static std::string kVisMinInliersDistribution ()
     Key of parameter Vis/MinInliersDistribution : "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled." Default value: 0.0 ( float ).
     
    static float defaultVisMinInliersDistribution ()
     Default value of parameter Vis/MinInliersDistribution : 0.0 .
     
    static std::string typeVisMinInliersDistribution ()
     Type of parameter Vis/MinInliersDistribution , as a string: float .
     
    static std::string kVisIterations ()
     Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).
     
    static int defaultVisIterations ()
     Default value of parameter Vis/Iterations : 300 .
     
    static std::string typeVisIterations ()
     Type of parameter Vis/Iterations , as a string: int .
     
    static std::string kVisFeatureType ()
     Key of parameter Vis/FeatureType : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).
     
    static int defaultVisFeatureType ()
     Default value of parameter Vis/FeatureType : 6 .
     
    static std::string typeVisFeatureType ()
     Type of parameter Vis/FeatureType , as a string: int .
     
    static std::string kVisMaxFeatures ()
     Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).
     
    static int defaultVisMaxFeatures ()
     Default value of parameter Vis/MaxFeatures : 1000 .
     
    static std::string typeVisMaxFeatures ()
     Type of parameter Vis/MaxFeatures , as a string: int .
     
    static std::string kVisSSC ()
     Key of parameter Vis/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).
     
    static bool defaultVisSSC ()
     Default value of parameter Vis/SSC : false .
     
    static std::string typeVisSSC ()
     Type of parameter Vis/SSC , as a string: bool .
     
    static std::string kVisMaxDepth ()
     Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).
     
    static float defaultVisMaxDepth ()
     Default value of parameter Vis/MaxDepth : 0 .
     
    static std::string typeVisMaxDepth ()
     Type of parameter Vis/MaxDepth , as a string: float .
     
    static std::string kVisMinDepth ()
     Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).
     
    static float defaultVisMinDepth ()
     Default value of parameter Vis/MinDepth : 0 .
     
    static std::string typeVisMinDepth ()
     Type of parameter Vis/MinDepth , as a string: float .
     
    static std::string kVisDepthAsMask ()
     Key of parameter Vis/DepthAsMask : "Use depth image as mask when extracting features." Default value: true ( bool ).
     
    static bool defaultVisDepthAsMask ()
     Default value of parameter Vis/DepthAsMask : true .
     
    static std::string typeVisDepthAsMask ()
     Type of parameter Vis/DepthAsMask , as a string: bool .
     
    static std::string kVisDepthMaskFloorThr ()
     Key of parameter Vis/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()) Default value: 0.0 ( float ).
     
    static float defaultVisDepthMaskFloorThr ()
     Default value of parameter Vis/DepthMaskFloorThr : 0.0 .
     
    static std::string typeVisDepthMaskFloorThr ()
     Type of parameter Vis/DepthMaskFloorThr , as a string: float .
     
    static std::string kVisRoiRatios ()
     Key of parameter Vis/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).
     
    static std::string defaultVisRoiRatios ()
     Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .
     
    static std::string typeVisRoiRatios ()
     Type of parameter Vis/RoiRatios , as a string: string.
     
    static std::string kVisSubPixWinSize ()
     Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).
     
    static int defaultVisSubPixWinSize ()
     Default value of parameter Vis/SubPixWinSize : 3 .
     
    static std::string typeVisSubPixWinSize ()
     Type of parameter Vis/SubPixWinSize , as a string: int .
     
    static std::string kVisSubPixIterations ()
     Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).
     
    static int defaultVisSubPixIterations ()
     Default value of parameter Vis/SubPixIterations : 0 .
     
    static std::string typeVisSubPixIterations ()
     Type of parameter Vis/SubPixIterations , as a string: int .
     
    static std::string kVisSubPixEps ()
     Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).
     
    static float defaultVisSubPixEps ()
     Default value of parameter Vis/SubPixEps : 0.02 .
     
    static std::string typeVisSubPixEps ()
     Type of parameter Vis/SubPixEps , as a string: float .
     
    static std::string kVisGridRows ()
     Key of parameter Vis/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).
     
    static int defaultVisGridRows ()
     Default value of parameter Vis/GridRows : 1 .
     
    static std::string typeVisGridRows ()
     Type of parameter Vis/GridRows , as a string: int .
     
    static std::string kVisGridCols ()
     Key of parameter Vis/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).
     
    static int defaultVisGridCols ()
     Default value of parameter Vis/GridCols : 1 .
     
    static std::string typeVisGridCols ()
     Type of parameter Vis/GridCols , as a string: int .
     
    static std::string kVisCorType ()
     Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).
     
    static int defaultVisCorType ()
     Default value of parameter Vis/CorType : 0 .
     
    static std::string typeVisCorType ()
     Type of parameter Vis/CorType , as a string: int .
     
    static std::string kVisCorNNType ()
     Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).
     
    static int defaultVisCorNNType ()
     Default value of parameter Vis/CorNNType : 1 .
     
    static std::string typeVisCorNNType ()
     Type of parameter Vis/CorNNType , as a string: int .
     
    static std::string kVisCorNNDR ()
     Key of parameter Vis/CorNNDR : uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()) Default value: 0.8 ( float ).
     
    static float defaultVisCorNNDR ()
     Default value of parameter Vis/CorNNDR : 0.8 .
     
    static std::string typeVisCorNNDR ()
     Type of parameter Vis/CorNNDR , as a string: float .
     
    static std::string kVisCorGuessWinSize ()
     Key of parameter Vis/CorGuessWinSize : uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()) Default value: 40 ( int ).
     
    static int defaultVisCorGuessWinSize ()
     Default value of parameter Vis/CorGuessWinSize : 40 .
     
    static std::string typeVisCorGuessWinSize ()
     Type of parameter Vis/CorGuessWinSize , as a string: int .
     
    static std::string kVisCorGuessMatchToProjection ()
     Key of parameter Vis/CorGuessMatchToProjection : uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()) Default value: false ( bool ).
     
    static bool defaultVisCorGuessMatchToProjection ()
     Default value of parameter Vis/CorGuessMatchToProjection : false .
     
    static std::string typeVisCorGuessMatchToProjection ()
     Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .
     
    static std::string kVisCorFlowWinSize ()
     Key of parameter Vis/CorFlowWinSize : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 16 ( int ).
     
    static int defaultVisCorFlowWinSize ()
     Default value of parameter Vis/CorFlowWinSize : 16 .
     
    static std::string typeVisCorFlowWinSize ()
     Type of parameter Vis/CorFlowWinSize , as a string: int .
     
    static std::string kVisCorFlowIterations ()
     Key of parameter Vis/CorFlowIterations : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 30 ( int ).
     
    static int defaultVisCorFlowIterations ()
     Default value of parameter Vis/CorFlowIterations : 30 .
     
    static std::string typeVisCorFlowIterations ()
     Type of parameter Vis/CorFlowIterations , as a string: int .
     
    static std::string kVisCorFlowEps ()
     Key of parameter Vis/CorFlowEps : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 0.01 ( float ).
     
    static float defaultVisCorFlowEps ()
     Default value of parameter Vis/CorFlowEps : 0.01 .
     
    static std::string typeVisCorFlowEps ()
     Type of parameter Vis/CorFlowEps , as a string: float .
     
    static std::string kVisCorFlowMaxLevel ()
     Key of parameter Vis/CorFlowMaxLevel : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 3 ( int ).
     
    static int defaultVisCorFlowMaxLevel ()
     Default value of parameter Vis/CorFlowMaxLevel : 3 .
     
    static std::string typeVisCorFlowMaxLevel ()
     Type of parameter Vis/CorFlowMaxLevel , as a string: int .
     
    static std::string kVisCorFlowUseMinEigenVals ()
     Key of parameter Vis/CorFlowUseMinEigenVals : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()) Default value: true ( bool ).
     
    static bool defaultVisCorFlowUseMinEigenVals ()
     Default value of parameter Vis/CorFlowUseMinEigenVals : true .
     
    static std::string typeVisCorFlowUseMinEigenVals ()
     Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .
     
    static std::string kVisCorFlowMinEigThreshold ()
     Key of parameter Vis/CorFlowMinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 1e-4 ( float ).
     
    static float defaultVisCorFlowMinEigThreshold ()
     Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .
     
    static std::string typeVisCorFlowMinEigThreshold ()
     Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .
     
    static std::string kVisCorFlowErrorThreshold ()
     Key of parameter Vis/CorFlowErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 20 ( float ).
     
    static float defaultVisCorFlowErrorThreshold ()
     Default value of parameter Vis/CorFlowErrorThreshold : 20 .
     
    static std::string typeVisCorFlowErrorThreshold ()
     Type of parameter Vis/CorFlowErrorThreshold , as a string: float .
     
    static std::string kVisCorFlowGpu ()
     Key of parameter Vis/CorFlowGpu : uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()) Default value: false ( bool ).
     
    static bool defaultVisCorFlowGpu ()
     Default value of parameter Vis/CorFlowGpu : false .
     
    static std::string typeVisCorFlowGpu ()
     Type of parameter Vis/CorFlowGpu , as a string: bool .
     
    static std::string kVisBundleAdjustment ()
     Key of parameter Vis/BundleAdjustment : uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).
     
    static int defaultVisBundleAdjustment ()
     Default value of parameter Vis/BundleAdjustment : 0 .
     
    static std::string typeVisBundleAdjustment ()
     Type of parameter Vis/BundleAdjustment , as a string: int .
     
    static std::string kPyMatcherPath ()
     Key of parameter PyMatcher/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).
     
    static std::string defaultPyMatcherPath ()
     Default value of parameter PyMatcher/Path : "" .
     
    static std::string typePyMatcherPath ()
     Type of parameter PyMatcher/Path , as a string: string.
     
    static std::string kPyMatcherIterations ()
     Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).
     
    static int defaultPyMatcherIterations ()
     Default value of parameter PyMatcher/Iterations : 20 .
     
    static std::string typePyMatcherIterations ()
     Type of parameter PyMatcher/Iterations , as a string: int .
     
    static std::string kPyMatcherThreshold ()
     Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).
     
    static float defaultPyMatcherThreshold ()
     Default value of parameter PyMatcher/Threshold : 0.2 .
     
    static std::string typePyMatcherThreshold ()
     Type of parameter PyMatcher/Threshold , as a string: float .
     
    static std::string kPyMatcherCuda ()
     Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).
     
    static bool defaultPyMatcherCuda ()
     Default value of parameter PyMatcher/Cuda : true .
     
    static std::string typePyMatcherCuda ()
     Type of parameter PyMatcher/Cuda , as a string: bool .
     
    static std::string kPyMatcherModel ()
     Key of parameter PyMatcher/Model : "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\")." Default value: "indoor" (string).
     
    static std::string defaultPyMatcherModel ()
     Default value of parameter PyMatcher/Model : "indoor" .
     
    static std::string typePyMatcherModel ()
     Type of parameter PyMatcher/Model , as a string: string.
     
    static std::string kGMSWithRotation ()
     Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).
     
    static bool defaultGMSWithRotation ()
     Default value of parameter GMS/WithRotation : false .
     
    static std::string typeGMSWithRotation ()
     Type of parameter GMS/WithRotation , as a string: bool .
     
    static std::string kGMSWithScale ()
     Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).
     
    static bool defaultGMSWithScale ()
     Default value of parameter GMS/WithScale : false .
     
    static std::string typeGMSWithScale ()
     Type of parameter GMS/WithScale , as a string: bool .
     
    static std::string kGMSThresholdFactor ()
     Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).
     
    static double defaultGMSThresholdFactor ()
     Default value of parameter GMS/ThresholdFactor : 6.0 .
     
    static std::string typeGMSThresholdFactor ()
     Type of parameter GMS/ThresholdFactor , as a string: double .
     
    static std::string kPyDescriptorPath ()
     Key of parameter PyDescriptor/Path : "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used." Default value: "" (string).
     
    static std::string defaultPyDescriptorPath ()
     Default value of parameter PyDescriptor/Path : "" .
     
    static std::string typePyDescriptorPath ()
     Type of parameter PyDescriptor/Path , as a string: string.
     
    static std::string kPyDescriptorDim ()
     Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).
     
    static int defaultPyDescriptorDim ()
     Default value of parameter PyDescriptor/Dim : 4096 .
     
    static std::string typePyDescriptorDim ()
     Type of parameter PyDescriptor/Dim , as a string: int .
     
    static std::string kIcpStrategy ()
     Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).
     
    static int defaultIcpStrategy ()
     Default value of parameter Icp/Strategy : 0 .
     
    static std::string typeIcpStrategy ()
     Type of parameter Icp/Strategy , as a string: int .
     
    static std::string kIcpMaxTranslation ()
     Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).
     
    static float defaultIcpMaxTranslation ()
     Default value of parameter Icp/MaxTranslation : 0.2 .
     
    static std::string typeIcpMaxTranslation ()
     Type of parameter Icp/MaxTranslation , as a string: float .
     
    static std::string kIcpMaxRotation ()
     Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).
     
    static float defaultIcpMaxRotation ()
     Default value of parameter Icp/MaxRotation : 0.78 .
     
    static std::string typeIcpMaxRotation ()
     Type of parameter Icp/MaxRotation , as a string: float .
     
    static std::string kIcpVoxelSize ()
     Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).
     
    static float defaultIcpVoxelSize ()
     Default value of parameter Icp/VoxelSize : 0.05 .
     
    static std::string typeIcpVoxelSize ()
     Type of parameter Icp/VoxelSize , as a string: float .
     
    static std::string kIcpDownsamplingStep ()
     Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).
     
    static int defaultIcpDownsamplingStep ()
     Default value of parameter Icp/DownsamplingStep : 1 .
     
    static std::string typeIcpDownsamplingStep ()
     Type of parameter Icp/DownsamplingStep , as a string: int .
     
    static std::string kIcpRangeMin ()
     Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).
     
    static float defaultIcpRangeMin ()
     Default value of parameter Icp/RangeMin : 0 .
     
    static std::string typeIcpRangeMin ()
     Type of parameter Icp/RangeMin , as a string: float .
     
    static std::string kIcpRangeMax ()
     Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).
     
    static float defaultIcpRangeMax ()
     Default value of parameter Icp/RangeMax : 0 .
     
    static std::string typeIcpRangeMax ()
     Type of parameter Icp/RangeMax , as a string: float .
     
    static std::string kIcpMaxCorrespondenceDistance ()
     Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).
     
    static float defaultIcpMaxCorrespondenceDistance ()
     Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .
     
    static std::string typeIcpMaxCorrespondenceDistance ()
     Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .
     
    static std::string kIcpReciprocalCorrespondences ()
     Key of parameter Icp/ReciprocalCorrespondences : "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence." Default value: true ( bool ).
     
    static bool defaultIcpReciprocalCorrespondences ()
     Default value of parameter Icp/ReciprocalCorrespondences : true .
     
    static std::string typeIcpReciprocalCorrespondences ()
     Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .
     
    static std::string kIcpIterations ()
     Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).
     
    static int defaultIcpIterations ()
     Default value of parameter Icp/Iterations : 30 .
     
    static std::string typeIcpIterations ()
     Type of parameter Icp/Iterations , as a string: int .
     
    static std::string kIcpEpsilon ()
     Key of parameter Icp/Epsilon : "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution." Default value: 0 ( float ).
     
    static float defaultIcpEpsilon ()
     Default value of parameter Icp/Epsilon : 0 .
     
    static std::string typeIcpEpsilon ()
     Type of parameter Icp/Epsilon , as a string: float .
     
    static std::string kIcpCorrespondenceRatio ()
     Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).
     
    static float defaultIcpCorrespondenceRatio ()
     Default value of parameter Icp/CorrespondenceRatio : 0.1 .
     
    static std::string typeIcpCorrespondenceRatio ()
     Type of parameter Icp/CorrespondenceRatio , as a string: float .
     
    static std::string kIcpForce4DoF ()
     Key of parameter Icp/Force4DoF : uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()) Default value: false ( bool ).
     
    static bool defaultIcpForce4DoF ()
     Default value of parameter Icp/Force4DoF : false .
     
    static std::string typeIcpForce4DoF ()
     Type of parameter Icp/Force4DoF , as a string: bool .
     
    static std::string kIcpFiltersEnabled ()
     Key of parameter Icp/FiltersEnabled : "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both." Default value: 3 ( int ).
     
    static int defaultIcpFiltersEnabled ()
     Default value of parameter Icp/FiltersEnabled : 3 .
     
    static std::string typeIcpFiltersEnabled ()
     Type of parameter Icp/FiltersEnabled , as a string: int .
     
    static std::string kIcpPointToPlane ()
     Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).
     
    static bool defaultIcpPointToPlane ()
     Default value of parameter Icp/PointToPlane : false .
     
    static std::string typeIcpPointToPlane ()
     Type of parameter Icp/PointToPlane , as a string: bool .
     
    static std::string kIcpPointToPlaneK ()
     Key of parameter Icp/PointToPlaneK : "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals." Default value: 5 ( int ).
     
    static int defaultIcpPointToPlaneK ()
     Default value of parameter Icp/PointToPlaneK : 5 .
     
    static std::string typeIcpPointToPlaneK ()
     Type of parameter Icp/PointToPlaneK , as a string: int .
     
    static std::string kIcpPointToPlaneRadius ()
     Key of parameter Icp/PointToPlaneRadius : "Search radius to compute normals for point to plane if the cloud doesn't have already normals." Default value: 0.0 ( float ).
     
    static float defaultIcpPointToPlaneRadius ()
     Default value of parameter Icp/PointToPlaneRadius : 0.0 .
     
    static std::string typeIcpPointToPlaneRadius ()
     Type of parameter Icp/PointToPlaneRadius , as a string: float .
     
    static std::string kIcpPointToPlaneGroundNormalsUp ()
     Key of parameter Icp/PointToPlaneGroundNormalsUp : "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans." Default value: 0.0 ( float ).
     
    static float defaultIcpPointToPlaneGroundNormalsUp ()
     Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .
     
    static std::string typeIcpPointToPlaneGroundNormalsUp ()
     Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .
     
    static std::string kIcpPointToPlaneMinComplexity ()
     Key of parameter Icp/PointToPlaneMinComplexity : uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()) Default value: 0.02 ( float ).
     
    static float defaultIcpPointToPlaneMinComplexity ()
     Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .
     
    static std::string typeIcpPointToPlaneMinComplexity ()
     Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .
     
    static std::string kIcpPointToPlaneComplexityCentered ()
     Key of parameter Icp/PointToPlaneComplexityCentered : uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()) Default value: false ( bool ).
     
    static bool defaultIcpPointToPlaneComplexityCentered ()
     Default value of parameter Icp/PointToPlaneComplexityCentered : false .
     
    static std::string typeIcpPointToPlaneComplexityCentered ()
     Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .
     
    static std::string kIcpPointToPlaneLowComplexityStrategy ()
     Key of parameter Icp/PointToPlaneLowComplexityStrategy : uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()) Default value: 1 ( int ).
     
    static int defaultIcpPointToPlaneLowComplexityStrategy ()
     Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .
     
    static std::string typeIcpPointToPlaneLowComplexityStrategy ()
     Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .
     
    static std::string kIcpOutlierRatio ()
     Key of parameter Icp/OutlierRatio : uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()) Default value: 0.85 ( float ).
     
    static float defaultIcpOutlierRatio ()
     Default value of parameter Icp/OutlierRatio : 0.85 .
     
    static std::string typeIcpOutlierRatio ()
     Type of parameter Icp/OutlierRatio , as a string: float .
     
    static std::string kIcpDebugExportFormat ()
     Key of parameter Icp/DebugExportFormat : "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten." Default value: "" (string).
     
    static std::string defaultIcpDebugExportFormat ()
     Default value of parameter Icp/DebugExportFormat : "" .
     
    static std::string typeIcpDebugExportFormat ()
     Type of parameter Icp/DebugExportFormat , as a string: string.
     
    static std::string kIcpPMConfig ()
     Key of parameter Icp/PMConfig : uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str() Default value: "" (string).
     
    static std::string defaultIcpPMConfig ()
     Default value of parameter Icp/PMConfig : "" .
     
    static std::string typeIcpPMConfig ()
     Type of parameter Icp/PMConfig , as a string: string.
     
    static std::string kIcpPMMatcherKnn ()
     Key of parameter Icp/PMMatcherKnn : "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set." Default value: 1 ( int ).
     
    static int defaultIcpPMMatcherKnn ()
     Default value of parameter Icp/PMMatcherKnn : 1 .
     
    static std::string typeIcpPMMatcherKnn ()
     Type of parameter Icp/PMMatcherKnn , as a string: int .
     
    static std::string kIcpPMMatcherEpsilon ()
     Key of parameter Icp/PMMatcherEpsilon : "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set." Default value: 0.0 ( float ).
     
    static float defaultIcpPMMatcherEpsilon ()
     Default value of parameter Icp/PMMatcherEpsilon : 0.0 .
     
    static std::string typeIcpPMMatcherEpsilon ()
     Type of parameter Icp/PMMatcherEpsilon , as a string: float .
     
    static std::string kIcpPMMatcherIntensity ()
     Key of parameter Icp/PMMatcherIntensity : uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()) Default value: false ( bool ).
     
    static bool defaultIcpPMMatcherIntensity ()
     Default value of parameter Icp/PMMatcherIntensity : false .
     
    static std::string typeIcpPMMatcherIntensity ()
     Type of parameter Icp/PMMatcherIntensity , as a string: bool .
     
    static std::string kIcpCCSamplingLimit ()
     Key of parameter Icp/CCSamplingLimit : "Maximum number of points per cloud (they are randomly resampled below this limit otherwise)." Default value: 50000 ( unsigned int ).
     
    static unsigned int defaultIcpCCSamplingLimit ()
     Default value of parameter Icp/CCSamplingLimit : 50000 .
     
    static std::string typeIcpCCSamplingLimit ()
     Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .
     
    static std::string kIcpCCFilterOutFarthestPoints ()
     Key of parameter Icp/CCFilterOutFarthestPoints : "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence." Default value: false ( bool ).
     
    static bool defaultIcpCCFilterOutFarthestPoints ()
     Default value of parameter Icp/CCFilterOutFarthestPoints : false .
     
    static std::string typeIcpCCFilterOutFarthestPoints ()
     Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .
     
    static std::string kIcpCCMaxFinalRMS ()
     Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).
     
    static float defaultIcpCCMaxFinalRMS ()
     Default value of parameter Icp/CCMaxFinalRMS : 0.2 .
     
    static std::string typeIcpCCMaxFinalRMS ()
     Type of parameter Icp/CCMaxFinalRMS , as a string: float .
     
    static std::string kStereoWinWidth ()
     Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).
     
    static int defaultStereoWinWidth ()
     Default value of parameter Stereo/WinWidth : 15 .
     
    static std::string typeStereoWinWidth ()
     Type of parameter Stereo/WinWidth , as a string: int .
     
    static std::string kStereoWinHeight ()
     Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).
     
    static int defaultStereoWinHeight ()
     Default value of parameter Stereo/WinHeight : 3 .
     
    static std::string typeStereoWinHeight ()
     Type of parameter Stereo/WinHeight , as a string: int .
     
    static std::string kStereoIterations ()
     Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).
     
    static int defaultStereoIterations ()
     Default value of parameter Stereo/Iterations : 30 .
     
    static std::string typeStereoIterations ()
     Type of parameter Stereo/Iterations , as a string: int .
     
    static std::string kStereoMaxLevel ()
     Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).
     
    static int defaultStereoMaxLevel ()
     Default value of parameter Stereo/MaxLevel : 5 .
     
    static std::string typeStereoMaxLevel ()
     Type of parameter Stereo/MaxLevel , as a string: int .
     
    static std::string kStereoMinDisparity ()
     Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).
     
    static float defaultStereoMinDisparity ()
     Default value of parameter Stereo/MinDisparity : 0.5 .
     
    static std::string typeStereoMinDisparity ()
     Type of parameter Stereo/MinDisparity , as a string: float .
     
    static std::string kStereoMaxDisparity ()
     Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).
     
    static float defaultStereoMaxDisparity ()
     Default value of parameter Stereo/MaxDisparity : 128.0 .
     
    static std::string typeStereoMaxDisparity ()
     Type of parameter Stereo/MaxDisparity , as a string: float .
     
    static std::string kStereoOpticalFlow ()
     Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used." Default value: true ( bool ).
     
    static bool defaultStereoOpticalFlow ()
     Default value of parameter Stereo/OpticalFlow : true .
     
    static std::string typeStereoOpticalFlow ()
     Type of parameter Stereo/OpticalFlow , as a string: bool .
     
    static std::string kStereoSSD ()
     Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).
     
    static bool defaultStereoSSD ()
     Default value of parameter Stereo/SSD : true .
     
    static std::string typeStereoSSD ()
     Type of parameter Stereo/SSD , as a string: bool .
     
    static std::string kStereoEps ()
     Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).
     
    static double defaultStereoEps ()
     Default value of parameter Stereo/Eps : 0.01 .
     
    static std::string typeStereoEps ()
     Type of parameter Stereo/Eps , as a string: double .
     
    static std::string kStereoUseMinEigenVals ()
     Key of parameter Stereo/UseMinEigenVals : uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).
     
    static bool defaultStereoUseMinEigenVals ()
     Default value of parameter Stereo/UseMinEigenVals : true .
     
    static std::string typeStereoUseMinEigenVals ()
     Type of parameter Stereo/UseMinEigenVals , as a string: bool .
     
    static std::string kStereoMinEigThreshold ()
     Key of parameter Stereo/MinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()) Default value: 1e-4 ( double ).
     
    static double defaultStereoMinEigThreshold ()
     Default value of parameter Stereo/MinEigThreshold : 1e-4 .
     
    static std::string typeStereoMinEigThreshold ()
     Type of parameter Stereo/MinEigThreshold , as a string: double .
     
    static std::string kStereoErrorThreshold ()
     Key of parameter Stereo/ErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()) Default value: 50 ( double ).
     
    static double defaultStereoErrorThreshold ()
     Default value of parameter Stereo/ErrorThreshold : 50 .
     
    static std::string typeStereoErrorThreshold ()
     Type of parameter Stereo/ErrorThreshold , as a string: double .
     
    static std::string kStereoGpu ()
     Key of parameter Stereo/Gpu : uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()) Default value: false ( bool ).
     
    static bool defaultStereoGpu ()
     Default value of parameter Stereo/Gpu : false .
     
    static std::string typeStereoGpu ()
     Type of parameter Stereo/Gpu , as a string: bool .
     
    static std::string kStereoDenseStrategy ()
     Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).
     
    static int defaultStereoDenseStrategy ()
     Default value of parameter Stereo/DenseStrategy : 0 .
     
    static std::string typeStereoDenseStrategy ()
     Type of parameter Stereo/DenseStrategy , as a string: int .
     
    static std::string kStereoBMBlockSize ()
     Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).
     
    static int defaultStereoBMBlockSize ()
     Default value of parameter StereoBM/BlockSize : 15 .
     
    static std::string typeStereoBMBlockSize ()
     Type of parameter StereoBM/BlockSize , as a string: int .
     
    static std::string kStereoBMMinDisparity ()
     Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).
     
    static int defaultStereoBMMinDisparity ()
     Default value of parameter StereoBM/MinDisparity : 0 .
     
    static std::string typeStereoBMMinDisparity ()
     Type of parameter StereoBM/MinDisparity , as a string: int .
     
    static std::string kStereoBMNumDisparities ()
     Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).
     
    static int defaultStereoBMNumDisparities ()
     Default value of parameter StereoBM/NumDisparities : 128 .
     
    static std::string typeStereoBMNumDisparities ()
     Type of parameter StereoBM/NumDisparities , as a string: int .
     
    static std::string kStereoBMPreFilterSize ()
     Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).
     
    static int defaultStereoBMPreFilterSize ()
     Default value of parameter StereoBM/PreFilterSize : 9 .
     
    static std::string typeStereoBMPreFilterSize ()
     Type of parameter StereoBM/PreFilterSize , as a string: int .
     
    static std::string kStereoBMPreFilterCap ()
     Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).
     
    static int defaultStereoBMPreFilterCap ()
     Default value of parameter StereoBM/PreFilterCap : 31 .
     
    static std::string typeStereoBMPreFilterCap ()
     Type of parameter StereoBM/PreFilterCap , as a string: int .
     
    static std::string kStereoBMUniquenessRatio ()
     Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).
     
    static int defaultStereoBMUniquenessRatio ()
     Default value of parameter StereoBM/UniquenessRatio : 15 .
     
    static std::string typeStereoBMUniquenessRatio ()
     Type of parameter StereoBM/UniquenessRatio , as a string: int .
     
    static std::string kStereoBMTextureThreshold ()
     Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).
     
    static int defaultStereoBMTextureThreshold ()
     Default value of parameter StereoBM/TextureThreshold : 10 .
     
    static std::string typeStereoBMTextureThreshold ()
     Type of parameter StereoBM/TextureThreshold , as a string: int .
     
    static std::string kStereoBMSpeckleWindowSize ()
     Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).
     
    static int defaultStereoBMSpeckleWindowSize ()
     Default value of parameter StereoBM/SpeckleWindowSize : 100 .
     
    static std::string typeStereoBMSpeckleWindowSize ()
     Type of parameter StereoBM/SpeckleWindowSize , as a string: int .
     
    static std::string kStereoBMSpeckleRange ()
     Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).
     
    static int defaultStereoBMSpeckleRange ()
     Default value of parameter StereoBM/SpeckleRange : 4 .
     
    static std::string typeStereoBMSpeckleRange ()
     Type of parameter StereoBM/SpeckleRange , as a string: int .
     
    static std::string kStereoBMDisp12MaxDiff ()
     Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).
     
    static int defaultStereoBMDisp12MaxDiff ()
     Default value of parameter StereoBM/Disp12MaxDiff : -1 .
     
    static std::string typeStereoBMDisp12MaxDiff ()
     Type of parameter StereoBM/Disp12MaxDiff , as a string: int .
     
    static std::string kStereoSGBMBlockSize ()
     Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).
     
    static int defaultStereoSGBMBlockSize ()
     Default value of parameter StereoSGBM/BlockSize : 15 .
     
    static std::string typeStereoSGBMBlockSize ()
     Type of parameter StereoSGBM/BlockSize , as a string: int .
     
    static std::string kStereoSGBMMinDisparity ()
     Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).
     
    static int defaultStereoSGBMMinDisparity ()
     Default value of parameter StereoSGBM/MinDisparity : 0 .
     
    static std::string typeStereoSGBMMinDisparity ()
     Type of parameter StereoSGBM/MinDisparity , as a string: int .
     
    static std::string kStereoSGBMNumDisparities ()
     Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).
     
    static int defaultStereoSGBMNumDisparities ()
     Default value of parameter StereoSGBM/NumDisparities : 128 .
     
    static std::string typeStereoSGBMNumDisparities ()
     Type of parameter StereoSGBM/NumDisparities , as a string: int .
     
    static std::string kStereoSGBMPreFilterCap ()
     Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).
     
    static int defaultStereoSGBMPreFilterCap ()
     Default value of parameter StereoSGBM/PreFilterCap : 31 .
     
    static std::string typeStereoSGBMPreFilterCap ()
     Type of parameter StereoSGBM/PreFilterCap , as a string: int .
     
    static std::string kStereoSGBMUniquenessRatio ()
     Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).
     
    static int defaultStereoSGBMUniquenessRatio ()
     Default value of parameter StereoSGBM/UniquenessRatio : 20 .
     
    static std::string typeStereoSGBMUniquenessRatio ()
     Type of parameter StereoSGBM/UniquenessRatio , as a string: int .
     
    static std::string kStereoSGBMSpeckleWindowSize ()
     Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).
     
    static int defaultStereoSGBMSpeckleWindowSize ()
     Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .
     
    static std::string typeStereoSGBMSpeckleWindowSize ()
     Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .
     
    static std::string kStereoSGBMSpeckleRange ()
     Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).
     
    static int defaultStereoSGBMSpeckleRange ()
     Default value of parameter StereoSGBM/SpeckleRange : 4 .
     
    static std::string typeStereoSGBMSpeckleRange ()
     Type of parameter StereoSGBM/SpeckleRange , as a string: int .
     
    static std::string kStereoSGBMDisp12MaxDiff ()
     Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).
     
    static int defaultStereoSGBMDisp12MaxDiff ()
     Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .
     
    static std::string typeStereoSGBMDisp12MaxDiff ()
     Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .
     
    static std::string kStereoSGBMP1 ()
     Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).
     
    static int defaultStereoSGBMP1 ()
     Default value of parameter StereoSGBM/P1 : 2 .
     
    static std::string typeStereoSGBMP1 ()
     Type of parameter StereoSGBM/P1 , as a string: int .
     
    static std::string kStereoSGBMP2 ()
     Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).
     
    static int defaultStereoSGBMP2 ()
     Default value of parameter StereoSGBM/P2 : 5 .
     
    static std::string typeStereoSGBMP2 ()
     Type of parameter StereoSGBM/P2 , as a string: int .
     
    static std::string kStereoSGBMMode ()
     Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).
     
    static int defaultStereoSGBMMode ()
     Default value of parameter StereoSGBM/Mode : 0 .
     
    static std::string typeStereoSGBMMode ()
     Type of parameter StereoSGBM/Mode , as a string: int .
     
    static std::string kGridSensor ()
     Key of parameter Grid/Sensor : "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s)." Default value: 1 ( int ).
     
    static int defaultGridSensor ()
     Default value of parameter Grid/Sensor : 1 .
     
    static std::string typeGridSensor ()
     Type of parameter Grid/Sensor , as a string: int .
     
    static std::string kGridDepthDecimation ()
     Key of parameter Grid/DepthDecimation : uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()) Default value: 4 ( unsigned int ).
     
    static unsigned int defaultGridDepthDecimation ()
     Default value of parameter Grid/DepthDecimation : 4 .
     
    static std::string typeGridDepthDecimation ()
     Type of parameter Grid/DepthDecimation , as a string: unsigned int .
     
    static std::string kGridRangeMin ()
     Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).
     
    static float defaultGridRangeMin ()
     Default value of parameter Grid/RangeMin : 0.0 .
     
    static std::string typeGridRangeMin ()
     Type of parameter Grid/RangeMin , as a string: float .
     
    static std::string kGridRangeMax ()
     Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).
     
    static float defaultGridRangeMax ()
     Default value of parameter Grid/RangeMax : 5.0 .
     
    static std::string typeGridRangeMax ()
     Type of parameter Grid/RangeMax , as a string: float .
     
    static std::string kGridDepthRoiRatios ()
     Key of parameter Grid/DepthRoiRatios : uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()) Default value: "0.0 0.0 0.0 0.0" (string).
     
    static std::string defaultGridDepthRoiRatios ()
     Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .
     
    static std::string typeGridDepthRoiRatios ()
     Type of parameter Grid/DepthRoiRatios , as a string: string.
     
    static std::string kGridFootprintLength ()
     Key of parameter Grid/FootprintLength : "Footprint length used to filter points over the footprint of the robot." Default value: 0.0 ( float ).
     
    static float defaultGridFootprintLength ()
     Default value of parameter Grid/FootprintLength : 0.0 .
     
    static std::string typeGridFootprintLength ()
     Type of parameter Grid/FootprintLength , as a string: float .
     
    static std::string kGridFootprintWidth ()
     Key of parameter Grid/FootprintWidth : "Footprint width used to filter points over the footprint of the robot. Footprint length should be set." Default value: 0.0 ( float ).
     
    static float defaultGridFootprintWidth ()
     Default value of parameter Grid/FootprintWidth : 0.0 .
     
    static std::string typeGridFootprintWidth ()
     Type of parameter Grid/FootprintWidth , as a string: float .
     
    static std::string kGridFootprintHeight ()
     Key of parameter Grid/FootprintHeight : "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set." Default value: 0.0 ( float ).
     
    static float defaultGridFootprintHeight ()
     Default value of parameter Grid/FootprintHeight : 0.0 .
     
    static std::string typeGridFootprintHeight ()
     Type of parameter Grid/FootprintHeight , as a string: float .
     
    static std::string kGridScanDecimation ()
     Key of parameter Grid/ScanDecimation : uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()) Default value: 1 ( int ).
     
    static int defaultGridScanDecimation ()
     Default value of parameter Grid/ScanDecimation : 1 .
     
    static std::string typeGridScanDecimation ()
     Type of parameter Grid/ScanDecimation , as a string: int .
     
    static std::string kGridCellSize ()
     Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).
     
    static float defaultGridCellSize ()
     Default value of parameter Grid/CellSize : 0.05 .
     
    static std::string typeGridCellSize ()
     Type of parameter Grid/CellSize , as a string: float .
     
    static std::string kGridPreVoxelFiltering ()
     Key of parameter Grid/PreVoxelFiltering : uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()) Default value: true ( bool ).
     
    static bool defaultGridPreVoxelFiltering ()
     Default value of parameter Grid/PreVoxelFiltering : true .
     
    static std::string typeGridPreVoxelFiltering ()
     Type of parameter Grid/PreVoxelFiltering , as a string: bool .
     
    static std::string kGridMapFrameProjection ()
     Key of parameter Grid/MapFrameProjection : "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead." Default value: false ( bool ).
     
    static bool defaultGridMapFrameProjection ()
     Default value of parameter Grid/MapFrameProjection : false .
     
    static std::string typeGridMapFrameProjection ()
     Type of parameter Grid/MapFrameProjection , as a string: bool .
     
    static std::string kGridNormalsSegmentation ()
     Key of parameter Grid/NormalsSegmentation : "Segment ground from obstacles using point normals, otherwise a fast passthrough is used." Default value: true ( bool ).
     
    static bool defaultGridNormalsSegmentation ()
     Default value of parameter Grid/NormalsSegmentation : true .
     
    static std::string typeGridNormalsSegmentation ()
     Type of parameter Grid/NormalsSegmentation , as a string: bool .
     
    static std::string kGridMaxObstacleHeight ()
     Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).
     
    static float defaultGridMaxObstacleHeight ()
     Default value of parameter Grid/MaxObstacleHeight : 0.0 .
     
    static std::string typeGridMaxObstacleHeight ()
     Type of parameter Grid/MaxObstacleHeight , as a string: float .
     
    static std::string kGridMinGroundHeight ()
     Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).
     
    static float defaultGridMinGroundHeight ()
     Default value of parameter Grid/MinGroundHeight : 0.0 .
     
    static std::string typeGridMinGroundHeight ()
     Type of parameter Grid/MinGroundHeight , as a string: float .
     
    static std::string kGridMaxGroundHeight ()
     Key of parameter Grid/MaxGroundHeight : uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()) Default value: 0.0 ( float ).
     
    static float defaultGridMaxGroundHeight ()
     Default value of parameter Grid/MaxGroundHeight : 0.0 .
     
    static std::string typeGridMaxGroundHeight ()
     Type of parameter Grid/MaxGroundHeight , as a string: float .
     
    static std::string kGridMaxGroundAngle ()
     Key of parameter Grid/MaxGroundAngle : uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()) Default value: 45 ( float ).
     
    static float defaultGridMaxGroundAngle ()
     Default value of parameter Grid/MaxGroundAngle : 45 .
     
    static std::string typeGridMaxGroundAngle ()
     Type of parameter Grid/MaxGroundAngle , as a string: float .
     
    static std::string kGridNormalK ()
     Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).
     
    static int defaultGridNormalK ()
     Default value of parameter Grid/NormalK : 20 .
     
    static std::string typeGridNormalK ()
     Type of parameter Grid/NormalK , as a string: int .
     
    static std::string kGridClusterRadius ()
     Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).
     
    static float defaultGridClusterRadius ()
     Default value of parameter Grid/ClusterRadius : 0.1 .
     
    static std::string typeGridClusterRadius ()
     Type of parameter Grid/ClusterRadius , as a string: float .
     
    static std::string kGridMinClusterSize ()
     Key of parameter Grid/MinClusterSize : uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()) Default value: 10 ( int ).
     
    static int defaultGridMinClusterSize ()
     Default value of parameter Grid/MinClusterSize : 10 .
     
    static std::string typeGridMinClusterSize ()
     Type of parameter Grid/MinClusterSize , as a string: int .
     
    static std::string kGridFlatObstacleDetected ()
     Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).
     
    static bool defaultGridFlatObstacleDetected ()
     Default value of parameter Grid/FlatObstacleDetected : true .
     
    static std::string typeGridFlatObstacleDetected ()
     Type of parameter Grid/FlatObstacleDetected , as a string: bool .
     
    static std::string kGrid3D ()
     Key of parameter Grid/3D : uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()) Default value: false ( bool ).
     
    static bool defaultGrid3D ()
     Default value of parameter Grid/3D : false .
     
    static std::string typeGrid3D ()
     Type of parameter Grid/3D , as a string: bool .
     
    static std::string kGridGroundIsObstacle ()
     Key of parameter Grid/GroundIsObstacle : uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()) Default value: false ( bool ).
     
    static bool defaultGridGroundIsObstacle ()
     Default value of parameter Grid/GroundIsObstacle : false .
     
    static std::string typeGridGroundIsObstacle ()
     Type of parameter Grid/GroundIsObstacle , as a string: bool .
     
    static std::string kGridNoiseFilteringRadius ()
     Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).
     
    static float defaultGridNoiseFilteringRadius ()
     Default value of parameter Grid/NoiseFilteringRadius : 0.0 .
     
    static std::string typeGridNoiseFilteringRadius ()
     Type of parameter Grid/NoiseFilteringRadius , as a string: float .
     
    static std::string kGridNoiseFilteringMinNeighbors ()
     Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).
     
    static int defaultGridNoiseFilteringMinNeighbors ()
     Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .
     
    static std::string typeGridNoiseFilteringMinNeighbors ()
     Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .
     
    static std::string kGridScan2dUnknownSpaceFilled ()
     Key of parameter Grid/Scan2dUnknownSpaceFilled : uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()) Default value: false ( bool ).
     
    static bool defaultGridScan2dUnknownSpaceFilled ()
     Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .
     
    static std::string typeGridScan2dUnknownSpaceFilled ()
     Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .
     
    static std::string kGridRayTracing ()
     Key of parameter Grid/RayTracing : uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()) Default value: false ( bool ).
     
    static bool defaultGridRayTracing ()
     Default value of parameter Grid/RayTracing : false .
     
    static std::string typeGridRayTracing ()
     Type of parameter Grid/RayTracing , as a string: bool .
     
    static std::string kGridGlobalUpdateError ()
     Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value." Default value: 0.01 ( float ).
     
    static float defaultGridGlobalUpdateError ()
     Default value of parameter GridGlobal/UpdateError : 0.01 .
     
    static std::string typeGridGlobalUpdateError ()
     Type of parameter GridGlobal/UpdateError , as a string: float .
     
    static std::string kGridGlobalFootprintRadius ()
     Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).
     
    static float defaultGridGlobalFootprintRadius ()
     Default value of parameter GridGlobal/FootprintRadius : 0.0 .
     
    static std::string typeGridGlobalFootprintRadius ()
     Type of parameter GridGlobal/FootprintRadius , as a string: float .
     
    static std::string kGridGlobalMinSize ()
     Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).
     
    static float defaultGridGlobalMinSize ()
     Default value of parameter GridGlobal/MinSize : 0.0 .
     
    static std::string typeGridGlobalMinSize ()
     Type of parameter GridGlobal/MinSize , as a string: float .
     
    static std::string kGridGlobalEroded ()
     Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).
     
    static bool defaultGridGlobalEroded ()
     Default value of parameter GridGlobal/Eroded : false .
     
    static std::string typeGridGlobalEroded ()
     Type of parameter GridGlobal/Eroded , as a string: bool .
     
    static std::string kGridGlobalMaxNodes ()
     Key of parameter GridGlobal/MaxNodes : "Maximum nodes assembled in the map starting from the last node (0=unlimited)." Default value: 0 ( int ).
     
    static int defaultGridGlobalMaxNodes ()
     Default value of parameter GridGlobal/MaxNodes : 0 .
     
    static std::string typeGridGlobalMaxNodes ()
     Type of parameter GridGlobal/MaxNodes , as a string: int .
     
    static std::string kGridGlobalAltitudeDelta ()
     Key of parameter GridGlobal/AltitudeDelta : "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building)." Default value: 0 ( float ).
     
    static float defaultGridGlobalAltitudeDelta ()
     Default value of parameter GridGlobal/AltitudeDelta : 0 .
     
    static std::string typeGridGlobalAltitudeDelta ()
     Type of parameter GridGlobal/AltitudeDelta , as a string: float .
     
    static std::string kGridGlobalOccupancyThr ()
     Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).
     
    static float defaultGridGlobalOccupancyThr ()
     Default value of parameter GridGlobal/OccupancyThr : 0.5 .
     
    static std::string typeGridGlobalOccupancyThr ()
     Type of parameter GridGlobal/OccupancyThr , as a string: float .
     
    static std::string kGridGlobalProbHit ()
     Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).
     
    static float defaultGridGlobalProbHit ()
     Default value of parameter GridGlobal/ProbHit : 0.7 .
     
    static std::string typeGridGlobalProbHit ()
     Type of parameter GridGlobal/ProbHit , as a string: float .
     
    static std::string kGridGlobalProbMiss ()
     Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).
     
    static float defaultGridGlobalProbMiss ()
     Default value of parameter GridGlobal/ProbMiss : 0.4 .
     
    static std::string typeGridGlobalProbMiss ()
     Type of parameter GridGlobal/ProbMiss , as a string: float .
     
    static std::string kGridGlobalProbClampingMin ()
     Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).
     
    static float defaultGridGlobalProbClampingMin ()
     Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .
     
    static std::string typeGridGlobalProbClampingMin ()
     Type of parameter GridGlobal/ProbClampingMin , as a string: float .
     
    static std::string kGridGlobalProbClampingMax ()
     Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).
     
    static float defaultGridGlobalProbClampingMax ()
     Default value of parameter GridGlobal/ProbClampingMax : 0.971 .
     
    static std::string typeGridGlobalProbClampingMax ()
     Type of parameter GridGlobal/ProbClampingMax , as a string: float .
     
    static std::string kGridGlobalFloodFillDepth ()
     Key of parameter GridGlobal/FloodFillDepth : "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." Default value: 0 ( unsigned int ).
     
    static unsigned int defaultGridGlobalFloodFillDepth ()
     Default value of parameter GridGlobal/FloodFillDepth : 0 .
     
    static std::string typeGridGlobalFloodFillDepth ()
     Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .
     
    static std::string kMarkerStrategy ()
     Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).
     
    static int defaultMarkerStrategy ()
     Default value of parameter Marker/Strategy : 0 .
     
    static std::string typeMarkerStrategy ()
     Type of parameter Marker/Strategy , as a string: int .
     
    static std::string kMarkerDictionary ()
     Key of parameter Marker/Dictionary : "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21" Default value: 0 ( int ).
     
    static int defaultMarkerDictionary ()
     Default value of parameter Marker/Dictionary : 0 .
     
    static std::string typeMarkerDictionary ()
     Type of parameter Marker/Dictionary , as a string: int .
     
    static std::string kMarkerLength ()
     Key of parameter Marker/Length : "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID." Default value: 0 ( float ).
     
    static float defaultMarkerLength ()
     Default value of parameter Marker/Length : 0 .
     
    static std::string typeMarkerLength ()
     Type of parameter Marker/Length , as a string: float .
     
    static std::string kMarkerLengths ()
     Key of parameter Marker/Lengths : uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str() Default value: "" (string).
     
    static std::string defaultMarkerLengths ()
     Default value of parameter Marker/Lengths : "" .
     
    static std::string typeMarkerLengths ()
     Type of parameter Marker/Lengths , as a string: string.
     
    static std::string kMarkerMaxDepthError ()
     Key of parameter Marker/MaxDepthError : uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()) Default value: 0.01 ( float ).
     
    static float defaultMarkerMaxDepthError ()
     Default value of parameter Marker/MaxDepthError : 0.01 .
     
    static std::string typeMarkerMaxDepthError ()
     Type of parameter Marker/MaxDepthError , as a string: float .
     
    static std::string kMarkerVarianceLinear ()
     Key of parameter Marker/VarianceLinear : uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()) Default value: 0.001 ( float ).
     
    static float defaultMarkerVarianceLinear ()
     Default value of parameter Marker/VarianceLinear : 0.001 .
     
    static std::string typeMarkerVarianceLinear ()
     Type of parameter Marker/VarianceLinear , as a string: float .
     
    static std::string kMarkerVarianceAngular ()
     Key of parameter Marker/VarianceAngular : uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()) Default value: 0.01 ( float ).
     
    static float defaultMarkerVarianceAngular ()
     Default value of parameter Marker/VarianceAngular : 0.01 .
     
    static std::string typeMarkerVarianceAngular ()
     Type of parameter Marker/VarianceAngular , as a string: float .
     
    static std::string kMarkerVarianceOrientationIgnored ()
     Key of parameter Marker/VarianceOrientationIgnored : uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()) Default value: false ( bool ).
     
    static bool defaultMarkerVarianceOrientationIgnored ()
     Default value of parameter Marker/VarianceOrientationIgnored : false .
     
    static std::string typeMarkerVarianceOrientationIgnored ()
     Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .
     
    static std::string kMarkerMaxRange ()
     Key of parameter Marker/MaxRange : "Maximum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).
     
    static float defaultMarkerMaxRange ()
     Default value of parameter Marker/MaxRange : 0.0 .
     
    static std::string typeMarkerMaxRange ()
     Type of parameter Marker/MaxRange , as a string: float .
     
    static std::string kMarkerMinRange ()
     Key of parameter Marker/MinRange : "Miniminum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).
     
    static float defaultMarkerMinRange ()
     Default value of parameter Marker/MinRange : 0.0 .
     
    static std::string typeMarkerMinRange ()
     Type of parameter Marker/MinRange , as a string: float .
     
    static std::string kMarkerPriors ()
     Key of parameter Marker/Priors : "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation)." Default value: "" (string).
     
    static std::string defaultMarkerPriors ()
     Default value of parameter Marker/Priors : "" .
     
    static std::string typeMarkerPriors ()
     Type of parameter Marker/Priors , as a string: string.
     
    static std::string kMarkerPriorsVarianceLinear ()
     Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).
     
    static float defaultMarkerPriorsVarianceLinear ()
     Default value of parameter Marker/PriorsVarianceLinear : 0.001 .
     
    static std::string typeMarkerPriorsVarianceLinear ()
     Type of parameter Marker/PriorsVarianceLinear , as a string: float .
     
    static std::string kMarkerPriorsVarianceAngular ()
     Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).
     
    static float defaultMarkerPriorsVarianceAngular ()
     Default value of parameter Marker/PriorsVarianceAngular : 0.001 .
     
    static std::string typeMarkerPriorsVarianceAngular ()
     Type of parameter Marker/PriorsVarianceAngular , as a string: float .
     
    static std::string kMarkerAprilTagNThreads ()
     Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).
     
    static int defaultMarkerAprilTagNThreads ()
     Default value of parameter MarkerAprilTag/NThreads : 1 .
     
    static std::string typeMarkerAprilTagNThreads ()
     Type of parameter MarkerAprilTag/NThreads , as a string: int .
     
    static std::string kMarkerAprilTagQuadDecimate ()
     Key of parameter MarkerAprilTag/QuadDecimate : "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution." Default value: 1.0 ( float ).
     
    static float defaultMarkerAprilTagQuadDecimate ()
     Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .
     
    static std::string typeMarkerAprilTagQuadDecimate ()
     Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .
     
    static std::string kMarkerAprilTagQuadSigma ()
     Key of parameter MarkerAprilTag/QuadSigma : "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8)." Default value: 0.0 ( float ).
     
    static float defaultMarkerAprilTagQuadSigma ()
     Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .
     
    static std::string typeMarkerAprilTagQuadSigma ()
     Type of parameter MarkerAprilTag/QuadSigma , as a string: float .
     
    static std::string kMarkerAprilTagRefineEdges ()
     Key of parameter MarkerAprilTag/RefineEdges : uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()) Default value: true ( bool ).
     
    static bool defaultMarkerAprilTagRefineEdges ()
     Default value of parameter MarkerAprilTag/RefineEdges : true .
     
    static std::string typeMarkerAprilTagRefineEdges ()
     Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .
     
    static std::string kMarkerAprilTagDecodeSharpening ()
     Key of parameter MarkerAprilTag/DecodeSharpening : "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions." Default value: 0.25 ( double ).
     
    static double defaultMarkerAprilTagDecodeSharpening ()
     Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .
     
    static std::string typeMarkerAprilTagDecodeSharpening ()
     Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .
     
    static std::string kMarkerAprilTagDebug ()
     Key of parameter MarkerAprilTag/Debug : uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()) Default value: false ( bool ).
     
    static bool defaultMarkerAprilTagDebug ()
     Default value of parameter MarkerAprilTag/Debug : false .
     
    static std::string typeMarkerAprilTagDebug ()
     Type of parameter MarkerAprilTag/Debug , as a string: bool .
     
    static std::string kMarkerOpenCVCornerRefinementMethod ()
     Key of parameter MarkerOpenCV/CornerRefinementMethod : "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true." Default value: 0 ( int ).
     
    static int defaultMarkerOpenCVCornerRefinementMethod ()
     Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .
     
    static std::string typeMarkerOpenCVCornerRefinementMethod ()
     Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .
     
    static std::string kImuFilterMadgwickGain ()
     Key of parameter ImuFilter/MadgwickGain : "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1]." Default value: 0.1 ( double ).
     
    static double defaultImuFilterMadgwickGain ()
     Default value of parameter ImuFilter/MadgwickGain : 0.1 .
     
    static std::string typeImuFilterMadgwickGain ()
     Type of parameter ImuFilter/MadgwickGain , as a string: double .
     
    static std::string kImuFilterMadgwickZeta ()
     Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).
     
    static double defaultImuFilterMadgwickZeta ()
     Default value of parameter ImuFilter/MadgwickZeta : 0.0 .
     
    static std::string typeImuFilterMadgwickZeta ()
     Type of parameter ImuFilter/MadgwickZeta , as a string: double .
     
    static std::string kImuFilterComplementaryGainAcc ()
     Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).
     
    static double defaultImuFilterComplementaryGainAcc ()
     Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .
     
    static std::string typeImuFilterComplementaryGainAcc ()
     Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .
     
    static std::string kImuFilterComplementaryBiasAlpha ()
     Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).
     
    static double defaultImuFilterComplementaryBiasAlpha ()
     Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .
     
    static std::string typeImuFilterComplementaryBiasAlpha ()
     Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .
     
    static std::string kImuFilterComplementaryDoBiasEstimation ()
     Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).
     
    static bool defaultImuFilterComplementaryDoBiasEstimation ()
     Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .
     
    static std::string typeImuFilterComplementaryDoBiasEstimation ()
     Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .
     
    static std::string kImuFilterComplementaryDoAdpativeGain ()
     Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).
     
    static bool defaultImuFilterComplementaryDoAdpativeGain ()
     Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .
     
    static std::string typeImuFilterComplementaryDoAdpativeGain ()
     Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .
     
    static const ParametersMap & getDefaultParameters ()
     
    static std::string getType (const std::string &paramKey)
     
    static std::string getDescription (const std::string &paramKey)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, bool &value)
    parse (const ParametersMap &parameters, const std::string &key, bool &value)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, int &value)
    parse (const ParametersMap &parameters, const std::string &key, int &value)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, unsigned int &value)
    parse (const ParametersMap &parameters, const std::string &key, unsigned int &value)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, float &value)
    parse (const ParametersMap &parameters, const std::string &key, float &value)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, double &value)
    parse (const ParametersMap &parameters, const std::string &key, double &value)
     
    -static bool parse (const ParametersMap &parameters, const std::string &key, std::string &value)
    parse (const ParametersMap &parameters, const std::string &key, std::string &value)
     
    -static void parse (const ParametersMap &parameters, ParametersMap &parametersOut)
    parse (const ParametersMap &parameters, ParametersMap &parametersOut)
     
    static const char * showUsage ()
     
    -static ParametersMap parseArguments (int argc, char *argv[], bool onlyParameters=false)
    parseArguments (int argc, char *argv[], bool onlyParameters=false)
     
    static std::string getVersion ()
    getVers static std::string getDefaultDatabaseName ()
     
    -static std::string serialize (const ParametersMap &parameters)
    serialize (const ParametersMap &parameters)
     
    -static ParametersMap deserialize (const std::string &parameters)
    deserialize (const std::string &parameters)
     
    static bool isFeatureParameter (const std::string &param)
     
    -static ParametersMap getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
    getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
     
    -static ParametersMap getDefaultParameters (const std::string &group)
    getDefaultParameters (const std::string &group)
     
    static ParametersMap filterParameters (const ParametersMap &parameters, const std::string &group, bool remove=false)
    static ParametersMap filterParameters (const ParametersMap &parameters, const std::string &group, bool remove=false)
     
    -static void readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
    readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
     
    -static void readINIStr (const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false)
    readINIStr (const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false)
     
    -static void writeINI (const std::string &configFile, const ParametersMap &parameters)
    writeINI (const std::string &configFile, const ParametersMap &parameters)
     
    static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters ()
     
    static const ParametersMap & getBackwardCompatibilityMap ()
    static const ParametersMap & getBackwardCompatibilityMap ()
     
    static std::string createDefaultWorkingDirectory ()
    createD
    int width = Parameters::defaultVideoImageWidth(); // theDefaultValue = 640
    std::string theKey = Parameters::kVideoImageWidth(); // theKey = "Video/ImageWidth"
    std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"
    -
    rtabmap::Parameters::getDefaultParameters
    static const ParametersMap & getDefaultParameters()
    Definition Parameters.h:978
    -
    See also
    getDefaultParameters() TODO Add a detailed example with simple classes
    +
    rtabmap::Parameters::getDefaultParameters
    static const ParametersMap & getDefaultParameters()
    Definition Parameters.h:990
    +
    See also
    getDefaultParameters()
    +
    +The Parameter reference page, which lists every parameter with its type, default value and description.
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    Definition at line 170 of file Parameters.h.

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    Definition at line 182 of file Parameters.h.

    Member Function Documentation

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    ◆ kRtabmapPublishStats()

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    static std::string rtabmap::Parameters::kRtabmapPublishStats ()
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    Key of parameter Rtabmap/PublishStats : "Publishing statistics." Default value: true ( bool ).

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    Definition at line 185 of file Parameters.h.

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    ◆ defaultRtabmapPublishStats()

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    static bool rtabmap::Parameters::defaultRtabmapPublishStats ()
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    Default value of parameter Rtabmap/PublishStats : true .

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    Definition at line 185 of file Parameters.h.

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    ◆ typeRtabmapPublishStats()

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    static std::string rtabmap::Parameters::typeRtabmapPublishStats ()
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    Type of parameter Rtabmap/PublishStats , as a string: bool .

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    Definition at line 185 of file Parameters.h.

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    ◆ kRtabmapPublishLastSignature()

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    static std::string rtabmap::Parameters::kRtabmapPublishLastSignature ()
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    Key of parameter Rtabmap/PublishLastSignature : "Publishing last signature." Default value: true ( bool ).

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    Definition at line 186 of file Parameters.h.

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    ◆ defaultRtabmapPublishLastSignature()

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    static bool rtabmap::Parameters::defaultRtabmapPublishLastSignature ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/PublishLastSignature : true .

    + +

    Definition at line 186 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapPublishLastSignature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapPublishLastSignature ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/PublishLastSignature , as a string: bool .

    + +

    Definition at line 186 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapPublishPdf()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapPublishPdf ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/PublishPdf : "Publishing pdf." Default value: true ( bool ).

    + +

    Definition at line 187 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapPublishPdf()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapPublishPdf ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/PublishPdf : true .

    + +

    Definition at line 187 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapPublishPdf()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapPublishPdf ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/PublishPdf , as a string: bool .

    + +

    Definition at line 187 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapPublishLikelihood()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapPublishLikelihood ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/PublishLikelihood : "Publishing likelihood." Default value: true ( bool ).

    + +

    Definition at line 188 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapPublishLikelihood()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapPublishLikelihood ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/PublishLikelihood : true .

    + +

    Definition at line 188 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapPublishLikelihood()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapPublishLikelihood ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/PublishLikelihood , as a string: bool .

    + +

    Definition at line 188 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapPublishRAMUsage()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapPublishRAMUsage ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/PublishRAMUsage : "Publishing RAM usage in statistics (may add a small overhead to get info from the system)." Default value: false ( bool ).

    + +

    Definition at line 189 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapPublishRAMUsage()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapPublishRAMUsage ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/PublishRAMUsage : false .

    + +

    Definition at line 189 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapPublishRAMUsage()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapPublishRAMUsage ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/PublishRAMUsage , as a string: bool .

    + +

    Definition at line 189 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapComputeRMSE()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapComputeRMSE ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/ComputeRMSE : "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided." Default value: true ( bool ).

    + +

    Definition at line 190 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapComputeRMSE()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapComputeRMSE ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/ComputeRMSE : true .

    + +

    Definition at line 190 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapComputeRMSE()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapComputeRMSE ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/ComputeRMSE , as a string: bool .

    + +

    Definition at line 190 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapSaveWMState()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapSaveWMState ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/SaveWMState : "Save working memory state after each update in statistics." Default value: false ( bool ).

    + +

    Definition at line 191 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapSaveWMState()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapSaveWMState ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/SaveWMState : false .

    + +

    Definition at line 191 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapSaveWMState()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapSaveWMState ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/SaveWMState , as a string: bool .

    + +

    Definition at line 191 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapTimeThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapTimeThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time." Default value: 0 ( float ).

    + +

    Definition at line 192 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapTimeThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRtabmapTimeThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/TimeThr : 0 .

    + +

    Definition at line 192 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapTimeThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapTimeThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/TimeThr , as a string: float .

    + +

    Definition at line 192 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapMemoryThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapMemoryThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()) Default value: 0 ( int ).

    + +

    Definition at line 193 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapMemoryThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultRtabmapMemoryThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/MemoryThr : 0 .

    + +

    Definition at line 193 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapMemoryThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapMemoryThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/MemoryThr , as a string: int .

    + +

    Definition at line 193 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapDetectionRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapDetectionRate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/DetectionRate : "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate." Default value: 1 ( float ).

    + +

    Definition at line 194 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapDetectionRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRtabmapDetectionRate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/DetectionRate : 1 .

    + +

    Definition at line 194 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapDetectionRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapDetectionRate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/DetectionRate , as a string: float .

    + +

    Definition at line 194 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapImageBufferSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).

    + +

    Definition at line 195 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapImageBufferSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultRtabmapImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/ImageBufferSize : 1 .

    + +

    Definition at line 195 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapImageBufferSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/ImageBufferSize , as a string: unsigned int .

    + +

    Definition at line 195 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapCreateIntermediateNodes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapCreateIntermediateNodes ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/CreateIntermediateNodes : uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()) Default value: false ( bool ).

    + +

    Definition at line 196 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapCreateIntermediateNodes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapCreateIntermediateNodes ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/CreateIntermediateNodes : false .

    + +

    Definition at line 196 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapCreateIntermediateNodes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapCreateIntermediateNodes ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/CreateIntermediateNodes , as a string: bool .

    + +

    Definition at line 196 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapWorkingDirectory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapWorkingDirectory ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/WorkingDirectory : "Working directory." Default value: "" (string).

    + +

    Definition at line 197 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapWorkingDirectory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultRtabmapWorkingDirectory ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/WorkingDirectory : "" .

    + +

    Definition at line 197 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapWorkingDirectory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapWorkingDirectory ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/WorkingDirectory , as a string: string.

    + +

    Definition at line 197 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapMaxRetrieved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapMaxRetrieved ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/MaxRetrieved : "Maximum nodes retrieved at the same time from LTM." Default value: 2 ( unsigned int ).

    + +

    Definition at line 198 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapMaxRetrieved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultRtabmapMaxRetrieved ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/MaxRetrieved : 2 .

    + +

    Definition at line 198 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapMaxRetrieved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapMaxRetrieved ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/MaxRetrieved , as a string: unsigned int .

    + +

    Definition at line 198 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapMaxRepublished()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapMaxRepublished ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/MaxRepublished : uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()) Default value: 2 ( unsigned int ).

    + +

    Definition at line 199 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapMaxRepublished()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultRtabmapMaxRepublished ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/MaxRepublished : 2 .

    + +

    Definition at line 199 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapMaxRepublished()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapMaxRepublished ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/MaxRepublished , as a string: unsigned int .

    + +

    Definition at line 199 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapStatisticLogsBufferedInRAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapStatisticLogsBufferedInRAM ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/StatisticLogsBufferedInRAM : "Statistic logs buffered in RAM instead of written to hard drive after each iteration." Default value: true ( bool ).

    + +

    Definition at line 200 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapStatisticLogsBufferedInRAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapStatisticLogsBufferedInRAM ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/StatisticLogsBufferedInRAM : true .

    + +

    Definition at line 200 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapStatisticLogsBufferedInRAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapStatisticLogsBufferedInRAM ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/StatisticLogsBufferedInRAM , as a string: bool .

    + +

    Definition at line 200 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapStatisticLogged()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapStatisticLogged ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/StatisticLogged : "Logging enabled." Default value: false ( bool ).

    + +

    Definition at line 201 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapStatisticLogged()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapStatisticLogged ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/StatisticLogged : false .

    + +

    Definition at line 201 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapStatisticLogged()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapStatisticLogged ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/StatisticLogged , as a string: bool .

    + +

    Definition at line 201 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapStatisticLoggedHeaders()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapStatisticLoggedHeaders ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/StatisticLoggedHeaders : "Add column header description to log files." Default value: true ( bool ).

    + +

    Definition at line 202 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapStatisticLoggedHeaders()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapStatisticLoggedHeaders ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/StatisticLoggedHeaders : true .

    + +

    Definition at line 202 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapStatisticLoggedHeaders()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapStatisticLoggedHeaders ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/StatisticLoggedHeaders , as a string: bool .

    + +

    Definition at line 202 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapStartNewMapOnLoopClosure()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapStartNewMapOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/StartNewMapOnLoopClosure : "Start a new map only if there is a global loop closure with a previous map." Default value: false ( bool ).

    + +

    Definition at line 203 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapStartNewMapOnLoopClosure()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapStartNewMapOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/StartNewMapOnLoopClosure : false .

    + +

    Definition at line 203 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapStartNewMapOnLoopClosure()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapStartNewMapOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/StartNewMapOnLoopClosure , as a string: bool .

    + +

    Definition at line 203 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapStartNewMapOnGoodSignature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapStartNewMapOnGoodSignature ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/StartNewMapOnGoodSignature : uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()) Default value: false ( bool ).

    + +

    Definition at line 204 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRtabmapStartNewMapOnGoodSignature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapStartNewMapOnGoodSignature ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/StartNewMapOnGoodSignature : false .

    + +

    Definition at line 204 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRtabmapStartNewMapOnGoodSignature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapStartNewMapOnGoodSignature ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/StartNewMapOnGoodSignature , as a string: bool .

    + +

    Definition at line 204 of file Parameters.h.

    + +
    +
    + +

    ◆ kRtabmapImagesAlreadyRectified()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapImagesAlreadyRectified ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/ImagesAlreadyRectified : "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false." Default value: true ( bool ).

    + +

    Definition at line 205 of file Parameters.h.

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    +
    + +

    ◆ defaultRtabmapImagesAlreadyRectified()

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    +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapImagesAlreadyRectified ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/ImagesAlreadyRectified : true .

    + +

    Definition at line 205 of file Parameters.h.

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    +
    + +

    ◆ typeRtabmapImagesAlreadyRectified()

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    +
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    static std::string rtabmap::Parameters::typeRtabmapImagesAlreadyRectified ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/ImagesAlreadyRectified , as a string: bool .

    + +

    Definition at line 205 of file Parameters.h.

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    +
    + +

    ◆ kRtabmapRectifyOnlyFeatures()

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    static std::string rtabmap::Parameters::kRtabmapRectifyOnlyFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/RectifyOnlyFeatures : uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()) Default value: false ( bool ).

    + +

    Definition at line 206 of file Parameters.h.

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    +
    + +

    ◆ defaultRtabmapRectifyOnlyFeatures()

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    +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapRectifyOnlyFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/RectifyOnlyFeatures : false .

    + +

    Definition at line 206 of file Parameters.h.

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    +
    + +

    ◆ typeRtabmapRectifyOnlyFeatures()

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    static std::string rtabmap::Parameters::typeRtabmapRectifyOnlyFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/RectifyOnlyFeatures , as a string: bool .

    + +

    Definition at line 206 of file Parameters.h.

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    + +

    ◆ kRtabmapLoopThr()

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    static std::string rtabmap::Parameters::kRtabmapLoopThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/LoopThr : "Loop closing threshold." Default value: 0.11 ( float ).

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    Definition at line 209 of file Parameters.h.

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    ◆ defaultRtabmapLoopThr()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultRtabmapLoopThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/LoopThr : 0.11 .

    + +

    Definition at line 209 of file Parameters.h.

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    + +

    ◆ typeRtabmapLoopThr()

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    static std::string rtabmap::Parameters::typeRtabmapLoopThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/LoopThr , as a string: float .

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    Definition at line 209 of file Parameters.h.

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    ◆ kRtabmapLoopRatio()

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    static std::string rtabmap::Parameters::kRtabmapLoopRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/LoopRatio : "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue." Default value: 0 ( float ).

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    Definition at line 210 of file Parameters.h.

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    ◆ defaultRtabmapLoopRatio()

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    static float rtabmap::Parameters::defaultRtabmapLoopRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/LoopRatio : 0 .

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    Definition at line 210 of file Parameters.h.

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    ◆ typeRtabmapLoopRatio()

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    static std::string rtabmap::Parameters::typeRtabmapLoopRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/LoopRatio , as a string: float .

    + +

    Definition at line 210 of file Parameters.h.

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    +
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    ◆ kRtabmapLoopGPS()

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    static std::string rtabmap::Parameters::kRtabmapLoopGPS ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/LoopGPS : uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()) Default value: true ( bool ).

    + +

    Definition at line 211 of file Parameters.h.

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    ◆ defaultRtabmapLoopGPS()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRtabmapLoopGPS ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/LoopGPS : true .

    + +

    Definition at line 211 of file Parameters.h.

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    ◆ typeRtabmapLoopGPS()

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    static std::string rtabmap::Parameters::typeRtabmapLoopGPS ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/LoopGPS , as a string: bool .

    + +

    Definition at line 211 of file Parameters.h.

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    + +

    ◆ kRtabmapVirtualPlaceLikelihoodRatio()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRtabmapVirtualPlaceLikelihoodRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Rtabmap/VirtualPlaceLikelihoodRatio : "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)" Default value: 0 ( int ).

    + +

    Definition at line 212 of file Parameters.h.

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    ◆ defaultRtabmapVirtualPlaceLikelihoodRatio()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultRtabmapVirtualPlaceLikelihoodRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Rtabmap/VirtualPlaceLikelihoodRatio : 0 .

    + +

    Definition at line 212 of file Parameters.h.

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    + +

    ◆ typeRtabmapVirtualPlaceLikelihoodRatio()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRtabmapVirtualPlaceLikelihoodRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Rtabmap/VirtualPlaceLikelihoodRatio , as a string: int .

    + +

    Definition at line 212 of file Parameters.h.

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    + +

    ◆ kMemRehearsalSimilarity()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemRehearsalSimilarity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RehearsalSimilarity : "Rehearsal similarity." Default value: 0.6 ( float ).

    + +

    Definition at line 215 of file Parameters.h.

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    + +

    ◆ defaultMemRehearsalSimilarity()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultMemRehearsalSimilarity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RehearsalSimilarity : 0.6 .

    + +

    Definition at line 215 of file Parameters.h.

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    + +

    ◆ typeMemRehearsalSimilarity()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemRehearsalSimilarity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RehearsalSimilarity , as a string: float .

    + +

    Definition at line 215 of file Parameters.h.

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    + +

    ◆ kMemImageKept()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemImageKept ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/ImageKept : "Keep raw images in RAM." Default value: false ( bool ).

    + +

    Definition at line 216 of file Parameters.h.

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    + +

    ◆ defaultMemImageKept()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemImageKept ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/ImageKept : false .

    + +

    Definition at line 216 of file Parameters.h.

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    + +

    ◆ typeMemImageKept()

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    static std::string rtabmap::Parameters::typeMemImageKept ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/ImageKept , as a string: bool .

    + +

    Definition at line 216 of file Parameters.h.

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    + +

    ◆ kMemBinDataKept()

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    static std::string rtabmap::Parameters::kMemBinDataKept ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/BinDataKept : "Keep binary data in db." Default value: true ( bool ).

    + +

    Definition at line 217 of file Parameters.h.

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    + +

    ◆ defaultMemBinDataKept()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemBinDataKept ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/BinDataKept : true .

    + +

    Definition at line 217 of file Parameters.h.

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    + +

    ◆ typeMemBinDataKept()

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    static std::string rtabmap::Parameters::typeMemBinDataKept ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/BinDataKept , as a string: bool .

    + +

    Definition at line 217 of file Parameters.h.

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    + +

    ◆ kMemRawDescriptorsKept()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemRawDescriptorsKept ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RawDescriptorsKept : "Raw descriptors kept in memory." Default value: true ( bool ).

    + +

    Definition at line 218 of file Parameters.h.

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    + +

    ◆ defaultMemRawDescriptorsKept()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemRawDescriptorsKept ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RawDescriptorsKept : true .

    + +

    Definition at line 218 of file Parameters.h.

    + +
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    + +

    ◆ typeMemRawDescriptorsKept()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemRawDescriptorsKept ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RawDescriptorsKept , as a string: bool .

    + +

    Definition at line 218 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemLoadVisualLocalFeaturesOnInit()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLoadVisualLocalFeaturesOnInit ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LoadVisualLocalFeaturesOnInit : "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated." Default value: true ( bool ).

    + +

    Definition at line 219 of file Parameters.h.

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    + +

    ◆ defaultMemLoadVisualLocalFeaturesOnInit()

    + +
    +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemLoadVisualLocalFeaturesOnInit ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LoadVisualLocalFeaturesOnInit : true .

    + +

    Definition at line 219 of file Parameters.h.

    + +
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    + +

    ◆ typeMemLoadVisualLocalFeaturesOnInit()

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    static std::string rtabmap::Parameters::typeMemLoadVisualLocalFeaturesOnInit ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LoadVisualLocalFeaturesOnInit , as a string: bool .

    + +

    Definition at line 219 of file Parameters.h.

    + +
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    + +

    ◆ kMemMapLabelsAdded()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemMapLabelsAdded ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/MapLabelsAdded : "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID." Default value: true ( bool ).

    + +

    Definition at line 220 of file Parameters.h.

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    + +

    ◆ defaultMemMapLabelsAdded()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemMapLabelsAdded ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/MapLabelsAdded : true .

    + +

    Definition at line 220 of file Parameters.h.

    + +
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    + +

    ◆ typeMemMapLabelsAdded()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemMapLabelsAdded ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/MapLabelsAdded , as a string: bool .

    + +

    Definition at line 220 of file Parameters.h.

    + +
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    + +

    ◆ kMemSaveDepth16Format()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemSaveDepth16Format ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/SaveDepth16Format : "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)." Default value: false ( bool ).

    + +

    Definition at line 221 of file Parameters.h.

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    + +

    ◆ defaultMemSaveDepth16Format()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemSaveDepth16Format ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/SaveDepth16Format : false .

    + +

    Definition at line 221 of file Parameters.h.

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    ◆ typeMemSaveDepth16Format()

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    static std::string rtabmap::Parameters::typeMemSaveDepth16Format ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/SaveDepth16Format , as a string: bool .

    + +

    Definition at line 221 of file Parameters.h.

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    + +

    ◆ kMemNotLinkedNodesKept()

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    static std::string rtabmap::Parameters::kMemNotLinkedNodesKept ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/NotLinkedNodesKept : "Keep not linked nodes in db (rehearsed nodes and deleted nodes)." Default value: true ( bool ).

    + +

    Definition at line 222 of file Parameters.h.

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    ◆ defaultMemNotLinkedNodesKept()

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    static bool rtabmap::Parameters::defaultMemNotLinkedNodesKept ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/NotLinkedNodesKept : true .

    + +

    Definition at line 222 of file Parameters.h.

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    ◆ typeMemNotLinkedNodesKept()

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    static std::string rtabmap::Parameters::typeMemNotLinkedNodesKept ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/NotLinkedNodesKept , as a string: bool .

    + +

    Definition at line 222 of file Parameters.h.

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    ◆ kMemIntermediateNodeDataKept()

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    static std::string rtabmap::Parameters::kMemIntermediateNodeDataKept ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/IntermediateNodeDataKept : "Keep intermediate node data in db." Default value: false ( bool ).

    + +

    Definition at line 223 of file Parameters.h.

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    ◆ defaultMemIntermediateNodeDataKept()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemIntermediateNodeDataKept ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/IntermediateNodeDataKept : false .

    + +

    Definition at line 223 of file Parameters.h.

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    + +

    ◆ typeMemIntermediateNodeDataKept()

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    static std::string rtabmap::Parameters::typeMemIntermediateNodeDataKept ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/IntermediateNodeDataKept , as a string: bool .

    + +

    Definition at line 223 of file Parameters.h.

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    + +

    ◆ kMemImageCompressionFormat()

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    static std::string rtabmap::Parameters::kMemImageCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/ImageCompressionFormat : "RGB image compression format. It should be \".jpg\" or \".png\"." Default value: ".jpg" (string).

    + +

    Definition at line 224 of file Parameters.h.

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    ◆ defaultMemImageCompressionFormat()

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    static std::string rtabmap::Parameters::defaultMemImageCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/ImageCompressionFormat : ".jpg" .

    + +

    Definition at line 224 of file Parameters.h.

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    + +

    ◆ typeMemImageCompressionFormat()

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    static std::string rtabmap::Parameters::typeMemImageCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/ImageCompressionFormat , as a string: string.

    + +

    Definition at line 224 of file Parameters.h.

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    + +

    ◆ kMemDepthCompressionFormat()

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    static std::string rtabmap::Parameters::kMemDepthCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/DepthCompressionFormat : "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used." Default value: ".rvl" (string).

    + +

    Definition at line 225 of file Parameters.h.

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    ◆ defaultMemDepthCompressionFormat()

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    static std::string rtabmap::Parameters::defaultMemDepthCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/DepthCompressionFormat : ".rvl" .

    + +

    Definition at line 225 of file Parameters.h.

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    ◆ typeMemDepthCompressionFormat()

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    static std::string rtabmap::Parameters::typeMemDepthCompressionFormat ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/DepthCompressionFormat , as a string: string.

    + +

    Definition at line 225 of file Parameters.h.

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    ◆ kMemSTMSize()

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    static std::string rtabmap::Parameters::kMemSTMSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).

    + +

    Definition at line 226 of file Parameters.h.

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    ◆ defaultMemSTMSize()

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    static unsigned int rtabmap::Parameters::defaultMemSTMSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/STMSize : 10 .

    + +

    Definition at line 226 of file Parameters.h.

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    ◆ typeMemSTMSize()

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    static std::string rtabmap::Parameters::typeMemSTMSize ()
    +     		+inlinestatic
    +
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    Type of parameter Mem/STMSize , as a string: unsigned int .

    + +

    Definition at line 226 of file Parameters.h.

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    ◆ kMemIncrementalMemory()

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    static std::string rtabmap::Parameters::kMemIncrementalMemory ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/IncrementalMemory : "SLAM mode, otherwise it is Localization mode." Default value: true ( bool ).

    + +

    Definition at line 227 of file Parameters.h.

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    ◆ defaultMemIncrementalMemory()

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    static bool rtabmap::Parameters::defaultMemIncrementalMemory ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/IncrementalMemory : true .

    + +

    Definition at line 227 of file Parameters.h.

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    ◆ typeMemIncrementalMemory()

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    static std::string rtabmap::Parameters::typeMemIncrementalMemory ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/IncrementalMemory , as a string: bool .

    + +

    Definition at line 227 of file Parameters.h.

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    ◆ kMemLocalizationReadOnly()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLocalizationReadOnly ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LocalizationReadOnly : uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str() Default value: false ( bool ).

    + +

    Definition at line 228 of file Parameters.h.

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    + +

    ◆ defaultMemLocalizationReadOnly()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemLocalizationReadOnly ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LocalizationReadOnly : false .

    + +

    Definition at line 228 of file Parameters.h.

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    + +

    ◆ typeMemLocalizationReadOnly()

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    static std::string rtabmap::Parameters::typeMemLocalizationReadOnly ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LocalizationReadOnly , as a string: bool .

    + +

    Definition at line 228 of file Parameters.h.

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    +
    + +

    ◆ kMemLocalizationDataSaved()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLocalizationDataSaved ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LocalizationDataSaved : uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str() Default value: false ( bool ).

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    Definition at line 229 of file Parameters.h.

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    + +

    ◆ defaultMemLocalizationDataSaved()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemLocalizationDataSaved ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LocalizationDataSaved : false .

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    Definition at line 229 of file Parameters.h.

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    ◆ typeMemLocalizationDataSaved()

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    static std::string rtabmap::Parameters::typeMemLocalizationDataSaved ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LocalizationDataSaved , as a string: bool .

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    Definition at line 229 of file Parameters.h.

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    ◆ kMemReduceGraph()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemReduceGraph ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/ReduceGraph : uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()) Default value: false ( bool ).

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    Definition at line 230 of file Parameters.h.

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    ◆ defaultMemReduceGraph()

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    static bool rtabmap::Parameters::defaultMemReduceGraph ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/ReduceGraph : false .

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    Definition at line 230 of file Parameters.h.

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    ◆ typeMemReduceGraph()

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    static std::string rtabmap::Parameters::typeMemReduceGraph ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/ReduceGraph , as a string: bool .

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    Definition at line 230 of file Parameters.h.

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    ◆ kMemRecentWmRatio()

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    static std::string rtabmap::Parameters::kMemRecentWmRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RecentWmRatio : "Ratio of locations after the last loop closure in WM that cannot be transferred." Default value: 0.2 ( float ).

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    Definition at line 231 of file Parameters.h.

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    ◆ defaultMemRecentWmRatio()

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    static float rtabmap::Parameters::defaultMemRecentWmRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RecentWmRatio : 0.2 .

    + +

    Definition at line 231 of file Parameters.h.

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    ◆ typeMemRecentWmRatio()

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    static std::string rtabmap::Parameters::typeMemRecentWmRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RecentWmRatio , as a string: float .

    + +

    Definition at line 231 of file Parameters.h.

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    ◆ kMemTransferSortingByWeightId()

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    static std::string rtabmap::Parameters::kMemTransferSortingByWeightId ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/TransferSortingByWeightId : "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID." Default value: false ( bool ).

    + +

    Definition at line 232 of file Parameters.h.

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    ◆ defaultMemTransferSortingByWeightId()

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    static bool rtabmap::Parameters::defaultMemTransferSortingByWeightId ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/TransferSortingByWeightId : false .

    + +

    Definition at line 232 of file Parameters.h.

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    ◆ typeMemTransferSortingByWeightId()

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    static std::string rtabmap::Parameters::typeMemTransferSortingByWeightId ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/TransferSortingByWeightId , as a string: bool .

    + +

    Definition at line 232 of file Parameters.h.

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    + +

    ◆ kMemRehearsalIdUpdatedToNewOne()

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    static std::string rtabmap::Parameters::kMemRehearsalIdUpdatedToNewOne ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RehearsalIdUpdatedToNewOne : uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()) Default value: false ( bool ).

    + +

    Definition at line 233 of file Parameters.h.

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    + +

    ◆ defaultMemRehearsalIdUpdatedToNewOne()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemRehearsalIdUpdatedToNewOne ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RehearsalIdUpdatedToNewOne : false .

    + +

    Definition at line 233 of file Parameters.h.

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    ◆ typeMemRehearsalIdUpdatedToNewOne()

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    static std::string rtabmap::Parameters::typeMemRehearsalIdUpdatedToNewOne ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RehearsalIdUpdatedToNewOne , as a string: bool .

    + +

    Definition at line 233 of file Parameters.h.

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    + +

    ◆ kMemRehearsalWeightIgnoredWhileMoving()

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    static std::string rtabmap::Parameters::kMemRehearsalWeightIgnoredWhileMoving ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RehearsalWeightIgnoredWhileMoving : "When the robot is moving, weights are not updated on rehearsal." Default value: false ( bool ).

    + +

    Definition at line 234 of file Parameters.h.

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    + +

    ◆ defaultMemRehearsalWeightIgnoredWhileMoving()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemRehearsalWeightIgnoredWhileMoving ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RehearsalWeightIgnoredWhileMoving : false .

    + +

    Definition at line 234 of file Parameters.h.

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    + +

    ◆ typeMemRehearsalWeightIgnoredWhileMoving()

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    static std::string rtabmap::Parameters::typeMemRehearsalWeightIgnoredWhileMoving ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RehearsalWeightIgnoredWhileMoving , as a string: bool .

    + +

    Definition at line 234 of file Parameters.h.

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    + +

    ◆ kMemGenerateIds()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemGenerateIds ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/GenerateIds : "True=Generate location IDs, False=use input image IDs." Default value: true ( bool ).

    + +

    Definition at line 235 of file Parameters.h.

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    ◆ defaultMemGenerateIds()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemGenerateIds ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/GenerateIds : true .

    + +

    Definition at line 235 of file Parameters.h.

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    + +

    ◆ typeMemGenerateIds()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemGenerateIds ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/GenerateIds , as a string: bool .

    + +

    Definition at line 235 of file Parameters.h.

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    + +

    ◆ kMemBadSignaturesIgnored()

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    static std::string rtabmap::Parameters::kMemBadSignaturesIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/BadSignaturesIgnored : "Bad signatures are ignored." Default value: false ( bool ).

    + +

    Definition at line 236 of file Parameters.h.

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    + +

    ◆ defaultMemBadSignaturesIgnored()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemBadSignaturesIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/BadSignaturesIgnored : false .

    + +

    Definition at line 236 of file Parameters.h.

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    + +

    ◆ typeMemBadSignaturesIgnored()

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    static std::string rtabmap::Parameters::typeMemBadSignaturesIgnored ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/BadSignaturesIgnored , as a string: bool .

    + +

    Definition at line 236 of file Parameters.h.

    + +
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    + +

    ◆ kMemInitWMWithAllNodes()

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    static std::string rtabmap::Parameters::kMemInitWMWithAllNodes ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/InitWMWithAllNodes : "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session." Default value: false ( bool ).

    + +

    Definition at line 237 of file Parameters.h.

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    + +

    ◆ defaultMemInitWMWithAllNodes()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemInitWMWithAllNodes ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/InitWMWithAllNodes : false .

    + +

    Definition at line 237 of file Parameters.h.

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    + +

    ◆ typeMemInitWMWithAllNodes()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemInitWMWithAllNodes ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/InitWMWithAllNodes , as a string: bool .

    + +

    Definition at line 237 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemDepthAsMask()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/DepthAsMask : "Use depth image as mask when extracting features for vocabulary." Default value: true ( bool ).

    + +

    Definition at line 238 of file Parameters.h.

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    + +

    ◆ defaultMemDepthAsMask()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/DepthAsMask : true .

    + +

    Definition at line 238 of file Parameters.h.

    + +
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    + +

    ◆ typeMemDepthAsMask()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/DepthAsMask , as a string: bool .

    + +

    Definition at line 238 of file Parameters.h.

    + +
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    + +

    ◆ kMemDepthMaskFloorThr()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 239 of file Parameters.h.

    + +
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    + +

    ◆ defaultMemDepthMaskFloorThr()

    + +
    +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultMemDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/DepthMaskFloorThr : 0.0 .

    + +

    Definition at line 239 of file Parameters.h.

    + +
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    + +

    ◆ typeMemDepthMaskFloorThr()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/DepthMaskFloorThr , as a string: float .

    + +

    Definition at line 239 of file Parameters.h.

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    + +

    ◆ kMemStereoFromMotion()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemStereoFromMotion ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/StereoFromMotion : uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()) Default value: false ( bool ).

    + +

    Definition at line 240 of file Parameters.h.

    + +
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    + +

    ◆ defaultMemStereoFromMotion()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemStereoFromMotion ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/StereoFromMotion : false .

    + +

    Definition at line 240 of file Parameters.h.

    + +
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    + +

    ◆ typeMemStereoFromMotion()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemStereoFromMotion ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/StereoFromMotion , as a string: bool .

    + +

    Definition at line 240 of file Parameters.h.

    + +
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    + +

    ◆ kMemImagePreDecimation()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemImagePreDecimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/ImagePreDecimation : uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()) Default value: 1 ( unsigned int ).

    + +

    Definition at line 241 of file Parameters.h.

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    + +

    ◆ defaultMemImagePreDecimation()

    + +
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    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultMemImagePreDecimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/ImagePreDecimation : 1 .

    + +

    Definition at line 241 of file Parameters.h.

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    + +

    ◆ typeMemImagePreDecimation()

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    static std::string rtabmap::Parameters::typeMemImagePreDecimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/ImagePreDecimation , as a string: unsigned int .

    + +

    Definition at line 241 of file Parameters.h.

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    + +

    ◆ kMemImagePostDecimation()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemImagePostDecimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/ImagePostDecimation : uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()) Default value: 1 ( unsigned int ).

    + +

    Definition at line 242 of file Parameters.h.

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    + +

    ◆ defaultMemImagePostDecimation()

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    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultMemImagePostDecimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/ImagePostDecimation : 1 .

    + +

    Definition at line 242 of file Parameters.h.

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    + +

    ◆ typeMemImagePostDecimation()

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    static std::string rtabmap::Parameters::typeMemImagePostDecimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/ImagePostDecimation , as a string: unsigned int .

    + +

    Definition at line 242 of file Parameters.h.

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    + +

    ◆ kMemCompressionParallelized()

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    static std::string rtabmap::Parameters::kMemCompressionParallelized ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/CompressionParallelized : "Compression of sensor data is multi-threaded." Default value: true ( bool ).

    + +

    Definition at line 243 of file Parameters.h.

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    ◆ defaultMemCompressionParallelized()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemCompressionParallelized ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/CompressionParallelized : true .

    + +

    Definition at line 243 of file Parameters.h.

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    + +

    ◆ typeMemCompressionParallelized()

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    static std::string rtabmap::Parameters::typeMemCompressionParallelized ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/CompressionParallelized , as a string: bool .

    + +

    Definition at line 243 of file Parameters.h.

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    ◆ kMemLaserScanDownsampleStepSize()

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    static std::string rtabmap::Parameters::kMemLaserScanDownsampleStepSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LaserScanDownsampleStepSize : "If > 1, downsample the laser scans when creating a signature." Default value: 1 ( int ).

    + +

    Definition at line 244 of file Parameters.h.

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    + +

    ◆ defaultMemLaserScanDownsampleStepSize()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultMemLaserScanDownsampleStepSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LaserScanDownsampleStepSize : 1 .

    + +

    Definition at line 244 of file Parameters.h.

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    ◆ typeMemLaserScanDownsampleStepSize()

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    static std::string rtabmap::Parameters::typeMemLaserScanDownsampleStepSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LaserScanDownsampleStepSize , as a string: int .

    + +

    Definition at line 244 of file Parameters.h.

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    + +

    ◆ kMemLaserScanVoxelSize()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLaserScanVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LaserScanVoxelSize : uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 245 of file Parameters.h.

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    ◆ defaultMemLaserScanVoxelSize()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultMemLaserScanVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LaserScanVoxelSize : 0.0 .

    + +

    Definition at line 245 of file Parameters.h.

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    ◆ typeMemLaserScanVoxelSize()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemLaserScanVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LaserScanVoxelSize , as a string: float .

    + +

    Definition at line 245 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemLaserScanNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLaserScanNormalK ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LaserScanNormalK : "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature." Default value: 0 ( int ).

    + +

    Definition at line 246 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemLaserScanNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultMemLaserScanNormalK ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LaserScanNormalK : 0 .

    + +

    Definition at line 246 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemLaserScanNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemLaserScanNormalK ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LaserScanNormalK , as a string: int .

    + +

    Definition at line 246 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemLaserScanNormalRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemLaserScanNormalRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/LaserScanNormalRadius : "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature." Default value: 0.0 ( float ).

    + +

    Definition at line 247 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemLaserScanNormalRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultMemLaserScanNormalRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/LaserScanNormalRadius : 0.0 .

    + +

    Definition at line 247 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemLaserScanNormalRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemLaserScanNormalRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/LaserScanNormalRadius , as a string: float .

    + +

    Definition at line 247 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemUseOdomFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemUseOdomFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/UseOdomFeatures : "Use odometry features instead of regenerating them." Default value: true ( bool ).

    + +

    Definition at line 248 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemUseOdomFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemUseOdomFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/UseOdomFeatures : true .

    + +

    Definition at line 248 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemUseOdomFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemUseOdomFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/UseOdomFeatures , as a string: bool .

    + +

    Definition at line 248 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemUseOdomGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemUseOdomGravity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/UseOdomGravity : uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()) Default value: false ( bool ).

    + +

    Definition at line 249 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemUseOdomGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemUseOdomGravity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/UseOdomGravity : false .

    + +

    Definition at line 249 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemUseOdomGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemUseOdomGravity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/UseOdomGravity , as a string: bool .

    + +

    Definition at line 249 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemCovOffDiagIgnored()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemCovOffDiagIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/CovOffDiagIgnored : "Ignore off diagonal values of the covariance matrix." Default value: true ( bool ).

    + +

    Definition at line 250 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemCovOffDiagIgnored()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemCovOffDiagIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/CovOffDiagIgnored : true .

    + +

    Definition at line 250 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemCovOffDiagIgnored()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemCovOffDiagIgnored ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/CovOffDiagIgnored , as a string: bool .

    + +

    Definition at line 250 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemGlobalDescriptorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemGlobalDescriptorStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/GlobalDescriptorStrategy : "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor" Default value: 0 ( int ).

    + +

    Definition at line 251 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemGlobalDescriptorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultMemGlobalDescriptorStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/GlobalDescriptorStrategy : 0 .

    + +

    Definition at line 251 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemGlobalDescriptorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemGlobalDescriptorStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/GlobalDescriptorStrategy , as a string: int .

    + +

    Definition at line 251 of file Parameters.h.

    + +
    +
    + +

    ◆ kMemRotateImagesUpsideUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMemRotateImagesUpsideUp ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Mem/RotateImagesUpsideUp : "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." Default value: false ( bool ).

    + +

    Definition at line 252 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMemRotateImagesUpsideUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultMemRotateImagesUpsideUp ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Mem/RotateImagesUpsideUp : false .

    + +

    Definition at line 252 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMemRotateImagesUpsideUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMemRotateImagesUpsideUp ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Mem/RotateImagesUpsideUp , as a string: bool .

    + +

    Definition at line 252 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpNNStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpNNStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4" Default value: 1 ( int ).

    + +

    Definition at line 255 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpNNStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpNNStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/NNStrategy : 1 .

    + +

    Definition at line 255 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpNNStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpNNStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/NNStrategy , as a string: int .

    + +

    Definition at line 255 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpIncrementalDictionary()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpIncrementalDictionary ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/IncrementalDictionary : "" Default value: true ( bool ).

    + +

    Definition at line 256 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpIncrementalDictionary()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpIncrementalDictionary ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/IncrementalDictionary : true .

    + +

    Definition at line 256 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpIncrementalDictionary()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpIncrementalDictionary ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/IncrementalDictionary , as a string: bool .

    + +

    Definition at line 256 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpIncrementalFlann()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpIncrementalFlann ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()) Default value: true ( bool ).

    + +

    Definition at line 257 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpIncrementalFlann()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpIncrementalFlann ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/IncrementalFlann : true .

    + +

    Definition at line 257 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpIncrementalFlann()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpIncrementalFlann ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/IncrementalFlann , as a string: bool .

    + +

    Definition at line 257 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpFlannRebalancingFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpFlannRebalancingFactor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()) Default value: 2.0 ( float ).

    + +

    Definition at line 258 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpFlannRebalancingFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKpFlannRebalancingFactor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/FlannRebalancingFactor : 2.0 .

    + +

    Definition at line 258 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpFlannRebalancingFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpFlannRebalancingFactor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/FlannRebalancingFactor , as a string: float .

    + +

    Definition at line 258 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpByteToFloat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpByteToFloat ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()) Default value: false ( bool ).

    + +

    Definition at line 259 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpByteToFloat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpByteToFloat ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/ByteToFloat : false .

    + +

    Definition at line 259 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpByteToFloat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpByteToFloat ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/ByteToFloat , as a string: bool .

    + +

    Definition at line 259 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/MaxDepth : "Filter extracted keypoints by depth (0=inf)." Default value: 0 ( float ).

    + +

    Definition at line 260 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKpMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/MaxDepth : 0 .

    + +

    Definition at line 260 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/MaxDepth , as a string: float .

    + +

    Definition at line 260 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpMinDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/MinDepth : "Filter extracted keypoints by depth." Default value: 0 ( float ).

    + +

    Definition at line 261 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKpMinDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/MinDepth : 0 .

    + +

    Definition at line 261 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpMinDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/MinDepth , as a string: float .

    + +

    Definition at line 261 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/MaxFeatures : "Maximum features extracted from the images (0 means not bounded, <0 means no extraction)." Default value: 500 ( int ).

    + +

    Definition at line 262 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/MaxFeatures : 500 .

    + +

    Definition at line 262 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/MaxFeatures , as a string: int .

    + +

    Definition at line 262 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpSSC ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).

    + +

    Definition at line 263 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpSSC ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/SSC : false .

    + +

    Definition at line 263 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpSSC ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/SSC , as a string: bool .

    + +

    Definition at line 263 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpBadSignRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpBadSignRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/BadSignRatio : uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()) Default value: 0.5 ( float ).

    + +

    Definition at line 264 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpBadSignRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKpBadSignRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/BadSignRatio : 0.5 .

    + +

    Definition at line 264 of file Parameters.h.

    + +
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    + +

    ◆ typeKpBadSignRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpBadSignRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/BadSignRatio , as a string: float .

    + +

    Definition at line 264 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpNndrRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpNndrRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/NndrRatio : "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)" Default value: 0.8 ( float ).

    + +

    Definition at line 265 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpNndrRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKpNndrRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/NndrRatio : 0.8 .

    + +

    Definition at line 265 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpNndrRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpNndrRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/NndrRatio , as a string: float .

    + +

    Definition at line 265 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpDetectorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpDetectorStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/DetectorStrategy : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).

    + +

    Definition at line 270 of file Parameters.h.

    + +
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    + +

    ◆ defaultKpDetectorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpDetectorStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/DetectorStrategy : 6 .

    + +

    Definition at line 270 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpDetectorStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpDetectorStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/DetectorStrategy , as a string: int .

    + +

    Definition at line 270 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpTfIdfLikelihoodUsed()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpTfIdfLikelihoodUsed ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/TfIdfLikelihoodUsed : "Use of the td-idf strategy to compute the likelihood." Default value: true ( bool ).

    + +

    Definition at line 272 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpTfIdfLikelihoodUsed()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpTfIdfLikelihoodUsed ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/TfIdfLikelihoodUsed : true .

    + +

    Definition at line 272 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpTfIdfLikelihoodUsed()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpTfIdfLikelihoodUsed ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/TfIdfLikelihoodUsed , as a string: bool .

    + +

    Definition at line 272 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpParallelized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpParallelized ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/Parallelized : "If the dictionary update and signature creation were parallelized." Default value: true ( bool ).

    + +

    Definition at line 273 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpParallelized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpParallelized ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/Parallelized : true .

    + +

    Definition at line 273 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpParallelized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpParallelized ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/Parallelized , as a string: bool .

    + +

    Definition at line 273 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).

    + +

    Definition at line 274 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultKpRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/RoiRatios : "0.0 0.0 0.0 0.0" .

    + +

    Definition at line 274 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/RoiRatios , as a string: string.

    + +

    Definition at line 274 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpDictionaryPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpDictionaryPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/DictionaryPath : "Path of the pre-computed dictionary" Default value: "" (string).

    + +

    Definition at line 275 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpDictionaryPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultKpDictionaryPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/DictionaryPath : "" .

    + +

    Definition at line 275 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpDictionaryPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpDictionaryPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/DictionaryPath , as a string: string.

    + +

    Definition at line 275 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpNewWordsComparedTogether()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpNewWordsComparedTogether ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/NewWordsComparedTogether : "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature)." Default value: true ( bool ).

    + +

    Definition at line 276 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpNewWordsComparedTogether()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpNewWordsComparedTogether ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/NewWordsComparedTogether : true .

    + +

    Definition at line 276 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpNewWordsComparedTogether()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpNewWordsComparedTogether ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/NewWordsComparedTogether , as a string: bool .

    + +

    Definition at line 276 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpFlannIndexSaved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpFlannIndexSaved ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/FlannIndexSaved : uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str() Default value: false ( bool ).

    + +

    Definition at line 277 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpFlannIndexSaved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpFlannIndexSaved ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/FlannIndexSaved : false .

    + +

    Definition at line 277 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpFlannIndexSaved()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpFlannIndexSaved ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/FlannIndexSaved , as a string: bool .

    + +

    Definition at line 277 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpSerializeWithChecksum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpSerializeWithChecksum ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/SerializeWithChecksum : "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built." Default value: true ( bool ).

    + +

    Definition at line 278 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpSerializeWithChecksum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKpSerializeWithChecksum ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/SerializeWithChecksum : true .

    + +

    Definition at line 278 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpSerializeWithChecksum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpSerializeWithChecksum ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/SerializeWithChecksum , as a string: bool .

    + +

    Definition at line 278 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpSubPixWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

    + +

    Definition at line 279 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpSubPixWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/SubPixWinSize : 3 .

    + +

    Definition at line 279 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpSubPixWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/SubPixWinSize , as a string: int .

    + +

    Definition at line 279 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

    + +

    Definition at line 280 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/SubPixIterations : 0 .

    + +

    Definition at line 280 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/SubPixIterations , as a string: int .

    + +

    Definition at line 280 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( double ).

    + +

    Definition at line 281 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultKpSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/SubPixEps : 0.02 .

    + +

    Definition at line 281 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/SubPixEps , as a string: double .

    + +

    Definition at line 281 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpGridRows ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 282 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpGridRows ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/GridRows : 1 .

    + +

    Definition at line 282 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpGridRows ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/GridRows , as a string: int .

    + +

    Definition at line 282 of file Parameters.h.

    + +
    +
    + +

    ◆ kKpGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKpGridCols ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Kp/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 283 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKpGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKpGridCols ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Kp/GridCols : 1 .

    + +

    Definition at line 283 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKpGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKpGridCols ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Kp/GridCols , as a string: int .

    + +

    Definition at line 283 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbSqlite3InMemory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbSqlite3InMemory ()
    +     		+inlinestatic
    +
    + +

    Key of parameter DbSqlite3/InMemory : "Using database in the memory instead of a file on the hard disk." Default value: false ( bool ).

    + +

    Definition at line 286 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbSqlite3InMemory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultDbSqlite3InMemory ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter DbSqlite3/InMemory : false .

    + +

    Definition at line 286 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbSqlite3InMemory()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbSqlite3InMemory ()
    +     		+inlinestatic
    +
    + +

    Type of parameter DbSqlite3/InMemory , as a string: bool .

    + +

    Definition at line 286 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbSqlite3CacheSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbSqlite3CacheSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter DbSqlite3/CacheSize : "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). " "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages." Default value: 10000 ( unsigned int ).

    + +

    Definition at line 289 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbSqlite3CacheSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultDbSqlite3CacheSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter DbSqlite3/CacheSize : 10000 .

    + +

    Definition at line 289 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbSqlite3CacheSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbSqlite3CacheSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter DbSqlite3/CacheSize , as a string: unsigned int .

    + +

    Definition at line 289 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbSqlite3JournalMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbSqlite3JournalMode ()
    +     		+inlinestatic
    +
    + +

    Key of parameter DbSqlite3/JournalMode : "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. " "0=DELETE (SQLite default): journal file deleted after each commit. " "1=TRUNCATE: journal truncated to zero length. " "2=PERSIST: journal file kept, header zeroed after commit. " "3=MEMORY: journal in RAM only; faster, weaker crash safety. " "4=OFF: no journal; fastest, risk of corruption on crash." Default value: 3 ( int ).

    + +

    Definition at line 296 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbSqlite3JournalMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultDbSqlite3JournalMode ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter DbSqlite3/JournalMode : 3 .

    + +

    Definition at line 296 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbSqlite3JournalMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbSqlite3JournalMode ()
    +     		+inlinestatic
    +
    + +

    Type of parameter DbSqlite3/JournalMode , as a string: int .

    + +

    Definition at line 296 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbSqlite3Synchronous()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbSqlite3Synchronous ()
    +     		+inlinestatic
    +
    + +

    Key of parameter DbSqlite3/Synchronous : "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. " "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. " "1=NORMAL: sync at critical moments (common SQLite default with WAL). " "2=FULL (SQLite safest default): sync after every commit; slowest." Default value: 0 ( int ).

    + +

    Definition at line 301 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbSqlite3Synchronous()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultDbSqlite3Synchronous ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter DbSqlite3/Synchronous : 0 .

    + +

    Definition at line 301 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbSqlite3Synchronous()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbSqlite3Synchronous ()
    +     		+inlinestatic
    +
    + +

    Type of parameter DbSqlite3/Synchronous , as a string: int .

    + +

    Definition at line 301 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbSqlite3TempStore()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbSqlite3TempStore ()
    +     		+inlinestatic
    +
    + +

    Key of parameter DbSqlite3/TempStore : "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." Default value: 2 ( int ).

    + +

    Definition at line 306 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbSqlite3TempStore()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultDbSqlite3TempStore ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter DbSqlite3/TempStore : 2 .

    + +

    Definition at line 306 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbSqlite3TempStore()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbSqlite3TempStore ()
    +     		+inlinestatic
    +
    + +

    Type of parameter DbSqlite3/TempStore , as a string: int .

    + +

    Definition at line 306 of file Parameters.h.

    + +
    +
    + +

    ◆ kDbTargetVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kDbTargetVersion ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Db/TargetVersion : "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)." Default value: "" (string).

    + +

    Definition at line 307 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultDbTargetVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultDbTargetVersion ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Db/TargetVersion : "" .

    + +

    Definition at line 307 of file Parameters.h.

    + +
    +
    + +

    ◆ typeDbTargetVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeDbTargetVersion ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Db/TargetVersion , as a string: string.

    + +

    Definition at line 307 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFExtended ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/Extended : "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)." Default value: false ( bool ).

    + +

    Definition at line 310 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSURFExtended ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/Extended : false .

    + +

    Definition at line 310 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFExtended ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/Extended , as a string: bool .

    + +

    Definition at line 310 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFHessianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFHessianThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/HessianThreshold : "Threshold for hessian keypoint detector used in SURF." Default value: 500 ( float ).

    + +

    Definition at line 311 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFHessianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSURFHessianThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/HessianThreshold : 500 .

    + +

    Definition at line 311 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFHessianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFHessianThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/HessianThreshold , as a string: float .

    + +

    Definition at line 311 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFOctaves ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/Octaves : "Number of pyramid octaves the keypoint detector will use." Default value: 4 ( int ).

    + +

    Definition at line 312 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultSURFOctaves ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/Octaves : 4 .

    + +

    Definition at line 312 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFOctaves ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/Octaves , as a string: int .

    + +

    Definition at line 312 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/OctaveLayers : "Number of octave layers within each octave." Default value: 2 ( int ).

    + +

    Definition at line 313 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultSURFOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/OctaveLayers : 2 .

    + +

    Definition at line 313 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/OctaveLayers , as a string: int .

    + +

    Definition at line 313 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFUpright ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/Upright : "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation)." Default value: false ( bool ).

    + +

    Definition at line 314 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSURFUpright ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/Upright : false .

    + +

    Definition at line 314 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFUpright ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/Upright , as a string: bool .

    + +

    Definition at line 314 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFGpuVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFGpuVersion ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/GpuVersion : "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

    + +

    Definition at line 315 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFGpuVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSURFGpuVersion ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/GpuVersion : false .

    + +

    Definition at line 315 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFGpuVersion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFGpuVersion ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/GpuVersion , as a string: bool .

    + +

    Definition at line 315 of file Parameters.h.

    + +
    +
    + +

    ◆ kSURFGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSURFGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SURF/GpuKeypointsRatio : "Used with SURF GPU." Default value: 0.01 ( float ).

    + +

    Definition at line 316 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSURFGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSURFGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SURF/GpuKeypointsRatio : 0.01 .

    + +

    Definition at line 316 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSURFGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSURFGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SURF/GpuKeypointsRatio , as a string: float .

    + +

    Definition at line 316 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTNOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTNOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/NOctaveLayers : "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically." Default value: 3 ( int ).

    + +

    Definition at line 318 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTNOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultSIFTNOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/NOctaveLayers : 3 .

    + +

    Definition at line 318 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTNOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTNOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/NOctaveLayers , as a string: int .

    + +

    Definition at line 318 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTContrastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTContrastThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/ContrastThreshold : uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()) Default value: 0.04 ( double ).

    + +

    Definition at line 319 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTContrastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultSIFTContrastThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/ContrastThreshold : 0.04 .

    + +

    Definition at line 319 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTContrastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTContrastThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/ContrastThreshold , as a string: double .

    + +

    Definition at line 319 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/EdgeThreshold : "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained)." Default value: 10 ( double ).

    + +

    Definition at line 320 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultSIFTEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/EdgeThreshold : 10 .

    + +

    Definition at line 320 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/EdgeThreshold , as a string: double .

    + +

    Definition at line 320 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTSigma()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTSigma ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/Sigma : "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number." Default value: 1.6 ( double ).

    + +

    Definition at line 321 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTSigma()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultSIFTSigma ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/Sigma : 1.6 .

    + +

    Definition at line 321 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTSigma()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTSigma ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/Sigma , as a string: double .

    + +

    Definition at line 321 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTPreciseUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTPreciseUpscale ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/PreciseUpscale : "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8)." Default value: false ( bool ).

    + +

    Definition at line 322 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTPreciseUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSIFTPreciseUpscale ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/PreciseUpscale : false .

    + +

    Definition at line 322 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTPreciseUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTPreciseUpscale ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/PreciseUpscale , as a string: bool .

    + +

    Definition at line 322 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTRootSIFT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTRootSIFT ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/RootSIFT : "Apply RootSIFT normalization of the descriptors." Default value: false ( bool ).

    + +

    Definition at line 323 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTRootSIFT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSIFTRootSIFT ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/RootSIFT : false .

    + +

    Definition at line 323 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTRootSIFT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTRootSIFT ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/RootSIFT , as a string: bool .

    + +

    Definition at line 323 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/Gpu : "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected." Default value: false ( bool ).

    + +

    Definition at line 324 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSIFTGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/Gpu : false .

    + +

    Definition at line 324 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/Gpu , as a string: bool .

    + +

    Definition at line 324 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/GaussianThreshold : "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector." Default value: 2.0 ( float ).

    + +

    Definition at line 325 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSIFTGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/GaussianThreshold : 2.0 .

    + +

    Definition at line 325 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/GaussianThreshold , as a string: float .

    + +

    Definition at line 325 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTMaxGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTMaxGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/MaxGaussianThreshold : uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 326 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTMaxGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSIFTMaxGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/MaxGaussianThreshold : 0.0 .

    + +

    Definition at line 326 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTMaxGaussianThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTMaxGaussianThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/MaxGaussianThreshold , as a string: float .

    + +

    Definition at line 326 of file Parameters.h.

    + +
    +
    + +

    ◆ kSIFTUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSIFTUpscale ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SIFT/Upscale : "CudaSift: Whether to enable upscaling." Default value: false ( bool ).

    + +

    Definition at line 327 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSIFTUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSIFTUpscale ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SIFT/Upscale : false .

    + +

    Definition at line 327 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSIFTUpscale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSIFTUpscale ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SIFT/Upscale , as a string: bool .

    + +

    Definition at line 327 of file Parameters.h.

    + +
    +
    + +

    ◆ kBRIEFBytes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBRIEFBytes ()
    +     		+inlinestatic
    +
    + +

    Key of parameter BRIEF/Bytes : "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes." Default value: 32 ( int ).

    + +

    Definition at line 329 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBRIEFBytes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultBRIEFBytes ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter BRIEF/Bytes : 32 .

    + +

    Definition at line 329 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBRIEFBytes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBRIEFBytes ()
    +     		+inlinestatic
    +
    + +

    Type of parameter BRIEF/Bytes , as a string: int .

    + +

    Definition at line 329 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/Threshold : "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel." Default value: 20 ( int ).

    + +

    Definition at line 331 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/Threshold : 20 .

    + +

    Definition at line 331 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/Threshold , as a string: int .

    + +

    Definition at line 331 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTNonmaxSuppression()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTNonmaxSuppression ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/NonmaxSuppression : "If true, non-maximum suppression is applied to detected corners (keypoints)." Default value: true ( bool ).

    + +

    Definition at line 332 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTNonmaxSuppression()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultFASTNonmaxSuppression ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/NonmaxSuppression : true .

    + +

    Definition at line 332 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTNonmaxSuppression()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTNonmaxSuppression ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/NonmaxSuppression , as a string: bool .

    + +

    Definition at line 332 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/Gpu : "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

    + +

    Definition at line 333 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultFASTGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/Gpu : false .

    + +

    Definition at line 333 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/Gpu , as a string: bool .

    + +

    Definition at line 333 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/GpuKeypointsRatio : "Used with FAST GPU." Default value: 0.05 ( double ).

    + +

    Definition at line 334 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultFASTGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/GpuKeypointsRatio : 0.05 .

    + +

    Definition at line 334 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTGpuKeypointsRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTGpuKeypointsRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/GpuKeypointsRatio , as a string: double .

    + +

    Definition at line 334 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTMinThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTMinThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/MinThreshold : "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 7 ( int ).

    + +

    Definition at line 335 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTMinThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTMinThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/MinThreshold : 7 .

    + +

    Definition at line 335 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTMinThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTMinThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/MinThreshold , as a string: int .

    + +

    Definition at line 335 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTMaxThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTMaxThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/MaxThreshold : "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 200 ( int ).

    + +

    Definition at line 336 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTMaxThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTMaxThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/MaxThreshold : 200 .

    + +

    Definition at line 336 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTMaxThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTMaxThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/MaxThreshold , as a string: int .

    + +

    Definition at line 336 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTGridRows ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/GridRows : "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).

    + +

    Definition at line 337 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTGridRows ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/GridRows : 0 .

    + +

    Definition at line 337 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTGridRows ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/GridRows , as a string: int .

    + +

    Definition at line 337 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTGridCols ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/GridCols : "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).

    + +

    Definition at line 338 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTGridCols ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/GridCols : 0 .

    + +

    Definition at line 338 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTGridCols()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTGridCols ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/GridCols , as a string: int .

    + +

    Definition at line 338 of file Parameters.h.

    + +
    +
    + +

    ◆ kFASTCV()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFASTCV ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FAST/CV : "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10." Default value: 0 ( int ).

    + +

    Definition at line 339 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFASTCV()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFASTCV ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FAST/CV : 0 .

    + +

    Definition at line 339 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFASTCV()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFASTCV ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FAST/CV , as a string: int .

    + +

    Definition at line 339 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTQualityLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTQualityLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/QualityLevel : "" Default value: 0.001 ( double ).

    + +

    Definition at line 341 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTQualityLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultGFTTQualityLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/QualityLevel : 0.001 .

    + +

    Definition at line 341 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTQualityLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTQualityLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/QualityLevel , as a string: double .

    + +

    Definition at line 341 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTMinDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTMinDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/MinDistance : "" Default value: 7 ( double ).

    + +

    Definition at line 342 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTMinDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultGFTTMinDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/MinDistance : 7 .

    + +

    Definition at line 342 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTMinDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTMinDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/MinDistance , as a string: double .

    + +

    Definition at line 342 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTBlockSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/BlockSize : "" Default value: 3 ( int ).

    + +

    Definition at line 343 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGFTTBlockSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/BlockSize : 3 .

    + +

    Definition at line 343 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTBlockSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/BlockSize , as a string: int .

    + +

    Definition at line 343 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTUseHarrisDetector()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTUseHarrisDetector ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/UseHarrisDetector : "" Default value: false ( bool ).

    + +

    Definition at line 344 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTUseHarrisDetector()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGFTTUseHarrisDetector ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/UseHarrisDetector : false .

    + +

    Definition at line 344 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTUseHarrisDetector()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTUseHarrisDetector ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/UseHarrisDetector , as a string: bool .

    + +

    Definition at line 344 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTK ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/K : "" Default value: 0.04 ( double ).

    + +

    Definition at line 345 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultGFTTK ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/K : 0.04 .

    + +

    Definition at line 345 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTK ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/K , as a string: double .

    + +

    Definition at line 345 of file Parameters.h.

    + +
    +
    + +

    ◆ kGFTTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGFTTGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GFTT/Gpu : "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected." Default value: false ( bool ).

    + +

    Definition at line 346 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGFTTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGFTTGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GFTT/Gpu : false .

    + +

    Definition at line 346 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGFTTGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGFTTGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GFTT/Gpu , as a string: bool .

    + +

    Definition at line 346 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBScaleFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBScaleFactor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/ScaleFactor : "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer." Default value: 2 ( float ).

    + +

    Definition at line 348 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBScaleFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultORBScaleFactor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/ScaleFactor : 2 .

    + +

    Definition at line 348 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBScaleFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBScaleFactor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/ScaleFactor , as a string: float .

    + +

    Definition at line 348 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBNLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBNLevels ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/NLevels : "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)." Default value: 3 ( int ).

    + +

    Definition at line 349 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBNLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBNLevels ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/NLevels : 3 .

    + +

    Definition at line 349 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBNLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBNLevels ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/NLevels , as a string: int .

    + +

    Definition at line 349 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/EdgeThreshold : "This is size of the border where the features are not detected. It should roughly match the patchSize parameter." Default value: 19 ( int ).

    + +

    Definition at line 350 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/EdgeThreshold : 19 .

    + +

    Definition at line 350 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/EdgeThreshold , as a string: int .

    + +

    Definition at line 350 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBFirstLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBFirstLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/FirstLevel : "It should be 0 in the current implementation." Default value: 0 ( int ).

    + +

    Definition at line 351 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBFirstLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBFirstLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/FirstLevel : 0 .

    + +

    Definition at line 351 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBFirstLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBFirstLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/FirstLevel , as a string: int .

    + +

    Definition at line 351 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBWTA_K()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBWTA_K ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/WTA_K : "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3)." Default value: 2 ( int ).

    + +

    Definition at line 352 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBWTA_K()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBWTA_K ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/WTA_K : 2 .

    + +

    Definition at line 352 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBWTA_K()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBWTA_K ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/WTA_K , as a string: int .

    + +

    Definition at line 352 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBScoreType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBScoreType ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/ScoreType : "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute." Default value: 0 ( int ).

    + +

    Definition at line 353 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBScoreType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBScoreType ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/ScoreType : 0 .

    + +

    Definition at line 353 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBScoreType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBScoreType ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/ScoreType , as a string: int .

    + +

    Definition at line 353 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBPatchSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/PatchSize : "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger." Default value: 31 ( int ).

    + +

    Definition at line 354 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultORBPatchSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/PatchSize : 31 .

    + +

    Definition at line 354 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBPatchSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/PatchSize , as a string: int .

    + +

    Definition at line 354 of file Parameters.h.

    + +
    +
    + +

    ◆ kORBGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kORBGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ORB/Gpu : "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

    + +

    Definition at line 355 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultORBGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultORBGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ORB/Gpu : false .

    + +

    Definition at line 355 of file Parameters.h.

    + +
    +
    + +

    ◆ typeORBGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeORBGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ORB/Gpu , as a string: bool .

    + +

    Definition at line 355 of file Parameters.h.

    + +
    +
    + +

    ◆ kFREAKOrientationNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFREAKOrientationNormalized ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FREAK/OrientationNormalized : "Enable orientation normalization." Default value: true ( bool ).

    + +

    Definition at line 357 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFREAKOrientationNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultFREAKOrientationNormalized ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FREAK/OrientationNormalized : true .

    + +

    Definition at line 357 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFREAKOrientationNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFREAKOrientationNormalized ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FREAK/OrientationNormalized , as a string: bool .

    + +

    Definition at line 357 of file Parameters.h.

    + +
    +
    + +

    ◆ kFREAKScaleNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFREAKScaleNormalized ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FREAK/ScaleNormalized : "Enable scale normalization." Default value: true ( bool ).

    + +

    Definition at line 358 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFREAKScaleNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultFREAKScaleNormalized ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FREAK/ScaleNormalized : true .

    + +

    Definition at line 358 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFREAKScaleNormalized()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFREAKScaleNormalized ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FREAK/ScaleNormalized , as a string: bool .

    + +

    Definition at line 358 of file Parameters.h.

    + +
    +
    + +

    ◆ kFREAKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFREAKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FREAK/PatternScale : "Scaling of the description pattern." Default value: 22 ( float ).

    + +

    Definition at line 359 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFREAKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultFREAKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FREAK/PatternScale : 22 .

    + +

    Definition at line 359 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFREAKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFREAKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FREAK/PatternScale , as a string: float .

    + +

    Definition at line 359 of file Parameters.h.

    + +
    +
    + +

    ◆ kFREAKNOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kFREAKNOctaves ()
    +     		+inlinestatic
    +
    + +

    Key of parameter FREAK/NOctaves : "Number of octaves covered by the detected keypoints." Default value: 4 ( int ).

    + +

    Definition at line 360 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultFREAKNOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultFREAKNOctaves ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter FREAK/NOctaves : 4 .

    + +

    Definition at line 360 of file Parameters.h.

    + +
    +
    + +

    ◆ typeFREAKNOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeFREAKNOctaves ()
    +     		+inlinestatic
    +
    + +

    Type of parameter FREAK/NOctaves , as a string: int .

    + +

    Definition at line 360 of file Parameters.h.

    + +
    +
    + +

    ◆ kBRISKThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBRISKThresh ()
    +     		+inlinestatic
    +
    + +

    Key of parameter BRISK/Thresh : "FAST/AGAST detection threshold score." Default value: 30 ( int ).

    + +

    Definition at line 362 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBRISKThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultBRISKThresh ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter BRISK/Thresh : 30 .

    + +

    Definition at line 362 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBRISKThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBRISKThresh ()
    +     		+inlinestatic
    +
    + +

    Type of parameter BRISK/Thresh , as a string: int .

    + +

    Definition at line 362 of file Parameters.h.

    + +
    +
    + +

    ◆ kBRISKOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBRISKOctaves ()
    +     		+inlinestatic
    +
    + +

    Key of parameter BRISK/Octaves : "Detection octaves. Use 0 to do single scale." Default value: 3 ( int ).

    + +

    Definition at line 363 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBRISKOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultBRISKOctaves ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter BRISK/Octaves : 3 .

    + +

    Definition at line 363 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBRISKOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBRISKOctaves ()
    +     		+inlinestatic
    +
    + +

    Type of parameter BRISK/Octaves , as a string: int .

    + +

    Definition at line 363 of file Parameters.h.

    + +
    +
    + +

    ◆ kBRISKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBRISKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Key of parameter BRISK/PatternScale : "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint." Default value: 1 ( float ).

    + +

    Definition at line 364 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBRISKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultBRISKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter BRISK/PatternScale : 1 .

    + +

    Definition at line 364 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBRISKPatternScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBRISKPatternScale ()
    +     		+inlinestatic
    +
    + +

    Type of parameter BRISK/PatternScale , as a string: float .

    + +

    Definition at line 364 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZEExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZEExtended ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/Extended : "Set to enable extraction of extended (128-byte) descriptor." Default value: false ( bool ).

    + +

    Definition at line 366 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZEExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKAZEExtended ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/Extended : false .

    + +

    Definition at line 366 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZEExtended()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZEExtended ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/Extended , as a string: bool .

    + +

    Definition at line 366 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZEUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZEUpright ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/Upright : "Set to enable use of upright descriptors (non rotation-invariant)." Default value: false ( bool ).

    + +

    Definition at line 367 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZEUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultKAZEUpright ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/Upright : false .

    + +

    Definition at line 367 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZEUpright()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZEUpright ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/Upright , as a string: bool .

    + +

    Definition at line 367 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZEThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZEThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/Threshold : "Detector response threshold to accept keypoint." Default value: 0.001 ( float ).

    + +

    Definition at line 368 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZEThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultKAZEThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/Threshold : 0.001 .

    + +

    Definition at line 368 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZEThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZEThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/Threshold , as a string: float .

    + +

    Definition at line 368 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZENOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZENOctaves ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/NOctaves : "Maximum octave evolution of the image." Default value: 4 ( int ).

    + +

    Definition at line 369 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZENOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKAZENOctaves ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/NOctaves : 4 .

    + +

    Definition at line 369 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZENOctaves()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZENOctaves ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/NOctaves , as a string: int .

    + +

    Definition at line 369 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZENOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZENOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/NOctaveLayers : "Default number of sublevels per scale level." Default value: 4 ( int ).

    + +

    Definition at line 370 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZENOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKAZENOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/NOctaveLayers : 4 .

    + +

    Definition at line 370 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZENOctaveLayers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZENOctaveLayers ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/NOctaveLayers , as a string: int .

    + +

    Definition at line 370 of file Parameters.h.

    + +
    +
    + +

    ◆ kKAZEDiffusivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kKAZEDiffusivity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter KAZE/Diffusivity : "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER." Default value: 1 ( int ).

    + +

    Definition at line 371 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultKAZEDiffusivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultKAZEDiffusivity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter KAZE/Diffusivity : 1 .

    + +

    Definition at line 371 of file Parameters.h.

    + +
    +
    + +

    ◆ typeKAZEDiffusivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeKAZEDiffusivity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter KAZE/Diffusivity , as a string: int .

    + +

    Definition at line 371 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointModelPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPoint/ModelPath : "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt)." Default value: "" (string).

    + +

    Definition at line 373 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultSuperPointModelPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPoint/ModelPath : "" .

    + +

    Definition at line 373 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointModelPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPoint/ModelPath , as a string: string.

    + +

    Definition at line 373 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPoint/Threshold : "Detector response threshold to accept keypoint." Default value: 0.010 ( float ).

    + +

    Definition at line 374 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSuperPointThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPoint/Threshold : 0.010 .

    + +

    Definition at line 374 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPoint/Threshold , as a string: float .

    + +

    Definition at line 374 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointNMS ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPoint/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).

    + +

    Definition at line 375 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSuperPointNMS ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPoint/NMS : true .

    + +

    Definition at line 375 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointNMS ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPoint/NMS , as a string: bool .

    + +

    Definition at line 375 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPoint/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()) Default value: 4 ( int ).

    + +

    Definition at line 376 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultSuperPointNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPoint/NMSRadius : 4 .

    + +

    Definition at line 376 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPoint/NMSRadius , as a string: int .

    + +

    Definition at line 376 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointCuda ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPoint/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).

    + +

    Definition at line 377 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSuperPointCuda ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPoint/Cuda : true .

    + +

    Definition at line 377 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointCuda ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPoint/Cuda , as a string: bool .

    + +

    Definition at line 377 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratWeightsPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratWeightsPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/WeightsPath : "[Required] SuperPoint weights file (*.pth)." Default value: "" (string).

    + +

    Definition at line 379 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratWeightsPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultSuperPointRpautratWeightsPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/WeightsPath : "" .

    + +

    Definition at line 379 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratWeightsPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratWeightsPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/WeightsPath , as a string: string.

    + +

    Definition at line 379 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratModelPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/ModelPath : "[Required] SuperPoint python model file (superpoint_pytorch.py)." Default value: "" (string).

    + +

    Definition at line 380 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultSuperPointRpautratModelPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/ModelPath : "" .

    + +

    Definition at line 380 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratModelPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratModelPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/ModelPath , as a string: string.

    + +

    Definition at line 380 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/Threshold : "Detector response threshold to accept keypoint." Default value: 0.005 ( float ).

    + +

    Definition at line 381 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultSuperPointRpautratThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/Threshold : 0.005 .

    + +

    Definition at line 381 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/Threshold , as a string: float .

    + +

    Definition at line 381 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratNMS ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).

    + +

    Definition at line 382 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSuperPointRpautratNMS ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/NMS : true .

    + +

    Definition at line 382 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratNMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratNMS ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/NMS , as a string: bool .

    + +

    Definition at line 382 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()) Default value: 4 ( int ).

    + +

    Definition at line 383 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultSuperPointRpautratNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/NMSRadius : 4 .

    + +

    Definition at line 383 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratNMSRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratNMSRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/NMSRadius , as a string: int .

    + +

    Definition at line 383 of file Parameters.h.

    + +
    +
    + +

    ◆ kSuperPointRpautratCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kSuperPointRpautratCuda ()
    +     		+inlinestatic
    +
    + +

    Key of parameter SuperPointRpautrat/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).

    + +

    Definition at line 384 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultSuperPointRpautratCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultSuperPointRpautratCuda ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter SuperPointRpautrat/Cuda : true .

    + +

    Definition at line 384 of file Parameters.h.

    + +
    +
    + +

    ◆ typeSuperPointRpautratCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeSuperPointRpautratCuda ()
    +     		+inlinestatic
    +
    + +

    Type of parameter SuperPointRpautrat/Cuda , as a string: bool .

    + +

    Definition at line 384 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyDetectorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyDetectorPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyDetector/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).

    + +

    Definition at line 386 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyDetectorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultPyDetectorPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyDetector/Path : "" .

    + +

    Definition at line 386 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyDetectorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyDetectorPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyDetector/Path , as a string: string.

    + +

    Definition at line 386 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyDetectorCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyDetectorCuda ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyDetector/Cuda : "Use cuda." Default value: true ( bool ).

    + +

    Definition at line 387 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyDetectorCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultPyDetectorCuda ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyDetector/Cuda : true .

    + +

    Definition at line 387 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyDetectorCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyDetectorCuda ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyDetector/Cuda , as a string: bool .

    + +

    Definition at line 387 of file Parameters.h.

    + +
    +
    + +

    ◆ kBayesVirtualPlacePriorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBayesVirtualPlacePriorThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Bayes/VirtualPlacePriorThr : "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations)." Default value: 0.9 ( float ).

    + +

    Definition at line 390 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBayesVirtualPlacePriorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultBayesVirtualPlacePriorThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Bayes/VirtualPlacePriorThr : 0.9 .

    + +

    Definition at line 390 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBayesVirtualPlacePriorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBayesVirtualPlacePriorThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Bayes/VirtualPlacePriorThr , as a string: float .

    + +

    Definition at line 390 of file Parameters.h.

    + +
    +
    + +

    ◆ kBayesPredictionLC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBayesPredictionLC ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).

    + +

    Definition at line 391 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBayesPredictionLC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultBayesPredictionLC ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .

    + +

    Definition at line 391 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBayesPredictionLC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBayesPredictionLC ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Bayes/PredictionLC , as a string: string.

    + +

    Definition at line 391 of file Parameters.h.

    + +
    +
    + +

    ◆ kBayesFullPredictionUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kBayesFullPredictionUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Bayes/FullPredictionUpdate : "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated)." Default value: false ( bool ).

    + +

    Definition at line 392 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultBayesFullPredictionUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultBayesFullPredictionUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Bayes/FullPredictionUpdate : false .

    + +

    Definition at line 392 of file Parameters.h.

    + +
    +
    + +

    ◆ typeBayesFullPredictionUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeBayesFullPredictionUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Bayes/FullPredictionUpdate , as a string: bool .

    + +

    Definition at line 392 of file Parameters.h.

    + +
    +
    + +

    ◆ kVhEpEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVhEpEnabled ()
    +     		+inlinestatic
    +
    + +

    Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).

    + +

    Definition at line 395 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVhEpEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVhEpEnabled ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter VhEp/Enabled : false .

    + +

    Definition at line 395 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVhEpEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVhEpEnabled ()
    +     		+inlinestatic
    +
    + +

    Type of parameter VhEp/Enabled , as a string: bool .

    + +

    Definition at line 395 of file Parameters.h.

    + +
    +
    + +

    ◆ kVhEpMatchCountMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVhEpMatchCountMin ()
    +     		+inlinestatic
    +
    + +

    Key of parameter VhEp/MatchCountMin : "Minimum of matching visual words pairs to accept the loop hypothesis." Default value: 8 ( int ).

    + +

    Definition at line 396 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVhEpMatchCountMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVhEpMatchCountMin ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter VhEp/MatchCountMin : 8 .

    + +

    Definition at line 396 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVhEpMatchCountMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVhEpMatchCountMin ()
    +     		+inlinestatic
    +
    + +

    Type of parameter VhEp/MatchCountMin , as a string: int .

    + +

    Definition at line 396 of file Parameters.h.

    + +
    +
    + +

    ◆ kVhEpRansacParam1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVhEpRansacParam1 ()
    +     		+inlinestatic
    +
    + +

    Key of parameter VhEp/RansacParam1 : "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier." Default value: 3 ( float ).

    + +

    Definition at line 397 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVhEpRansacParam1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVhEpRansacParam1 ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter VhEp/RansacParam1 : 3 .

    + +

    Definition at line 397 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVhEpRansacParam1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVhEpRansacParam1 ()
    +     		+inlinestatic
    +
    + +

    Type of parameter VhEp/RansacParam1 , as a string: float .

    + +

    Definition at line 397 of file Parameters.h.

    + +
    +
    + +

    ◆ kVhEpRansacParam2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVhEpRansacParam2 ()
    +     		+inlinestatic
    +
    + +

    Key of parameter VhEp/RansacParam2 : "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC." Default value: 0.99 ( float ).

    + +

    Definition at line 398 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVhEpRansacParam2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVhEpRansacParam2 ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter VhEp/RansacParam2 : 0.99 .

    + +

    Definition at line 398 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVhEpRansacParam2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVhEpRansacParam2 ()
    +     		+inlinestatic
    +
    + +

    Type of parameter VhEp/RansacParam2 , as a string: float .

    + +

    Definition at line 398 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDEnabled ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/Enabled : "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information." Default value: true ( bool ).

    + +

    Definition at line 401 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDEnabled ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/Enabled : true .

    + +

    Definition at line 401 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDEnabled ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/Enabled , as a string: bool .

    + +

    Definition at line 401 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDLinearUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDLinearUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LinearUpdate : uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

    + +

    Definition at line 402 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDLinearUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDLinearUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LinearUpdate : 0.1 .

    + +

    Definition at line 402 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDLinearUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDLinearUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LinearUpdate , as a string: float .

    + +

    Definition at line 402 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDAngularUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDAngularUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/AngularUpdate : uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

    + +

    Definition at line 403 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDAngularUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDAngularUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/AngularUpdate : 0.1 .

    + +

    Definition at line 403 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDAngularUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDAngularUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/AngularUpdate , as a string: float .

    + +

    Definition at line 403 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDLinearSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDLinearSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LinearSpeedUpdate : "Maximum linear speed (m/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

    + +

    Definition at line 404 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDLinearSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDLinearSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .

    + +

    Definition at line 404 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDLinearSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDLinearSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LinearSpeedUpdate , as a string: float .

    + +

    Definition at line 404 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDAngularSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDAngularSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/AngularSpeedUpdate : "Maximum angular speed (rad/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

    + +

    Definition at line 405 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDAngularSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDAngularSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .

    + +

    Definition at line 405 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDAngularSpeedUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDAngularSpeedUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/AngularSpeedUpdate , as a string: float .

    + +

    Definition at line 405 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDAggressiveLoopThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDAggressiveLoopThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/AggressiveLoopThr : uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()) Default value: 0.05 ( float ).

    + +

    Definition at line 406 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDAggressiveLoopThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDAggressiveLoopThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/AggressiveLoopThr : 0.05 .

    + +

    Definition at line 406 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDAggressiveLoopThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDAggressiveLoopThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/AggressiveLoopThr , as a string: float .

    + +

    Definition at line 406 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDNewMapOdomChangeDistance()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDNewMapOdomChangeDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/NewMapOdomChangeDistance : "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)." Default value: 0 ( float ).

    + +

    Definition at line 407 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDNewMapOdomChangeDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDNewMapOdomChangeDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .

    + +

    Definition at line 407 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDNewMapOdomChangeDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDNewMapOdomChangeDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/NewMapOdomChangeDistance , as a string: float .

    + +

    Definition at line 407 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDOptimizeFromGraphEnd()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDOptimizeFromGraphEnd ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/OptimizeFromGraphEnd : "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation)." Default value: false ( bool ).

    + +

    Definition at line 408 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDOptimizeFromGraphEnd()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDOptimizeFromGraphEnd ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/OptimizeFromGraphEnd : false .

    + +

    Definition at line 408 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDOptimizeFromGraphEnd()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDOptimizeFromGraphEnd ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/OptimizeFromGraphEnd , as a string: bool .

    + +

    Definition at line 408 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDOptimizeMaxError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDOptimizeMaxError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/OptimizeMaxError : uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()) Default value: 3.0 ( float ).

    + +

    Definition at line 409 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDOptimizeMaxError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDOptimizeMaxError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/OptimizeMaxError : 3.0 .

    + +

    Definition at line 409 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDOptimizeMaxError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDOptimizeMaxError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/OptimizeMaxError , as a string: float .

    + +

    Definition at line 409 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDOptimizeMaxErrorRepairRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDOptimizeMaxErrorRepairRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/OptimizeMaxErrorRepairRadius : uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 410 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDOptimizeMaxErrorRepairRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDOptimizeMaxErrorRepairRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .

    + +

    Definition at line 410 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDOptimizeMaxErrorRepairRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDOptimizeMaxErrorRepairRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/OptimizeMaxErrorRepairRadius , as a string: float .

    + +

    Definition at line 410 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDMaxLoopClosureDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDMaxLoopClosureDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/MaxLoopClosureDistance : "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled)." Default value: 0.0 ( float ).

    + +

    Definition at line 411 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDMaxLoopClosureDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDMaxLoopClosureDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .

    + +

    Definition at line 411 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDMaxLoopClosureDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDMaxLoopClosureDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/MaxLoopClosureDistance , as a string: float .

    + +

    Definition at line 411 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDForceOdom3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDForceOdom3DoF ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ForceOdom3DoF : uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()) Default value: true ( bool ).

    + +

    Definition at line 412 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDForceOdom3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDForceOdom3DoF ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ForceOdom3DoF : true .

    + +

    Definition at line 412 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDForceOdom3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDForceOdom3DoF ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ForceOdom3DoF , as a string: bool .

    + +

    Definition at line 412 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDStartAtOrigin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDStartAtOrigin ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/StartAtOrigin : uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

    + +

    Definition at line 413 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDStartAtOrigin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDStartAtOrigin ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/StartAtOrigin : false .

    + +

    Definition at line 413 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDStartAtOrigin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDStartAtOrigin ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/StartAtOrigin , as a string: bool .

    + +

    Definition at line 413 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDGoalReachedRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDGoalReachedRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/GoalReachedRadius : "Goal reached radius (m)." Default value: 0.5 ( float ).

    + +

    Definition at line 414 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDGoalReachedRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDGoalReachedRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/GoalReachedRadius : 0.5 .

    + +

    Definition at line 414 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDGoalReachedRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDGoalReachedRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/GoalReachedRadius , as a string: float .

    + +

    Definition at line 414 of file Parameters.h.

    + +
    +
    + +

    ◆ kRGBDPlanStuckIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDPlanStuckIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/PlanStuckIterations : "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails." Default value: 0 ( int ).

    + +

    Definition at line 415 of file Parameters.h.

    + +
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    + +

    ◆ defaultRGBDPlanStuckIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultRGBDPlanStuckIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/PlanStuckIterations : 0 .

    + +

    Definition at line 415 of file Parameters.h.

    + +
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    + +

    ◆ typeRGBDPlanStuckIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDPlanStuckIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/PlanStuckIterations , as a string: int .

    + +

    Definition at line 415 of file Parameters.h.

    + +
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    + +

    ◆ kRGBDPlanLinearVelocity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDPlanLinearVelocity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/PlanLinearVelocity : "Linear velocity (m/sec) used to compute path weights." Default value: 0 ( float ).

    + +

    Definition at line 416 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRGBDPlanLinearVelocity()

    + +
    +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDPlanLinearVelocity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/PlanLinearVelocity : 0 .

    + +

    Definition at line 416 of file Parameters.h.

    + +
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    + +

    ◆ typeRGBDPlanLinearVelocity()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDPlanLinearVelocity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/PlanLinearVelocity , as a string: float .

    + +

    Definition at line 416 of file Parameters.h.

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    + +

    ◆ kRGBDPlanAngularVelocity()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDPlanAngularVelocity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/PlanAngularVelocity : "Angular velocity (rad/sec) used to compute path weights." Default value: 0 ( float ).

    + +

    Definition at line 417 of file Parameters.h.

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    + +

    ◆ defaultRGBDPlanAngularVelocity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDPlanAngularVelocity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/PlanAngularVelocity : 0 .

    + +

    Definition at line 417 of file Parameters.h.

    + +
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    + +

    ◆ typeRGBDPlanAngularVelocity()

    + +
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    static std::string rtabmap::Parameters::typeRGBDPlanAngularVelocity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/PlanAngularVelocity , as a string: float .

    + +

    Definition at line 417 of file Parameters.h.

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    + +

    ◆ kRGBDGoalsSavedInUserData()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDGoalsSavedInUserData ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/GoalsSavedInUserData : "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\"." Default value: false ( bool ).

    + +

    Definition at line 418 of file Parameters.h.

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    + +

    ◆ defaultRGBDGoalsSavedInUserData()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDGoalsSavedInUserData ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/GoalsSavedInUserData : false .

    + +

    Definition at line 418 of file Parameters.h.

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    + +

    ◆ typeRGBDGoalsSavedInUserData()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDGoalsSavedInUserData ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/GoalsSavedInUserData , as a string: bool .

    + +

    Definition at line 418 of file Parameters.h.

    + +
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    + +

    ◆ kRGBDMaxLocalRetrieved()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDMaxLocalRetrieved ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/MaxLocalRetrieved : "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority)." Default value: 2 ( unsigned int ).

    + +

    Definition at line 419 of file Parameters.h.

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    + +

    ◆ defaultRGBDMaxLocalRetrieved()

    + +
    +
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    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultRGBDMaxLocalRetrieved ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/MaxLocalRetrieved : 2 .

    + +

    Definition at line 419 of file Parameters.h.

    + +
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    + +

    ◆ typeRGBDMaxLocalRetrieved()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDMaxLocalRetrieved ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/MaxLocalRetrieved , as a string: unsigned int .

    + +

    Definition at line 419 of file Parameters.h.

    + +
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    + +

    ◆ kRGBDLocalRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDLocalRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalRadius : "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management." Default value: 10 ( float ).

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    Definition at line 420 of file Parameters.h.

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    ◆ defaultRGBDLocalRadius()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDLocalRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalRadius : 10 .

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    Definition at line 420 of file Parameters.h.

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    + +

    ◆ typeRGBDLocalRadius()

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    static std::string rtabmap::Parameters::typeRGBDLocalRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LocalRadius , as a string: float .

    + +

    Definition at line 420 of file Parameters.h.

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    ◆ kRGBDLocalImmunizationRatio()

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    static std::string rtabmap::Parameters::kRGBDLocalImmunizationRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalImmunizationRatio : "Ratio of working memory for which local nodes are immunized from transfer." Default value: 0.25 ( float ).

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    Definition at line 421 of file Parameters.h.

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    ◆ defaultRGBDLocalImmunizationRatio()

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    static float rtabmap::Parameters::defaultRGBDLocalImmunizationRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .

    + +

    Definition at line 421 of file Parameters.h.

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    ◆ typeRGBDLocalImmunizationRatio()

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    static std::string rtabmap::Parameters::typeRGBDLocalImmunizationRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LocalImmunizationRatio , as a string: float .

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    Definition at line 421 of file Parameters.h.

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    ◆ kRGBDScanMatchingIdsSavedInLinks()

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    static std::string rtabmap::Parameters::kRGBDScanMatchingIdsSavedInLinks ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ScanMatchingIdsSavedInLinks : "Save scan matching IDs from one-to-many proximity detection in link's user data." Default value: true ( bool ).

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    Definition at line 422 of file Parameters.h.

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    ◆ defaultRGBDScanMatchingIdsSavedInLinks()

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    static bool rtabmap::Parameters::defaultRGBDScanMatchingIdsSavedInLinks ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .

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    Definition at line 422 of file Parameters.h.

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    ◆ typeRGBDScanMatchingIdsSavedInLinks()

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    static std::string rtabmap::Parameters::typeRGBDScanMatchingIdsSavedInLinks ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ScanMatchingIdsSavedInLinks , as a string: bool .

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    Definition at line 422 of file Parameters.h.

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    ◆ kRGBDNeighborLinkRefining()

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    static std::string rtabmap::Parameters::kRGBDNeighborLinkRefining ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/NeighborLinkRefining : uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()) Default value: false ( bool ).

    + +

    Definition at line 423 of file Parameters.h.

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    ◆ defaultRGBDNeighborLinkRefining()

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    static bool rtabmap::Parameters::defaultRGBDNeighborLinkRefining ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/NeighborLinkRefining : false .

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    Definition at line 423 of file Parameters.h.

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    ◆ typeRGBDNeighborLinkRefining()

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    static std::string rtabmap::Parameters::typeRGBDNeighborLinkRefining ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/NeighborLinkRefining , as a string: bool .

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    Definition at line 423 of file Parameters.h.

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    ◆ kRGBDLoopClosureIdentityGuess()

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    static std::string rtabmap::Parameters::kRGBDLoopClosureIdentityGuess ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LoopClosureIdentityGuess : uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()) Default value: false ( bool ).

    + +

    Definition at line 424 of file Parameters.h.

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    ◆ defaultRGBDLoopClosureIdentityGuess()

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    static bool rtabmap::Parameters::defaultRGBDLoopClosureIdentityGuess ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LoopClosureIdentityGuess : false .

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    Definition at line 424 of file Parameters.h.

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    ◆ typeRGBDLoopClosureIdentityGuess()

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    static std::string rtabmap::Parameters::typeRGBDLoopClosureIdentityGuess ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LoopClosureIdentityGuess , as a string: bool .

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    Definition at line 424 of file Parameters.h.

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    ◆ kRGBDLoopClosureReextractFeatures()

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    static std::string rtabmap::Parameters::kRGBDLoopClosureReextractFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LoopClosureReextractFeatures : "Extract features even if there are some already in the nodes. Raw features are not saved in database." Default value: false ( bool ).

    + +

    Definition at line 425 of file Parameters.h.

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    ◆ defaultRGBDLoopClosureReextractFeatures()

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    static bool rtabmap::Parameters::defaultRGBDLoopClosureReextractFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LoopClosureReextractFeatures : false .

    + +

    Definition at line 425 of file Parameters.h.

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    ◆ typeRGBDLoopClosureReextractFeatures()

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    static std::string rtabmap::Parameters::typeRGBDLoopClosureReextractFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LoopClosureReextractFeatures , as a string: bool .

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    Definition at line 425 of file Parameters.h.

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    ◆ kRGBDLocalBundleOnLoopClosure()

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    static std::string rtabmap::Parameters::kRGBDLocalBundleOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalBundleOnLoopClosure : "Do local bundle adjustment with neighborhood of the loop closure." Default value: false ( bool ).

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    Definition at line 426 of file Parameters.h.

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    ◆ defaultRGBDLocalBundleOnLoopClosure()

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    static bool rtabmap::Parameters::defaultRGBDLocalBundleOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalBundleOnLoopClosure : false .

    + +

    Definition at line 426 of file Parameters.h.

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    + +

    ◆ typeRGBDLocalBundleOnLoopClosure()

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    static std::string rtabmap::Parameters::typeRGBDLocalBundleOnLoopClosure ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LocalBundleOnLoopClosure , as a string: bool .

    + +

    Definition at line 426 of file Parameters.h.

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    ◆ kRGBDInvertedReg()

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    static std::string rtabmap::Parameters::kRGBDInvertedReg ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/InvertedReg : "On loop closure, do registration from the target to reference instead of reference to target." Default value: false ( bool ).

    + +

    Definition at line 427 of file Parameters.h.

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    ◆ defaultRGBDInvertedReg()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDInvertedReg ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/InvertedReg : false .

    + +

    Definition at line 427 of file Parameters.h.

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    + +

    ◆ typeRGBDInvertedReg()

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    static std::string rtabmap::Parameters::typeRGBDInvertedReg ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/InvertedReg , as a string: bool .

    + +

    Definition at line 427 of file Parameters.h.

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    + +

    ◆ kRGBDCreateOccupancyGrid()

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    static std::string rtabmap::Parameters::kRGBDCreateOccupancyGrid ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/CreateOccupancyGrid : "Create local occupancy grid maps. See \"Grid\" group for parameters." Default value: false ( bool ).

    + +

    Definition at line 428 of file Parameters.h.

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    ◆ defaultRGBDCreateOccupancyGrid()

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    static bool rtabmap::Parameters::defaultRGBDCreateOccupancyGrid ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/CreateOccupancyGrid : false .

    + +

    Definition at line 428 of file Parameters.h.

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    + +

    ◆ typeRGBDCreateOccupancyGrid()

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    static std::string rtabmap::Parameters::typeRGBDCreateOccupancyGrid ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/CreateOccupancyGrid , as a string: bool .

    + +

    Definition at line 428 of file Parameters.h.

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    ◆ kRGBDMarkerDetection()

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    static std::string rtabmap::Parameters::kRGBDMarkerDetection ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/MarkerDetection : "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters." Default value: false ( bool ).

    + +

    Definition at line 429 of file Parameters.h.

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    ◆ defaultRGBDMarkerDetection()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDMarkerDetection ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/MarkerDetection : false .

    + +

    Definition at line 429 of file Parameters.h.

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    + +

    ◆ typeRGBDMarkerDetection()

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    static std::string rtabmap::Parameters::typeRGBDMarkerDetection ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/MarkerDetection , as a string: bool .

    + +

    Definition at line 429 of file Parameters.h.

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    + +

    ◆ kRGBDLoopCovLimited()

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    static std::string rtabmap::Parameters::kRGBDLoopCovLimited ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LoopCovLimited : "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links." Default value: false ( bool ).

    + +

    Definition at line 430 of file Parameters.h.

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    + +

    ◆ defaultRGBDLoopCovLimited()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDLoopCovLimited ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LoopCovLimited : false .

    + +

    Definition at line 430 of file Parameters.h.

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    + +

    ◆ typeRGBDLoopCovLimited()

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    static std::string rtabmap::Parameters::typeRGBDLoopCovLimited ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LoopCovLimited , as a string: bool .

    + +

    Definition at line 430 of file Parameters.h.

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    + +

    ◆ kRGBDMaxOdomCacheSize()

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    static std::string rtabmap::Parameters::kRGBDMaxOdomCacheSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/MaxOdomCacheSize : uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()) Default value: 10 ( int ).

    + +

    Definition at line 431 of file Parameters.h.

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    + +

    ◆ defaultRGBDMaxOdomCacheSize()

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    static int rtabmap::Parameters::defaultRGBDMaxOdomCacheSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/MaxOdomCacheSize : 10 .

    + +

    Definition at line 431 of file Parameters.h.

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    ◆ typeRGBDMaxOdomCacheSize()

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    static std::string rtabmap::Parameters::typeRGBDMaxOdomCacheSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/MaxOdomCacheSize , as a string: int .

    + +

    Definition at line 431 of file Parameters.h.

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    ◆ kRGBDLocalizationSmoothing()

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    static std::string rtabmap::Parameters::kRGBDLocalizationSmoothing ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalizationSmoothing : uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

    + +

    Definition at line 432 of file Parameters.h.

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    ◆ defaultRGBDLocalizationSmoothing()

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    static bool rtabmap::Parameters::defaultRGBDLocalizationSmoothing ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalizationSmoothing : true .

    + +

    Definition at line 432 of file Parameters.h.

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    ◆ typeRGBDLocalizationSmoothing()

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    static std::string rtabmap::Parameters::typeRGBDLocalizationSmoothing ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LocalizationSmoothing , as a string: bool .

    + +

    Definition at line 432 of file Parameters.h.

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    ◆ kRGBDLocalizationPriorError()

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    static std::string rtabmap::Parameters::kRGBDLocalizationPriorError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalizationPriorError : uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: 0.001 ( double ).

    + +

    Definition at line 433 of file Parameters.h.

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    ◆ defaultRGBDLocalizationPriorError()

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    static double rtabmap::Parameters::defaultRGBDLocalizationPriorError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalizationPriorError : 0.001 .

    + +

    Definition at line 433 of file Parameters.h.

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    ◆ typeRGBDLocalizationPriorError()

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    static std::string rtabmap::Parameters::typeRGBDLocalizationPriorError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/LocalizationPriorError , as a string: double .

    + +

    Definition at line 433 of file Parameters.h.

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    ◆ kRGBDLocalizationSecondTryWithoutProximityLinks()

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    static std::string rtabmap::Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

    + +

    Definition at line 434 of file Parameters.h.

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    ◆ defaultRGBDLocalizationSecondTryWithoutProximityLinks()

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    static bool rtabmap::Parameters::defaultRGBDLocalizationSecondTryWithoutProximityLinks ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .

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    Definition at line 434 of file Parameters.h.

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    ◆ typeRGBDLocalizationSecondTryWithoutProximityLinks()

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    static std::string rtabmap::Parameters::typeRGBDLocalizationSecondTryWithoutProximityLinks ()
    +     		+inlinestatic
    +
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    Type of parameter RGBD/LocalizationSecondTryWithoutProximityLinks , as a string: bool .

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    Definition at line 434 of file Parameters.h.

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    ◆ kRGBDProximityByTime()

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    static std::string rtabmap::Parameters::kRGBDProximityByTime ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityByTime : "Detection over all locations in STM." Default value: false ( bool ).

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    Definition at line 437 of file Parameters.h.

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    ◆ defaultRGBDProximityByTime()

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    static bool rtabmap::Parameters::defaultRGBDProximityByTime ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityByTime : false .

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    Definition at line 437 of file Parameters.h.

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    ◆ typeRGBDProximityByTime()

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    static std::string rtabmap::Parameters::typeRGBDProximityByTime ()
    +     		+inlinestatic
    +
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    Type of parameter RGBD/ProximityByTime , as a string: bool .

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    Definition at line 437 of file Parameters.h.

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    ◆ kRGBDProximityBySpace()

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    static std::string rtabmap::Parameters::kRGBDProximityBySpace ()
    +     		+inlinestatic
    +
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    Key of parameter RGBD/ProximityBySpace : "Detection over locations (in Working Memory) near in space." Default value: true ( bool ).

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    Definition at line 438 of file Parameters.h.

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    ◆ defaultRGBDProximityBySpace()

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    static bool rtabmap::Parameters::defaultRGBDProximityBySpace ()
    +     		+inlinestatic
    +
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    Default value of parameter RGBD/ProximityBySpace : true .

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    Definition at line 438 of file Parameters.h.

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    ◆ typeRGBDProximityBySpace()

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    static std::string rtabmap::Parameters::typeRGBDProximityBySpace ()
    +     		+inlinestatic
    +
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    Type of parameter RGBD/ProximityBySpace , as a string: bool .

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    Definition at line 438 of file Parameters.h.

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    ◆ kRGBDProximityMaxGraphDepth()

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    static std::string rtabmap::Parameters::kRGBDProximityMaxGraphDepth ()
    +     		+inlinestatic
    +
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    Key of parameter RGBD/ProximityMaxGraphDepth : "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore." Default value: 50 ( int ).

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    Definition at line 439 of file Parameters.h.

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    ◆ defaultRGBDProximityMaxGraphDepth()

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    static int rtabmap::Parameters::defaultRGBDProximityMaxGraphDepth ()
    +     		+inlinestatic
    +
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    Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .

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    Definition at line 439 of file Parameters.h.

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    ◆ typeRGBDProximityMaxGraphDepth()

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    static std::string rtabmap::Parameters::typeRGBDProximityMaxGraphDepth ()
    +     		+inlinestatic
    +
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    Type of parameter RGBD/ProximityMaxGraphDepth , as a string: int .

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    Definition at line 439 of file Parameters.h.

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    ◆ kRGBDProximityMaxPaths()

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    static std::string rtabmap::Parameters::kRGBDProximityMaxPaths ()
    +     		+inlinestatic
    +
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    Key of parameter RGBD/ProximityMaxPaths : "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit." Default value: 3 ( int ).

    + +

    Definition at line 440 of file Parameters.h.

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    ◆ defaultRGBDProximityMaxPaths()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultRGBDProximityMaxPaths ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityMaxPaths : 3 .

    + +

    Definition at line 440 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRGBDProximityMaxPaths()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityMaxPaths ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityMaxPaths , as a string: int .

    + +

    Definition at line 440 of file Parameters.h.

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    +
    + +

    ◆ kRGBDProximityPathFilteringRadius()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityPathFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityPathFilteringRadius : "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection." Default value: 1 ( float ).

    + +

    Definition at line 441 of file Parameters.h.

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    + +

    ◆ defaultRGBDProximityPathFilteringRadius()

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    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDProximityPathFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .

    + +

    Definition at line 441 of file Parameters.h.

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    +
    + +

    ◆ typeRGBDProximityPathFilteringRadius()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityPathFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityPathFilteringRadius , as a string: float .

    + +

    Definition at line 441 of file Parameters.h.

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    +
    + +

    ◆ kRGBDProximityPathMaxNeighbors()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityPathMaxNeighbors ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityPathMaxNeighbors : "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans)." Default value: 0 ( int ).

    + +

    Definition at line 442 of file Parameters.h.

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    + +

    ◆ defaultRGBDProximityPathMaxNeighbors()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultRGBDProximityPathMaxNeighbors ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .

    + +

    Definition at line 442 of file Parameters.h.

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    + +

    ◆ typeRGBDProximityPathMaxNeighbors()

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    static std::string rtabmap::Parameters::typeRGBDProximityPathMaxNeighbors ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityPathMaxNeighbors , as a string: int .

    + +

    Definition at line 442 of file Parameters.h.

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    + +

    ◆ kRGBDProximityPathRawPosesUsed()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityPathRawPosesUsed ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityPathRawPosesUsed : "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph." Default value: true ( bool ).

    + +

    Definition at line 443 of file Parameters.h.

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    ◆ defaultRGBDProximityPathRawPosesUsed()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDProximityPathRawPosesUsed ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityPathRawPosesUsed : true .

    + +

    Definition at line 443 of file Parameters.h.

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    +
    + +

    ◆ typeRGBDProximityPathRawPosesUsed()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityPathRawPosesUsed ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityPathRawPosesUsed , as a string: bool .

    + +

    Definition at line 443 of file Parameters.h.

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    +
    + +

    ◆ kRGBDProximityAngle()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityAngle ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityAngle : "Maximum angle (degrees) for one-to-one proximity detection." Default value: 45 ( float ).

    + +

    Definition at line 444 of file Parameters.h.

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    ◆ defaultRGBDProximityAngle()

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    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultRGBDProximityAngle ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityAngle : 45 .

    + +

    Definition at line 444 of file Parameters.h.

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    +
    + +

    ◆ typeRGBDProximityAngle()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityAngle ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityAngle , as a string: float .

    + +

    Definition at line 444 of file Parameters.h.

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    +
    + +

    ◆ kRGBDProximityOdomGuess()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityOdomGuess ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityOdomGuess : "Use odometry as motion guess for one-to-one proximity detection." Default value: false ( bool ).

    + +

    Definition at line 445 of file Parameters.h.

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    + +

    ◆ defaultRGBDProximityOdomGuess()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDProximityOdomGuess ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityOdomGuess : false .

    + +

    Definition at line 445 of file Parameters.h.

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    + +

    ◆ typeRGBDProximityOdomGuess()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityOdomGuess ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityOdomGuess , as a string: bool .

    + +

    Definition at line 445 of file Parameters.h.

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    + +

    ◆ kRGBDProximityGlobalScanMap()

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    static std::string rtabmap::Parameters::kRGBDProximityGlobalScanMap ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityGlobalScanMap : uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

    + +

    Definition at line 446 of file Parameters.h.

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    + +

    ◆ defaultRGBDProximityGlobalScanMap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRGBDProximityGlobalScanMap ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityGlobalScanMap : false .

    + +

    Definition at line 446 of file Parameters.h.

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    +
    + +

    ◆ typeRGBDProximityGlobalScanMap()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityGlobalScanMap ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityGlobalScanMap , as a string: bool .

    + +

    Definition at line 446 of file Parameters.h.

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    +
    + +

    ◆ kRGBDProximityMergedScanCovFactor()

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    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kRGBDProximityMergedScanCovFactor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter RGBD/ProximityMergedScanCovFactor : uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()) Default value: 100.0 ( double ).

    + +

    Definition at line 447 of file Parameters.h.

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    +
    + +

    ◆ defaultRGBDProximityMergedScanCovFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultRGBDProximityMergedScanCovFactor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .

    + +

    Definition at line 447 of file Parameters.h.

    + +
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    + +

    ◆ typeRGBDProximityMergedScanCovFactor()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeRGBDProximityMergedScanCovFactor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter RGBD/ProximityMergedScanCovFactor , as a string: double .

    + +

    Definition at line 447 of file Parameters.h.

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    + +

    ◆ kOptimizerStrategy()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/Strategy : "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres." Default value: 0 ( int ).

    + +

    Definition at line 465 of file Parameters.h.

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    + +

    ◆ defaultOptimizerStrategy()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultOptimizerStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/Strategy : 0 .

    + +

    Definition at line 465 of file Parameters.h.

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    + +

    ◆ typeOptimizerStrategy()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/Strategy , as a string: int .

    + +

    Definition at line 465 of file Parameters.h.

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    + +

    ◆ kOptimizerIterations()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/Iterations : "Optimization iterations." Default value: 100 ( int ).

    + +

    Definition at line 466 of file Parameters.h.

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    + +

    ◆ defaultOptimizerIterations()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultOptimizerIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/Iterations : 100 .

    + +

    Definition at line 466 of file Parameters.h.

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    + +

    ◆ typeOptimizerIterations()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/Iterations , as a string: int .

    + +

    Definition at line 466 of file Parameters.h.

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    + +

    ◆ kOptimizerEpsilon()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerEpsilon ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/Epsilon : "Stop optimizing when the error improvement is less than this value." Default value: 0.00001 ( double ).

    + +

    Definition at line 467 of file Parameters.h.

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    + +

    ◆ defaultOptimizerEpsilon()

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    + + + + + + + +
    static double rtabmap::Parameters::defaultOptimizerEpsilon ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/Epsilon : 0.00001 .

    + +

    Definition at line 467 of file Parameters.h.

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    + +

    ◆ typeOptimizerEpsilon()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerEpsilon ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/Epsilon , as a string: double .

    + +

    Definition at line 467 of file Parameters.h.

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    + +

    ◆ kOptimizerVarianceIgnored()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerVarianceIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/VarianceIgnored : "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links." Default value: false ( bool ).

    + +

    Definition at line 471 of file Parameters.h.

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    + +

    ◆ defaultOptimizerVarianceIgnored()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOptimizerVarianceIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/VarianceIgnored : false .

    + +

    Definition at line 471 of file Parameters.h.

    + +
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    + +

    ◆ typeOptimizerVarianceIgnored()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerVarianceIgnored ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/VarianceIgnored , as a string: bool .

    + +

    Definition at line 471 of file Parameters.h.

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    ◆ kOptimizerRobust()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerRobust ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/Robust : "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)." Default value: false ( bool ).

    + +

    Definition at line 472 of file Parameters.h.

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    + +

    ◆ defaultOptimizerRobust()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOptimizerRobust ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/Robust : false .

    + +

    Definition at line 472 of file Parameters.h.

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    ◆ typeOptimizerRobust()

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    static std::string rtabmap::Parameters::typeOptimizerRobust ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/Robust , as a string: bool .

    + +

    Definition at line 472 of file Parameters.h.

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    ◆ kOptimizerPriorsIgnored()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerPriorsIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ).

    + +

    Definition at line 473 of file Parameters.h.

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    ◆ defaultOptimizerPriorsIgnored()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOptimizerPriorsIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/PriorsIgnored : true .

    + +

    Definition at line 473 of file Parameters.h.

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    ◆ typeOptimizerPriorsIgnored()

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    static std::string rtabmap::Parameters::typeOptimizerPriorsIgnored ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/PriorsIgnored , as a string: bool .

    + +

    Definition at line 473 of file Parameters.h.

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    ◆ kOptimizerLandmarksIgnored()

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    static std::string rtabmap::Parameters::kOptimizerLandmarksIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/LandmarksIgnored : "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this." Default value: false ( bool ).

    + +

    Definition at line 474 of file Parameters.h.

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    ◆ defaultOptimizerLandmarksIgnored()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOptimizerLandmarksIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/LandmarksIgnored : false .

    + +

    Definition at line 474 of file Parameters.h.

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    ◆ typeOptimizerLandmarksIgnored()

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    static std::string rtabmap::Parameters::typeOptimizerLandmarksIgnored ()
    +     		+inlinestatic
    +
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    Type of parameter Optimizer/LandmarksIgnored , as a string: bool .

    + +

    Definition at line 474 of file Parameters.h.

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    ◆ kOptimizerGravitySigma()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerGravitySigma ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/GravitySigma : uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 478 of file Parameters.h.

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    ◆ defaultOptimizerGravitySigma()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultOptimizerGravitySigma ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/GravitySigma : 0.0 .

    + +

    Definition at line 478 of file Parameters.h.

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    ◆ typeOptimizerGravitySigma()

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    static std::string rtabmap::Parameters::typeOptimizerGravitySigma ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/GravitySigma , as a string: float .

    + +

    Definition at line 478 of file Parameters.h.

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    ◆ kg2oSolver()

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    static std::string rtabmap::Parameters::kg2oSolver ()
    +     		+inlinestatic
    +
    + +

    Key of parameter g2o/Solver : "0=csparse 1=pcg 2=cholmod 3=Eigen" Default value: 0 ( int ).

    + +

    Definition at line 484 of file Parameters.h.

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    ◆ defaultg2oSolver()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultg2oSolver ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter g2o/Solver : 0 .

    + +

    Definition at line 484 of file Parameters.h.

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    ◆ typeg2oSolver()

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    static std::string rtabmap::Parameters::typeg2oSolver ()
    +     		+inlinestatic
    +
    + +

    Type of parameter g2o/Solver , as a string: int .

    + +

    Definition at line 484 of file Parameters.h.

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    ◆ kg2oOptimizer()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kg2oOptimizer ()
    +     		+inlinestatic
    +
    + +

    Key of parameter g2o/Optimizer : "0=Levenberg 1=GaussNewton" Default value: 0 ( int ).

    + +

    Definition at line 486 of file Parameters.h.

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    ◆ defaultg2oOptimizer()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultg2oOptimizer ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter g2o/Optimizer : 0 .

    + +

    Definition at line 486 of file Parameters.h.

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    ◆ typeg2oOptimizer()

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    static std::string rtabmap::Parameters::typeg2oOptimizer ()
    +     		+inlinestatic
    +
    + +

    Type of parameter g2o/Optimizer , as a string: int .

    + +

    Definition at line 486 of file Parameters.h.

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    ◆ kOptimizerBaseline()

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    static std::string rtabmap::Parameters::kOptimizerBaseline ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/Baseline : "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly." Default value: 0.075 ( double ).

    + +

    Definition at line 488 of file Parameters.h.

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    ◆ defaultOptimizerBaseline()

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    +
    + + + + + +
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    static double rtabmap::Parameters::defaultOptimizerBaseline ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/Baseline : 0.075 .

    + +

    Definition at line 488 of file Parameters.h.

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    +
    + +

    ◆ typeOptimizerBaseline()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerBaseline ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/Baseline , as a string: double .

    + +

    Definition at line 488 of file Parameters.h.

    + +
    +
    + +

    ◆ kOptimizerPixelVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerPixelVariance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/PixelVariance : "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions." Default value: 1.0 ( double ).

    + +

    Definition at line 489 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOptimizerPixelVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOptimizerPixelVariance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/PixelVariance : 1.0 .

    + +

    Definition at line 489 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOptimizerPixelVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerPixelVariance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/PixelVariance , as a string: double .

    + +

    Definition at line 489 of file Parameters.h.

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    +
    + +

    ◆ kOptimizerDisparityVariance()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerDisparityVariance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).

    + +

    Definition at line 490 of file Parameters.h.

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    + +

    ◆ defaultOptimizerDisparityVariance()

    + +
    +
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    + + + + + + + +
    static double rtabmap::Parameters::defaultOptimizerDisparityVariance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/DisparityVariance : 1.0 .

    + +

    Definition at line 490 of file Parameters.h.

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    + +

    ◆ typeOptimizerDisparityVariance()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOptimizerDisparityVariance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/DisparityVariance , as a string: double .

    + +

    Definition at line 490 of file Parameters.h.

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    + +

    ◆ kOptimizerRobustKernelDelta()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOptimizerRobustKernelDelta ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Optimizer/RobustKernelDelta : "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." Default value: 8 ( double ).

    + +

    Definition at line 491 of file Parameters.h.

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    +
    + +

    ◆ defaultOptimizerRobustKernelDelta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOptimizerRobustKernelDelta ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Optimizer/RobustKernelDelta : 8 .

    + +

    Definition at line 491 of file Parameters.h.

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    + +

    ◆ typeOptimizerRobustKernelDelta()

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    static std::string rtabmap::Parameters::typeOptimizerRobustKernelDelta ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Optimizer/RobustKernelDelta , as a string: double .

    + +

    Definition at line 491 of file Parameters.h.

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    ◆ kGTSAMOptimizer()

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    static std::string rtabmap::Parameters::kGTSAMOptimizer ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GTSAM/Optimizer : "0=Levenberg 1=GaussNewton 2=Dogleg" Default value: 1 ( int ).

    + +

    Definition at line 493 of file Parameters.h.

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    ◆ defaultGTSAMOptimizer()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultGTSAMOptimizer ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GTSAM/Optimizer : 1 .

    + +

    Definition at line 493 of file Parameters.h.

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    + +

    ◆ typeGTSAMOptimizer()

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    static std::string rtabmap::Parameters::typeGTSAMOptimizer ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GTSAM/Optimizer , as a string: int .

    + +

    Definition at line 493 of file Parameters.h.

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    + +

    ◆ kGTSAMIncremental()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kGTSAMIncremental ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GTSAM/Incremental : uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()) Default value: false ( bool ).

    + +

    Definition at line 494 of file Parameters.h.

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    ◆ defaultGTSAMIncremental()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultGTSAMIncremental ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GTSAM/Incremental : false .

    + +

    Definition at line 494 of file Parameters.h.

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    + +

    ◆ typeGTSAMIncremental()

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    static std::string rtabmap::Parameters::typeGTSAMIncremental ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GTSAM/Incremental , as a string: bool .

    + +

    Definition at line 494 of file Parameters.h.

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    +
    + +

    ◆ kGTSAMIncRelinearizeThreshold()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kGTSAMIncRelinearizeThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GTSAM/IncRelinearizeThreshold : "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info." Default value: 0.01 ( double ).

    + +

    Definition at line 495 of file Parameters.h.

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    +
    + +

    ◆ defaultGTSAMIncRelinearizeThreshold()

    + +
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    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultGTSAMIncRelinearizeThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .

    + +

    Definition at line 495 of file Parameters.h.

    + +
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    + +

    ◆ typeGTSAMIncRelinearizeThreshold()

    + +
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    static std::string rtabmap::Parameters::typeGTSAMIncRelinearizeThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GTSAM/IncRelinearizeThreshold , as a string: double .

    + +

    Definition at line 495 of file Parameters.h.

    + +
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    + +

    ◆ kGTSAMIncRelinearizeSkip()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kGTSAMIncRelinearizeSkip ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GTSAM/IncRelinearizeSkip : "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info." Default value: 1 ( int ).

    + +

    Definition at line 496 of file Parameters.h.

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    + +

    ◆ defaultGTSAMIncRelinearizeSkip()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultGTSAMIncRelinearizeSkip ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GTSAM/IncRelinearizeSkip : 1 .

    + +

    Definition at line 496 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGTSAMIncRelinearizeSkip()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGTSAMIncRelinearizeSkip ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GTSAM/IncRelinearizeSkip , as a string: int .

    + +

    Definition at line 496 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomStrategy()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/Strategy : "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM" Default value: 0 ( int ).

    + +

    Definition at line 499 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomStrategy()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/Strategy : 0 .

    + +

    Definition at line 499 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/Strategy , as a string: int .

    + +

    Definition at line 499 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomResetCountdown()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomResetCountdown ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ResetCountdown : "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered." Default value: 0 ( int ).

    + +

    Definition at line 500 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomResetCountdown()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomResetCountdown ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ResetCountdown : 0 .

    + +

    Definition at line 500 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomResetCountdown()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomResetCountdown ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ResetCountdown , as a string: int .

    + +

    Definition at line 500 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomHolonomic()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomHolonomic ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/Holonomic : "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))." Default value: true ( bool ).

    + +

    Definition at line 501 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomHolonomic()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomHolonomic ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/Holonomic : true .

    + +

    Definition at line 501 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomHolonomic()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomHolonomic ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/Holonomic , as a string: bool .

    + +

    Definition at line 501 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFillInfoData()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFillInfoData ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/FillInfoData : "Fill info with data (inliers/outliers features)." Default value: true ( bool ).

    + +

    Definition at line 502 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFillInfoData()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFillInfoData ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/FillInfoData : true .

    + +

    Definition at line 502 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFillInfoData()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFillInfoData ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/FillInfoData , as a string: bool .

    + +

    Definition at line 502 of file Parameters.h.

    + +
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    + +

    ◆ kOdomImageBufferSize()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).

    + +

    Definition at line 503 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomImageBufferSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultOdomImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ImageBufferSize : 1 .

    + +

    Definition at line 503 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomImageBufferSize()

    + +
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    static std::string rtabmap::Parameters::typeOdomImageBufferSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ImageBufferSize , as a string: unsigned int .

    + +

    Definition at line 503 of file Parameters.h.

    + +
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    + +

    ◆ kOdomFilteringStrategy()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFilteringStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/FilteringStrategy : "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output." Default value: 0 ( int ).

    + +

    Definition at line 504 of file Parameters.h.

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    + +

    ◆ defaultOdomFilteringStrategy()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFilteringStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/FilteringStrategy : 0 .

    + +

    Definition at line 504 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomFilteringStrategy()

    + +
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    static std::string rtabmap::Parameters::typeOdomFilteringStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/FilteringStrategy , as a string: int .

    + +

    Definition at line 504 of file Parameters.h.

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    + +

    ◆ kOdomParticleSize()

    + +
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    static std::string rtabmap::Parameters::kOdomParticleSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ParticleSize : "Number of particles of the filter." Default value: 400 ( unsigned int ).

    + +

    Definition at line 505 of file Parameters.h.

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    ◆ defaultOdomParticleSize()

    + +
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    static unsigned int rtabmap::Parameters::defaultOdomParticleSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ParticleSize : 400 .

    + +

    Definition at line 505 of file Parameters.h.

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    ◆ typeOdomParticleSize()

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    static std::string rtabmap::Parameters::typeOdomParticleSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ParticleSize , as a string: unsigned int .

    + +

    Definition at line 505 of file Parameters.h.

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    ◆ kOdomParticleNoiseT()

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    static std::string rtabmap::Parameters::kOdomParticleNoiseT ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ParticleNoiseT : "Noise (m) of translation components (x,y,z)." Default value: 0.002 ( float ).

    + +

    Definition at line 506 of file Parameters.h.

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    ◆ defaultOdomParticleNoiseT()

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    static float rtabmap::Parameters::defaultOdomParticleNoiseT ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ParticleNoiseT : 0.002 .

    + +

    Definition at line 506 of file Parameters.h.

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    ◆ typeOdomParticleNoiseT()

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    static std::string rtabmap::Parameters::typeOdomParticleNoiseT ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ParticleNoiseT , as a string: float .

    + +

    Definition at line 506 of file Parameters.h.

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    ◆ kOdomParticleLambdaT()

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    static std::string rtabmap::Parameters::kOdomParticleLambdaT ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ParticleLambdaT : "Lambda of translation components (x,y,z)." Default value: 100 ( float ).

    + +

    Definition at line 507 of file Parameters.h.

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    ◆ defaultOdomParticleLambdaT()

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    static float rtabmap::Parameters::defaultOdomParticleLambdaT ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ParticleLambdaT : 100 .

    + +

    Definition at line 507 of file Parameters.h.

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    ◆ typeOdomParticleLambdaT()

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    static std::string rtabmap::Parameters::typeOdomParticleLambdaT ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ParticleLambdaT , as a string: float .

    + +

    Definition at line 507 of file Parameters.h.

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    ◆ kOdomParticleNoiseR()

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    static std::string rtabmap::Parameters::kOdomParticleNoiseR ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ParticleNoiseR : "Noise (rad) of rotational components (roll,pitch,yaw)." Default value: 0.002 ( float ).

    + +

    Definition at line 508 of file Parameters.h.

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    ◆ defaultOdomParticleNoiseR()

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    static float rtabmap::Parameters::defaultOdomParticleNoiseR ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ParticleNoiseR : 0.002 .

    + +

    Definition at line 508 of file Parameters.h.

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    ◆ typeOdomParticleNoiseR()

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    static std::string rtabmap::Parameters::typeOdomParticleNoiseR ()
    +     		+inlinestatic
    +
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    Type of parameter Odom/ParticleNoiseR , as a string: float .

    + +

    Definition at line 508 of file Parameters.h.

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    ◆ kOdomParticleLambdaR()

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    static std::string rtabmap::Parameters::kOdomParticleLambdaR ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ParticleLambdaR : "Lambda of rotational components (roll,pitch,yaw)." Default value: 100 ( float ).

    + +

    Definition at line 509 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomParticleLambdaR()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomParticleLambdaR ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ParticleLambdaR : 100 .

    + +

    Definition at line 509 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomParticleLambdaR()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomParticleLambdaR ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ParticleLambdaR , as a string: float .

    + +

    Definition at line 509 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomKalmanProcessNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomKalmanProcessNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/KalmanProcessNoise : "Process noise covariance value." Default value: 0.001 ( float ).

    + +

    Definition at line 510 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomKalmanProcessNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomKalmanProcessNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/KalmanProcessNoise : 0.001 .

    + +

    Definition at line 510 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomKalmanProcessNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomKalmanProcessNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/KalmanProcessNoise , as a string: float .

    + +

    Definition at line 510 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomKalmanMeasurementNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomKalmanMeasurementNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/KalmanMeasurementNoise : "Process measurement covariance value." Default value: 0.01 ( float ).

    + +

    Definition at line 511 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomKalmanMeasurementNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomKalmanMeasurementNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .

    + +

    Definition at line 511 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomKalmanMeasurementNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomKalmanMeasurementNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/KalmanMeasurementNoise , as a string: float .

    + +

    Definition at line 511 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomGuessMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomGuessMotion ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/GuessMotion : "Guess next transformation from the last motion computed." Default value: true ( bool ).

    + +

    Definition at line 512 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomGuessMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomGuessMotion ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/GuessMotion : true .

    + +

    Definition at line 512 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomGuessMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomGuessMotion ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/GuessMotion , as a string: bool .

    + +

    Definition at line 512 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomGuessSmoothingDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomGuessSmoothingDelay ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).

    + +

    Definition at line 513 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomGuessSmoothingDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomGuessSmoothingDelay ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/GuessSmoothingDelay : 0 .

    + +

    Definition at line 513 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomGuessSmoothingDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomGuessSmoothingDelay ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/GuessSmoothingDelay , as a string: float .

    + +

    Definition at line 513 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/KeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.3 ( float ).

    + +

    Definition at line 514 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/KeyFrameThr : 0.3 .

    + +

    Definition at line 514 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/KeyFrameThr , as a string: float .

    + +

    Definition at line 514 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomVisKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomVisKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/VisKeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 150 ( int ).

    + +

    Definition at line 515 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomVisKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomVisKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/VisKeyFrameThr : 150 .

    + +

    Definition at line 515 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomVisKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomVisKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/VisKeyFrameThr , as a string: int .

    + +

    Definition at line 515 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomScanKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomScanKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ScanKeyFrameThr : "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.9 ( float ).

    + +

    Definition at line 516 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomScanKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomScanKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ScanKeyFrameThr : 0.9 .

    + +

    Definition at line 516 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomScanKeyFrameThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomScanKeyFrameThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ScanKeyFrameThr , as a string: float .

    + +

    Definition at line 516 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomImageDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomImageDecimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/ImageDecimation : uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()) Default value: 1 ( unsigned int ).

    + +

    Definition at line 517 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomImageDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultOdomImageDecimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/ImageDecimation : 1 .

    + +

    Definition at line 517 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomImageDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomImageDecimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/ImageDecimation , as a string: unsigned int .

    + +

    Definition at line 517 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomAlignWithGround()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomAlignWithGround ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).

    + +

    Definition at line 518 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomAlignWithGround()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomAlignWithGround ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/AlignWithGround : false .

    + +

    Definition at line 518 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomAlignWithGround()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomAlignWithGround ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/AlignWithGround , as a string: bool .

    + +

    Definition at line 518 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomDeskewing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomDeskewing ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Odom/Deskewing : "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)." Default value: true ( bool ).

    + +

    Definition at line 519 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomDeskewing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomDeskewing ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Odom/Deskewing : true .

    + +

    Definition at line 519 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomDeskewing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomDeskewing ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Odom/Deskewing , as a string: bool .

    + +

    Definition at line 519 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MMaxSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/MaxSize : "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words." Default value: 2000 ( int ).

    + +

    Definition at line 522 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MMaxSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/MaxSize : 2000 .

    + +

    Definition at line 522 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MMaxSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/MaxSize , as a string: int .

    + +

    Definition at line 522 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MMaxNewFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MMaxNewFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/MaxNewFeatures : "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit." Default value: 0 ( int ).

    + +

    Definition at line 523 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MMaxNewFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MMaxNewFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/MaxNewFeatures : 0 .

    + +

    Definition at line 523 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MMaxNewFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MMaxNewFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/MaxNewFeatures , as a string: int .

    + +

    Definition at line 523 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MInitDepthFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MInitDepthFactor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/InitDepthFactor : "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx." Default value: 0.05 ( float ).

    + +

    Definition at line 524 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MInitDepthFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MInitDepthFactor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/InitDepthFactor : 0.05 .

    + +

    Definition at line 524 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MInitDepthFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MInitDepthFactor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/InitDepthFactor , as a string: float .

    + +

    Definition at line 524 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MFloorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MFloorThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/FloorThreshold : "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled." Default value: 0.0 ( float ).

    + +

    Definition at line 525 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MFloorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MFloorThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/FloorThreshold : 0.0 .

    + +

    Definition at line 525 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MFloorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MFloorThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/FloorThreshold , as a string: float .

    + +

    Definition at line 525 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MScanMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MScanMaxSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).

    + +

    Definition at line 526 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MScanMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MScanMaxSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/ScanMaxSize : 2000 .

    + +

    Definition at line 526 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MScanMaxSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MScanMaxSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/ScanMaxSize , as a string: int .

    + +

    Definition at line 526 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MScanSubtractRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MScanSubtractRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/ScanSubtractRadius : "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans." Default value: 0.05 ( float ).

    + +

    Definition at line 527 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MScanSubtractRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MScanSubtractRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .

    + +

    Definition at line 527 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MScanSubtractRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MScanSubtractRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .

    + +

    Definition at line 527 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MScanSubtractAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MScanSubtractAngle ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/ScanSubtractAngle : uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str() Default value: 45 ( float ).

    + +

    Definition at line 528 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MScanSubtractAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MScanSubtractAngle ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/ScanSubtractAngle : 45 .

    + +

    Definition at line 528 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MScanSubtractAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MScanSubtractAngle ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .

    + +

    Definition at line 528 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MScanRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MScanRange ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/ScanRange : "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range." Default value: 0 ( float ).

    + +

    Definition at line 529 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MScanRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MScanRange ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/ScanRange : 0 .

    + +

    Definition at line 529 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MScanRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MScanRange ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/ScanRange , as a string: float .

    + +

    Definition at line 529 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MValidDepthRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MValidDepthRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/ValidDepthRatio : "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map." Default value: 0.75 ( float ).

    + +

    Definition at line 530 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MValidDepthRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MValidDepthRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .

    + +

    Definition at line 530 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MValidDepthRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MValidDepthRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/ValidDepthRatio , as a string: float .

    + +

    Definition at line 530 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MBundleAdjustment()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/BundleAdjustment : uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

    + +

    Definition at line 534 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MBundleAdjustment()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/BundleAdjustment : 0 .

    + +

    Definition at line 534 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MBundleAdjustment()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/BundleAdjustment , as a string: int .

    + +

    Definition at line 534 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MBundleAdjustmentMaxFrames()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMaxFrames ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/BundleAdjustmentMaxFrames : "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)." Default value: 10 ( int ).

    + +

    Definition at line 536 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MBundleAdjustmentMaxFrames()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMaxFrames ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .

    + +

    Definition at line 536 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MBundleAdjustmentMaxFrames()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMaxFrames ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .

    + +

    Definition at line 536 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MBundleAdjustmentMinMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMinMotion ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/BundleAdjustmentMinMotion : "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame." Default value: 0.0 ( float ).

    + +

    Definition at line 537 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MBundleAdjustmentMinMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMinMotion ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .

    + +

    Definition at line 537 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MBundleAdjustmentMinMotion()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMinMotion ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .

    + +

    Definition at line 537 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).

    + +

    Definition at line 538 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .

    + +

    Definition at line 538 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .

    + +

    Definition at line 538 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomF2MBundleUpdateFeatureMapOnAllFrames()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomF2MBundleUpdateFeatureMapOnAllFrames ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=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).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()) Default value: false ( bool ).

    + +

    Definition at line 539 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomF2MBundleUpdateFeatureMapOnAllFrames()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomF2MBundleUpdateFeatureMapOnAllFrames ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .

    + +

    Definition at line 539 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomF2MBundleUpdateFeatureMapOnAllFrames()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomF2MBundleUpdateFeatureMapOnAllFrames ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .

    + +

    Definition at line 539 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMonoInitMinFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMonoInitMinFlow ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).

    + +

    Definition at line 542 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMonoInitMinFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomMonoInitMinFlow ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMono/InitMinFlow : 100 .

    + +

    Definition at line 542 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMonoInitMinFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMonoInitMinFlow ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMono/InitMinFlow , as a string: float .

    + +

    Definition at line 542 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMonoInitMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMonoInitMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).

    + +

    Definition at line 543 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMonoInitMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomMonoInitMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMono/InitMinTranslation : 0.1 .

    + +

    Definition at line 543 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMonoInitMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMonoInitMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMono/InitMinTranslation , as a string: float .

    + +

    Definition at line 543 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMonoMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMonoMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMono/MinTranslation : "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum." Default value: 0.02 ( float ).

    + +

    Definition at line 544 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMonoMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomMonoMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMono/MinTranslation : 0.02 .

    + +

    Definition at line 544 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMonoMinTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMonoMinTranslation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMono/MinTranslation , as a string: float .

    + +

    Definition at line 544 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMonoMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMonoMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).

    + +

    Definition at line 545 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMonoMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomMonoMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMono/MaxVariance : 0.01 .

    + +

    Definition at line 545 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMonoMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMonoMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMono/MaxVariance , as a string: float .

    + +

    Definition at line 545 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisFeatureWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisFeatureWindowSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/FeatureWindowSize : "The size of the n x n image patch surrounding each feature, used for keypoint matching." Default value: 9 ( int ).

    + +

    Definition at line 548 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisFeatureWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisFeatureWindowSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/FeatureWindowSize : 9 .

    + +

    Definition at line 548 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisFeatureWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisFeatureWindowSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/FeatureWindowSize , as a string: int .

    + +

    Definition at line 548 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisMaxPyramidLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisMaxPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/MaxPyramidLevel : "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image." Default value: 3 ( int ).

    + +

    Definition at line 549 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisMaxPyramidLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisMaxPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/MaxPyramidLevel : 3 .

    + +

    Definition at line 549 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisMaxPyramidLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisMaxPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .

    + +

    Definition at line 549 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisMinPyramidLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisMinPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).

    + +

    Definition at line 550 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisMinPyramidLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisMinPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/MinPyramidLevel : 0 .

    + +

    Definition at line 550 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisMinPyramidLevel()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisMinPyramidLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/MinPyramidLevel , as a string: int .

    + +

    Definition at line 550 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisTargetPixelsPerFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisTargetPixelsPerFeature ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/TargetPixelsPerFeature : "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding." Default value: 250 ( int ).

    + +

    Definition at line 551 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisTargetPixelsPerFeature()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisTargetPixelsPerFeature ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .

    + +

    Definition at line 551 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomFovisTargetPixelsPerFeature()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisTargetPixelsPerFeature ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .

    + +

    Definition at line 551 of file Parameters.h.

    + +
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    + +

    ◆ kOdomFovisFastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).

    + +

    Definition at line 552 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomFovisFastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/FastThreshold : 20 .

    + +

    Definition at line 552 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomFovisFastThreshold()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/FastThreshold , as a string: int .

    + +

    Definition at line 552 of file Parameters.h.

    + +
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    + +

    ◆ kOdomFovisUseAdaptiveThreshold()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUseAdaptiveThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).

    + +

    Definition at line 553 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomFovisUseAdaptiveThreshold()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUseAdaptiveThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UseAdaptiveThreshold : true .

    + +

    Definition at line 553 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomFovisUseAdaptiveThreshold()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUseAdaptiveThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .

    + +

    Definition at line 553 of file Parameters.h.

    + +
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    + +

    ◆ kOdomFovisFastThresholdAdaptiveGain()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisFastThresholdAdaptiveGain ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).

    + +

    Definition at line 554 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomFovisFastThresholdAdaptiveGain()

    + +
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    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisFastThresholdAdaptiveGain ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .

    + +

    Definition at line 554 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomFovisFastThresholdAdaptiveGain()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisFastThresholdAdaptiveGain ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .

    + +

    Definition at line 554 of file Parameters.h.

    + +
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    + +

    ◆ kOdomFovisUseHomographyInitialization()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUseHomographyInitialization ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).

    + +

    Definition at line 555 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisUseHomographyInitialization()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUseHomographyInitialization ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UseHomographyInitialization : true .

    + +

    Definition at line 555 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisUseHomographyInitialization()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUseHomographyInitialization ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .

    + +

    Definition at line 555 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisUseBucketing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUseBucketing ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).

    + +

    Definition at line 557 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisUseBucketing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUseBucketing ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UseBucketing : true .

    + +

    Definition at line 557 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisUseBucketing()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUseBucketing ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UseBucketing , as a string: bool .

    + +

    Definition at line 557 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisBucketWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisBucketWidth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).

    + +

    Definition at line 558 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisBucketWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisBucketWidth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/BucketWidth : 80 .

    + +

    Definition at line 558 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisBucketWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisBucketWidth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/BucketWidth , as a string: int .

    + +

    Definition at line 558 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisBucketHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisBucketHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).

    + +

    Definition at line 559 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisBucketHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisBucketHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/BucketHeight : 80 .

    + +

    Definition at line 559 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisBucketHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisBucketHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/BucketHeight , as a string: int .

    + +

    Definition at line 559 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisMaxKeypointsPerBucket()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisMaxKeypointsPerBucket ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).

    + +

    Definition at line 560 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisMaxKeypointsPerBucket()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisMaxKeypointsPerBucket ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .

    + +

    Definition at line 560 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisMaxKeypointsPerBucket()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisMaxKeypointsPerBucket ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .

    + +

    Definition at line 560 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisUseImageNormalization()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUseImageNormalization ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).

    + +

    Definition at line 561 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisUseImageNormalization()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUseImageNormalization ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UseImageNormalization : false .

    + +

    Definition at line 561 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisUseImageNormalization()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUseImageNormalization ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UseImageNormalization , as a string: bool .

    + +

    Definition at line 561 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisInlierMaxReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisInlierMaxReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/InlierMaxReprojectionError : "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation." Default value: 1.5 ( double ).

    + +

    Definition at line 563 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisInlierMaxReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisInlierMaxReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .

    + +

    Definition at line 563 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisInlierMaxReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisInlierMaxReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .

    + +

    Definition at line 563 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisCliqueInlierThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisCliqueInlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/CliqueInlierThreshold : "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters." Default value: 0.1 ( double ).

    + +

    Definition at line 564 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisCliqueInlierThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisCliqueInlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .

    + +

    Definition at line 564 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisCliqueInlierThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisCliqueInlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .

    + +

    Definition at line 564 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisMinFeaturesForEstimate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisMinFeaturesForEstimate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/MinFeaturesForEstimate : "Minimum number of features in the inlier set for the motion estimate to be considered valid." Default value: 20 ( int ).

    + +

    Definition at line 565 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisMinFeaturesForEstimate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisMinFeaturesForEstimate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .

    + +

    Definition at line 565 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisMinFeaturesForEstimate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisMinFeaturesForEstimate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .

    + +

    Definition at line 565 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisMaxMeanReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisMaxMeanReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/MaxMeanReprojectionError : "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid." Default value: 10.0 ( double ).

    + +

    Definition at line 566 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisMaxMeanReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisMaxMeanReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .

    + +

    Definition at line 566 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisMaxMeanReprojectionError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisMaxMeanReprojectionError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .

    + +

    Definition at line 566 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisUseSubpixelRefinement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUseSubpixelRefinement ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).

    + +

    Definition at line 567 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisUseSubpixelRefinement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUseSubpixelRefinement ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UseSubpixelRefinement : true .

    + +

    Definition at line 567 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisUseSubpixelRefinement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUseSubpixelRefinement ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .

    + +

    Definition at line 567 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisFeatureSearchWindow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisFeatureSearchWindow ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/FeatureSearchWindow : "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate." Default value: 25 ( int ).

    + +

    Definition at line 568 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisFeatureSearchWindow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisFeatureSearchWindow ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/FeatureSearchWindow : 25 .

    + +

    Definition at line 568 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisFeatureSearchWindow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisFeatureSearchWindow ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .

    + +

    Definition at line 568 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisUpdateTargetFeaturesWithRefined()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisUpdateTargetFeaturesWithRefined ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/UpdateTargetFeaturesWithRefined : "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm." Default value: false ( bool ).

    + +

    Definition at line 569 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisUpdateTargetFeaturesWithRefined()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisUpdateTargetFeaturesWithRefined ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .

    + +

    Definition at line 569 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisUpdateTargetFeaturesWithRefined()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisUpdateTargetFeaturesWithRefined ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .

    + +

    Definition at line 569 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisStereoRequireMutualMatch()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisStereoRequireMutualMatch ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).

    + +

    Definition at line 571 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisStereoRequireMutualMatch()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomFovisStereoRequireMutualMatch ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/StereoRequireMutualMatch : true .

    + +

    Definition at line 571 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisStereoRequireMutualMatch()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisStereoRequireMutualMatch ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .

    + +

    Definition at line 571 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisStereoMaxDistEpipolarLine()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisStereoMaxDistEpipolarLine ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).

    + +

    Definition at line 572 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisStereoMaxDistEpipolarLine()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisStereoMaxDistEpipolarLine ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .

    + +

    Definition at line 572 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisStereoMaxDistEpipolarLine()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisStereoMaxDistEpipolarLine ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .

    + +

    Definition at line 572 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisStereoMaxRefinementDisplacement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisStereoMaxRefinementDisplacement ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).

    + +

    Definition at line 573 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisStereoMaxRefinementDisplacement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomFovisStereoMaxRefinementDisplacement ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .

    + +

    Definition at line 573 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisStereoMaxRefinementDisplacement()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisStereoMaxRefinementDisplacement ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .

    + +

    Definition at line 573 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomFovisStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomFovisStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).

    + +

    Definition at line 574 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomFovisStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomFovisStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomFovis/StereoMaxDisparity : 128 .

    + +

    Definition at line 574 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomFovisStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomFovisStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .

    + +

    Definition at line 574 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomViso2RansacIters()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2RansacIters ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).

    + +

    Definition at line 577 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomViso2RansacIters()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2RansacIters ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/RansacIters : 200 .

    + +

    Definition at line 577 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomViso2RansacIters()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomViso2RansacIters ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/RansacIters , as a string: int .

    + +

    Definition at line 577 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2InlierThreshold()

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    static std::string rtabmap::Parameters::kOdomViso2InlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).

    + +

    Definition at line 578 of file Parameters.h.

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    + +

    ◆ defaultOdomViso2InlierThreshold()

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    static double rtabmap::Parameters::defaultOdomViso2InlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/InlierThreshold : 2.0 .

    + +

    Definition at line 578 of file Parameters.h.

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    + +

    ◆ typeOdomViso2InlierThreshold()

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    static std::string rtabmap::Parameters::typeOdomViso2InlierThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/InlierThreshold , as a string: double .

    + +

    Definition at line 578 of file Parameters.h.

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    + +

    ◆ kOdomViso2Reweighting()

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    static std::string rtabmap::Parameters::kOdomViso2Reweighting ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).

    + +

    Definition at line 579 of file Parameters.h.

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    + +

    ◆ defaultOdomViso2Reweighting()

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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomViso2Reweighting ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/Reweighting : true .

    + +

    Definition at line 579 of file Parameters.h.

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    + +

    ◆ typeOdomViso2Reweighting()

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    static std::string rtabmap::Parameters::typeOdomViso2Reweighting ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/Reweighting , as a string: bool .

    + +

    Definition at line 579 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchNmsN()

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    static std::string rtabmap::Parameters::kOdomViso2MatchNmsN ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).

    + +

    Definition at line 580 of file Parameters.h.

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    + +

    ◆ defaultOdomViso2MatchNmsN()

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    static int rtabmap::Parameters::defaultOdomViso2MatchNmsN ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchNmsN : 3 .

    + +

    Definition at line 580 of file Parameters.h.

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    + +

    ◆ typeOdomViso2MatchNmsN()

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    static std::string rtabmap::Parameters::typeOdomViso2MatchNmsN ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchNmsN , as a string: int .

    + +

    Definition at line 580 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchNmsTau()

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    static std::string rtabmap::Parameters::kOdomViso2MatchNmsTau ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).

    + +

    Definition at line 581 of file Parameters.h.

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    ◆ defaultOdomViso2MatchNmsTau()

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    static int rtabmap::Parameters::defaultOdomViso2MatchNmsTau ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchNmsTau : 50 .

    + +

    Definition at line 581 of file Parameters.h.

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    ◆ typeOdomViso2MatchNmsTau()

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    static std::string rtabmap::Parameters::typeOdomViso2MatchNmsTau ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchNmsTau , as a string: int .

    + +

    Definition at line 581 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchBinsize()

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    static std::string rtabmap::Parameters::kOdomViso2MatchBinsize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).

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    Definition at line 582 of file Parameters.h.

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    ◆ defaultOdomViso2MatchBinsize()

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    static int rtabmap::Parameters::defaultOdomViso2MatchBinsize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchBinsize : 50 .

    + +

    Definition at line 582 of file Parameters.h.

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    ◆ typeOdomViso2MatchBinsize()

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    static std::string rtabmap::Parameters::typeOdomViso2MatchBinsize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchBinsize , as a string: int .

    + +

    Definition at line 582 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchRadius()

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    static std::string rtabmap::Parameters::kOdomViso2MatchRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).

    + +

    Definition at line 583 of file Parameters.h.

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    ◆ defaultOdomViso2MatchRadius()

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    static int rtabmap::Parameters::defaultOdomViso2MatchRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchRadius : 200 .

    + +

    Definition at line 583 of file Parameters.h.

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    + +

    ◆ typeOdomViso2MatchRadius()

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    static std::string rtabmap::Parameters::typeOdomViso2MatchRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchRadius , as a string: int .

    + +

    Definition at line 583 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchDispTolerance()

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    static std::string rtabmap::Parameters::kOdomViso2MatchDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).

    + +

    Definition at line 584 of file Parameters.h.

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    + +

    ◆ defaultOdomViso2MatchDispTolerance()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2MatchDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchDispTolerance : 2 .

    + +

    Definition at line 584 of file Parameters.h.

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    + +

    ◆ typeOdomViso2MatchDispTolerance()

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    static std::string rtabmap::Parameters::typeOdomViso2MatchDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchDispTolerance , as a string: int .

    + +

    Definition at line 584 of file Parameters.h.

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    + +

    ◆ kOdomViso2MatchOutlierDispTolerance()

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    static std::string rtabmap::Parameters::kOdomViso2MatchOutlierDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).

    + +

    Definition at line 585 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2MatchOutlierDispTolerance()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2MatchOutlierDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .

    + +

    Definition at line 585 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomViso2MatchOutlierDispTolerance()

    + +
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    static std::string rtabmap::Parameters::typeOdomViso2MatchOutlierDispTolerance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .

    + +

    Definition at line 585 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2MatchOutlierFlowTolerance()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2MatchOutlierFlowTolerance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).

    + +

    Definition at line 586 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2MatchOutlierFlowTolerance()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2MatchOutlierFlowTolerance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .

    + +

    Definition at line 586 of file Parameters.h.

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    + +

    ◆ typeOdomViso2MatchOutlierFlowTolerance()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomViso2MatchOutlierFlowTolerance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .

    + +

    Definition at line 586 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2MatchMultiStage()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2MatchMultiStage ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).

    + +

    Definition at line 587 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2MatchMultiStage()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomViso2MatchMultiStage ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchMultiStage : true .

    + +

    Definition at line 587 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomViso2MatchMultiStage()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomViso2MatchMultiStage ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchMultiStage , as a string: bool .

    + +

    Definition at line 587 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2MatchHalfResolution()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2MatchHalfResolution ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).

    + +

    Definition at line 588 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2MatchHalfResolution()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomViso2MatchHalfResolution ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchHalfResolution : true .

    + +

    Definition at line 588 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomViso2MatchHalfResolution()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomViso2MatchHalfResolution ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .

    + +

    Definition at line 588 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2MatchRefinement()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2MatchRefinement ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).

    + +

    Definition at line 589 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2MatchRefinement()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2MatchRefinement ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/MatchRefinement : 1 .

    + +

    Definition at line 589 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomViso2MatchRefinement()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomViso2MatchRefinement ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/MatchRefinement , as a string: int .

    + +

    Definition at line 589 of file Parameters.h.

    + +
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    + +

    ◆ kOdomViso2BucketMaxFeatures()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2BucketMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).

    + +

    Definition at line 590 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomViso2BucketMaxFeatures()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomViso2BucketMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/BucketMaxFeatures : 2 .

    + +

    Definition at line 590 of file Parameters.h.

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    + +

    ◆ typeOdomViso2BucketMaxFeatures()

    + +
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    static std::string rtabmap::Parameters::typeOdomViso2BucketMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .

    + +

    Definition at line 590 of file Parameters.h.

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    + +

    ◆ kOdomViso2BucketWidth()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomViso2BucketWidth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).

    + +

    Definition at line 591 of file Parameters.h.

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    + +

    ◆ defaultOdomViso2BucketWidth()

    + +
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    static double rtabmap::Parameters::defaultOdomViso2BucketWidth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/BucketWidth : 50 .

    + +

    Definition at line 591 of file Parameters.h.

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    ◆ typeOdomViso2BucketWidth()

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    static std::string rtabmap::Parameters::typeOdomViso2BucketWidth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/BucketWidth , as a string: double .

    + +

    Definition at line 591 of file Parameters.h.

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    + +

    ◆ kOdomViso2BucketHeight()

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    static std::string rtabmap::Parameters::kOdomViso2BucketHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).

    + +

    Definition at line 592 of file Parameters.h.

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    ◆ defaultOdomViso2BucketHeight()

    + +
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    static double rtabmap::Parameters::defaultOdomViso2BucketHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomViso2/BucketHeight : 50 .

    + +

    Definition at line 592 of file Parameters.h.

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    ◆ typeOdomViso2BucketHeight()

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    static std::string rtabmap::Parameters::typeOdomViso2BucketHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomViso2/BucketHeight , as a string: double .

    + +

    Definition at line 592 of file Parameters.h.

    + +
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    + +

    ◆ kOdomORBSLAMVocPath()

    + +
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    static std::string rtabmap::Parameters::kOdomORBSLAMVocPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).

    + +

    Definition at line 595 of file Parameters.h.

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    + +

    ◆ defaultOdomORBSLAMVocPath()

    + +
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    static std::string rtabmap::Parameters::defaultOdomORBSLAMVocPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/VocPath : "" .

    + +

    Definition at line 595 of file Parameters.h.

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    + +

    ◆ typeOdomORBSLAMVocPath()

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    static std::string rtabmap::Parameters::typeOdomORBSLAMVocPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/VocPath , as a string: string.

    + +

    Definition at line 595 of file Parameters.h.

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    + +

    ◆ kOdomORBSLAMBf()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMBf ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/Bf : "Fake IR projector baseline (m) used only when stereo is not used." Default value: 0.076 ( double ).

    + +

    Definition at line 596 of file Parameters.h.

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    ◆ defaultOdomORBSLAMBf()

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    static double rtabmap::Parameters::defaultOdomORBSLAMBf ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/Bf : 0.076 .

    + +

    Definition at line 596 of file Parameters.h.

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    ◆ typeOdomORBSLAMBf()

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    static std::string rtabmap::Parameters::typeOdomORBSLAMBf ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/Bf , as a string: double .

    + +

    Definition at line 596 of file Parameters.h.

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    + +

    ◆ kOdomORBSLAMThDepth()

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    static std::string rtabmap::Parameters::kOdomORBSLAMThDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).

    + +

    Definition at line 597 of file Parameters.h.

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    ◆ defaultOdomORBSLAMThDepth()

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    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMThDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/ThDepth : 40.0 .

    + +

    Definition at line 597 of file Parameters.h.

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    ◆ typeOdomORBSLAMThDepth()

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    static std::string rtabmap::Parameters::typeOdomORBSLAMThDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/ThDepth , as a string: double .

    + +

    Definition at line 597 of file Parameters.h.

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    ◆ kOdomORBSLAMFps()

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    static std::string rtabmap::Parameters::kOdomORBSLAMFps ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).

    + +

    Definition at line 598 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMFps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomORBSLAMFps ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/Fps : 0.0 .

    + +

    Definition at line 598 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMFps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMFps ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/Fps , as a string: float .

    + +

    Definition at line 598 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).

    + +

    Definition at line 599 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomORBSLAMMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .

    + +

    Definition at line 599 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/MaxFeatures , as a string: int .

    + +

    Definition at line 599 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMMapSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMMapSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/MapSize : "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2." Default value: 3000 ( int ).

    + +

    Definition at line 600 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMMapSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomORBSLAMMapSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/MapSize : 3000 .

    + +

    Definition at line 600 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMMapSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMMapSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/MapSize , as a string: int .

    + +

    Definition at line 600 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMInertial()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMInertial ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).

    + +

    Definition at line 601 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMInertial()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomORBSLAMInertial ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/Inertial : false .

    + +

    Definition at line 601 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMInertial()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMInertial ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/Inertial , as a string: bool .

    + +

    Definition at line 601 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMGyroNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMGyroNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).

    + +

    Definition at line 602 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMGyroNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMGyroNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .

    + +

    Definition at line 602 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMGyroNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMGyroNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/GyroNoise , as a string: double .

    + +

    Definition at line 602 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMAccNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMAccNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).

    + +

    Definition at line 603 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMAccNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMAccNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/AccNoise : 0.1 .

    + +

    Definition at line 603 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMAccNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMAccNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/AccNoise , as a string: double .

    + +

    Definition at line 603 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMGyroWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMGyroWalk ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).

    + +

    Definition at line 604 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMGyroWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMGyroWalk ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .

    + +

    Definition at line 604 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMGyroWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMGyroWalk ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/GyroWalk , as a string: double .

    + +

    Definition at line 604 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMAccWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMAccWalk ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).

    + +

    Definition at line 605 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMAccWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMAccWalk ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .

    + +

    Definition at line 605 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMAccWalk()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMAccWalk ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/AccWalk , as a string: double .

    + +

    Definition at line 605 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomORBSLAMSamplingRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomORBSLAMSamplingRate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).

    + +

    Definition at line 606 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomORBSLAMSamplingRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomORBSLAMSamplingRate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomORBSLAM/SamplingRate : 0 .

    + +

    Definition at line 606 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomORBSLAMSamplingRate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomORBSLAMSamplingRate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomORBSLAM/SamplingRate , as a string: double .

    + +

    Definition at line 606 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOKVISConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOKVISConfigPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).

    + +

    Definition at line 610 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOKVISConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomOKVISConfigPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOKVIS/ConfigPath : "" .

    + +

    Definition at line 610 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOKVISConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOKVISConfigPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOKVIS/ConfigPath , as a string: string.

    + +

    Definition at line 610 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMSensor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).

    + +

    Definition at line 613 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomLOAMSensor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/Sensor : 2 .

    + +

    Definition at line 613 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMSensor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/Sensor , as a string: int .

    + +

    Definition at line 613 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMScanPeriod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMScanPeriod ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).

    + +

    Definition at line 614 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMScanPeriod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLOAMScanPeriod ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/ScanPeriod : 0.1 .

    + +

    Definition at line 614 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMScanPeriod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMScanPeriod ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/ScanPeriod , as a string: float .

    + +

    Definition at line 614 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMResolution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMResolution ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).

    + +

    Definition at line 615 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMResolution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLOAMResolution ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/Resolution : 0.2 .

    + +

    Definition at line 615 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMResolution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMResolution ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/Resolution , as a string: float .

    + +

    Definition at line 615 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

    + +

    Definition at line 616 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLOAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/LinVar : 0.01 .

    + +

    Definition at line 616 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/LinVar , as a string: float .

    + +

    Definition at line 616 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

    + +

    Definition at line 617 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLOAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/AngVar : 0.01 .

    + +

    Definition at line 617 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/AngVar , as a string: float .

    + +

    Definition at line 617 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLOAMLocalMapping()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLOAMLocalMapping ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLOAM/LocalMapping : "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved." Default value: true ( bool ).

    + +

    Definition at line 618 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLOAMLocalMapping()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomLOAMLocalMapping ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLOAM/LocalMapping : true .

    + +

    Definition at line 618 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLOAMLocalMapping()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLOAMLocalMapping ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLOAM/LocalMapping , as a string: bool .

    + +

    Definition at line 618 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFGridRow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFGridRow ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).

    + +

    Definition at line 621 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFGridRow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFGridRow ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/GridRow : 4 .

    + +

    Definition at line 621 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFGridRow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFGridRow ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/GridRow , as a string: int .

    + +

    Definition at line 621 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFGridCol()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFGridCol ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).

    + +

    Definition at line 622 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFGridCol()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFGridCol ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/GridCol : 5 .

    + +

    Definition at line 622 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFGridCol()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFGridCol ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/GridCol , as a string: int .

    + +

    Definition at line 622 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFGridMinFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFGridMinFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).

    + +

    Definition at line 623 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFGridMinFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFGridMinFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .

    + +

    Definition at line 623 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFGridMinFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFGridMinFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .

    + +

    Definition at line 623 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFGridMaxFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFGridMaxFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).

    + +

    Definition at line 624 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFGridMaxFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFGridMaxFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .

    + +

    Definition at line 624 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFGridMaxFeatureNum()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFGridMaxFeatureNum ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .

    + +

    Definition at line 624 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFPyramidLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFPyramidLevels ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).

    + +

    Definition at line 625 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFPyramidLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFPyramidLevels ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/PyramidLevels : 3 .

    + +

    Definition at line 625 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFPyramidLevels()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFPyramidLevels ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/PyramidLevels , as a string: int .

    + +

    Definition at line 625 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFPatchSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).

    + +

    Definition at line 626 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFPatchSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/PatchSize : 15 .

    + +

    Definition at line 626 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFPatchSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFPatchSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/PatchSize , as a string: int .

    + +

    Definition at line 626 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFFastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).

    + +

    Definition at line 627 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFFastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/FastThreshold : 10 .

    + +

    Definition at line 627 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFFastThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFFastThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/FastThreshold , as a string: int .

    + +

    Definition at line 627 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFMaxIteration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFMaxIteration ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).

    + +

    Definition at line 628 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFMaxIteration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFMaxIteration ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/MaxIteration : 30 .

    + +

    Definition at line 628 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFMaxIteration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFMaxIteration ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/MaxIteration , as a string: int .

    + +

    Definition at line 628 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFTrackPrecision()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFTrackPrecision ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).

    + +

    Definition at line 629 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFTrackPrecision()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFTrackPrecision ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .

    + +

    Definition at line 629 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFTrackPrecision()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFTrackPrecision ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/TrackPrecision , as a string: double .

    + +

    Definition at line 629 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFRansacThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFRansacThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).

    + +

    Definition at line 630 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFRansacThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFRansacThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/RansacThreshold : 3 .

    + +

    Definition at line 630 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFRansacThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFRansacThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/RansacThreshold , as a string: double .

    + +

    Definition at line 630 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFStereoThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFStereoThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).

    + +

    Definition at line 631 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFStereoThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFStereoThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/StereoThreshold : 5 .

    + +

    Definition at line 631 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFStereoThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFStereoThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/StereoThreshold , as a string: double .

    + +

    Definition at line 631 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFPositionStdThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFPositionStdThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).

    + +

    Definition at line 632 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFPositionStdThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFPositionStdThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .

    + +

    Definition at line 632 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFPositionStdThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFPositionStdThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .

    + +

    Definition at line 632 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFRotationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFRotationThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).

    + +

    Definition at line 633 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFRotationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFRotationThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .

    + +

    Definition at line 633 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFRotationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFRotationThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/RotationThreshold , as a string: double .

    + +

    Definition at line 633 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).

    + +

    Definition at line 634 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .

    + +

    Definition at line 634 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .

    + +

    Definition at line 634 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFTrackingRateThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFTrackingRateThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).

    + +

    Definition at line 635 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFTrackingRateThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFTrackingRateThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .

    + +

    Definition at line 635 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFTrackingRateThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFTrackingRateThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .

    + +

    Definition at line 635 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFOptTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFOptTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).

    + +

    Definition at line 636 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFOptTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFOptTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .

    + +

    Definition at line 636 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFOptTranslationThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFOptTranslationThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .

    + +

    Definition at line 636 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFNoiseGyro()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFNoiseGyro ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).

    + +

    Definition at line 637 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFNoiseGyro()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFNoiseGyro ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .

    + +

    Definition at line 637 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFNoiseGyro()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFNoiseGyro ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/NoiseGyro , as a string: double .

    + +

    Definition at line 637 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFNoiseAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFNoiseAcc ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).

    + +

    Definition at line 638 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFNoiseAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFNoiseAcc ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .

    + +

    Definition at line 638 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFNoiseAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFNoiseAcc ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/NoiseAcc , as a string: double .

    + +

    Definition at line 638 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFNoiseGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFNoiseGyroBias ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).

    + +

    Definition at line 639 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFNoiseGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFNoiseGyroBias ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .

    + +

    Definition at line 639 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFNoiseGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFNoiseGyroBias ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .

    + +

    Definition at line 639 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFNoiseAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFNoiseAccBias ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).

    + +

    Definition at line 640 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFNoiseAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFNoiseAccBias ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .

    + +

    Definition at line 640 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFNoiseAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFNoiseAccBias ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .

    + +

    Definition at line 640 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFNoiseFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFNoiseFeature ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).

    + +

    Definition at line 641 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFNoiseFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFNoiseFeature ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .

    + +

    Definition at line 641 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFNoiseFeature()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFNoiseFeature ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/NoiseFeature , as a string: double .

    + +

    Definition at line 641 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFInitCovVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFInitCovVel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).

    + +

    Definition at line 642 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFInitCovVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFInitCovVel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/InitCovVel : 0.25 .

    + +

    Definition at line 642 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFInitCovVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFInitCovVel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/InitCovVel , as a string: double .

    + +

    Definition at line 642 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFInitCovGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFInitCovGyroBias ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).

    + +

    Definition at line 643 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFInitCovGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFInitCovGyroBias ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .

    + +

    Definition at line 643 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFInitCovGyroBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFInitCovGyroBias ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .

    + +

    Definition at line 643 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFInitCovAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFInitCovAccBias ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).

    + +

    Definition at line 644 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFInitCovAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFInitCovAccBias ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .

    + +

    Definition at line 644 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFInitCovAccBias()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFInitCovAccBias ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .

    + +

    Definition at line 644 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFInitCovExRot()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFInitCovExRot ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).

    + +

    Definition at line 645 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFInitCovExRot()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFInitCovExRot ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .

    + +

    Definition at line 645 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFInitCovExRot()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFInitCovExRot ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/InitCovExRot , as a string: double .

    + +

    Definition at line 645 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFInitCovExTrans()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFInitCovExTrans ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).

    + +

    Definition at line 646 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFInitCovExTrans()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomMSCKFInitCovExTrans ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .

    + +

    Definition at line 646 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFInitCovExTrans()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFInitCovExTrans ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .

    + +

    Definition at line 646 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomMSCKFMaxCamStateSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomMSCKFMaxCamStateSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).

    + +

    Definition at line 647 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomMSCKFMaxCamStateSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomMSCKFMaxCamStateSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .

    + +

    Definition at line 647 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomMSCKFMaxCamStateSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomMSCKFMaxCamStateSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .

    + +

    Definition at line 647 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomVINSFusionConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomVINSFusionConfigPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).

    + +

    Definition at line 650 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomVINSFusionConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomVINSFusionConfigPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomVINSFusion/ConfigPath : "" .

    + +

    Definition at line 650 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomVINSFusionConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomVINSFusionConfigPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomVINSFusion/ConfigPath , as a string: string.

    + +

    Definition at line 650 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSConfigPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ConfigPath : "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group." Default value: "" (string).

    + +

    Definition at line 653 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomOpenVINSConfigPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ConfigPath : "" .

    + +

    Definition at line 653 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSConfigPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSConfigPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ConfigPath , as a string: string.

    + +

    Definition at line 653 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUseStereo()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUseStereo ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UseStereo : "If we have more than 1 camera, if we should try to track stereo constraints between pairs." Default value: true ( bool ).

    + +

    Definition at line 654 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUseStereo()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSUseStereo ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UseStereo : true .

    + +

    Definition at line 654 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUseStereo()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUseStereo ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UseStereo , as a string: bool .

    + +

    Definition at line 654 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUseKLT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUseKLT ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UseKLT : "If true we will use KLT, otherwise use a ORB descriptor + robust matching." Default value: true ( bool ).

    + +

    Definition at line 655 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUseKLT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSUseKLT ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UseKLT : true .

    + +

    Definition at line 655 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUseKLT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUseKLT ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UseKLT , as a string: bool .

    + +

    Definition at line 655 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSNumPts()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSNumPts ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).

    + +

    Definition at line 656 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSNumPts()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSNumPts ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/NumPts : 200 .

    + +

    Definition at line 656 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSNumPts()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSNumPts ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/NumPts , as a string: int .

    + +

    Definition at line 656 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSMinPxDist()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSMinPxDist ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).

    + +

    Definition at line 657 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSMinPxDist()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSMinPxDist ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/MinPxDist : 15 .

    + +

    Definition at line 657 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSMinPxDist()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSMinPxDist ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/MinPxDist , as a string: int .

    + +

    Definition at line 657 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFiTriangulate1d()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFiTriangulate1d ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).

    + +

    Definition at line 658 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFiTriangulate1d()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSFiTriangulate1d ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FiTriangulate1d : false .

    + +

    Definition at line 658 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFiTriangulate1d()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFiTriangulate1d ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .

    + +

    Definition at line 658 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFiRefineFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFiRefineFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).

    + +

    Definition at line 659 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFiRefineFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSFiRefineFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FiRefineFeatures : true .

    + +

    Definition at line 659 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFiRefineFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFiRefineFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .

    + +

    Definition at line 659 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFiMaxRuns()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxRuns ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).

    + +

    Definition at line 660 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFiMaxRuns()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSFiMaxRuns ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .

    + +

    Definition at line 660 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFiMaxRuns()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxRuns ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .

    + +

    Definition at line 660 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFiMaxBaseline()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxBaseline ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).

    + +

    Definition at line 661 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFiMaxBaseline()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSFiMaxBaseline ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .

    + +

    Definition at line 661 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFiMaxBaseline()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxBaseline ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .

    + +

    Definition at line 661 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFiMaxCondNumber()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxCondNumber ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).

    + +

    Definition at line 662 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFiMaxCondNumber()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSFiMaxCondNumber ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .

    + +

    Definition at line 662 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFiMaxCondNumber()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxCondNumber ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .

    + +

    Definition at line 662 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUseFEJ()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUseFEJ ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).

    + +

    Definition at line 664 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUseFEJ()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSUseFEJ ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UseFEJ : true .

    + +

    Definition at line 664 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUseFEJ()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUseFEJ ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .

    + +

    Definition at line 664 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSIntegration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSIntegration ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/Integration : "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)." Default value: 1 ( int ).

    + +

    Definition at line 665 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSIntegration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSIntegration ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/Integration : 1 .

    + +

    Definition at line 665 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSIntegration()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSIntegration ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/Integration , as a string: int .

    + +

    Definition at line 665 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSCalibCamExtrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamExtrinsics ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).

    + +

    Definition at line 666 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSCalibCamExtrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamExtrinsics ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .

    + +

    Definition at line 666 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSCalibCamExtrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamExtrinsics ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .

    + +

    Definition at line 666 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSCalibCamIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).

    + +

    Definition at line 667 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSCalibCamIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .

    + +

    Definition at line 667 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSCalibCamIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .

    + +

    Definition at line 667 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSCalibCamTimeoffset()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamTimeoffset ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/CalibCamTimeoffset : "Bool to determine whether or not to calibrate camera to IMU time offset." Default value: false ( bool ).

    + +

    Definition at line 668 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSCalibCamTimeoffset()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamTimeoffset ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .

    + +

    Definition at line 668 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSCalibCamTimeoffset()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamTimeoffset ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .

    + +

    Definition at line 668 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSCalibIMUIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSCalibIMUIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).

    + +

    Definition at line 669 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSCalibIMUIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSCalibIMUIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .

    + +

    Definition at line 669 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSCalibIMUIntrinsics()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSCalibIMUIntrinsics ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .

    + +

    Definition at line 669 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSCalibIMUGSensitivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSCalibIMUGSensitivity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).

    + +

    Definition at line 670 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSCalibIMUGSensitivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSCalibIMUGSensitivity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .

    + +

    Definition at line 670 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSCalibIMUGSensitivity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSCalibIMUGSensitivity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .

    + +

    Definition at line 670 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSMaxClones()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSMaxClones ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).

    + +

    Definition at line 671 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSMaxClones()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSMaxClones ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/MaxClones : 11 .

    + +

    Definition at line 671 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSMaxClones()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSMaxClones ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/MaxClones , as a string: int .

    + +

    Definition at line 671 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSMaxSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSMaxSLAM ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).

    + +

    Definition at line 672 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSMaxSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSMaxSLAM ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/MaxSLAM : 50 .

    + +

    Definition at line 672 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSMaxSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSMaxSLAM ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .

    + +

    Definition at line 672 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSMaxSLAMInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSMaxSLAMInUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/MaxSLAMInUpdate : "Max number of SLAM features we allow to be included in a single EKF update.." Default value: 25 ( int ).

    + +

    Definition at line 673 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSMaxSLAMInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSMaxSLAMInUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .

    + +

    Definition at line 673 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSMaxSLAMInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSMaxSLAMInUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .

    + +

    Definition at line 673 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSMaxMSCKFInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSMaxMSCKFInUpdate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/MaxMSCKFInUpdate : "Max number of MSCKF features we will use at a given image timestep.." Default value: 50 ( int ).

    + +

    Definition at line 674 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSMaxMSCKFInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSMaxMSCKFInUpdate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .

    + +

    Definition at line 674 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSMaxMSCKFInUpdate()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSMaxMSCKFInUpdate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .

    + +

    Definition at line 674 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFeatRepMSCKF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFeatRepMSCKF ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).

    + +

    Definition at line 675 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFeatRepMSCKF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSFeatRepMSCKF ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .

    + +

    Definition at line 675 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFeatRepMSCKF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFeatRepMSCKF ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .

    + +

    Definition at line 675 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSFeatRepSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSFeatRepSLAM ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).

    + +

    Definition at line 676 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSFeatRepSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSFeatRepSLAM ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .

    + +

    Definition at line 676 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSFeatRepSLAM()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSFeatRepSLAM ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .

    + +

    Definition at line 676 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSDtSLAMDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSDtSLAMDelay ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/DtSLAMDelay : "Delay, in seconds, that we should wait from init before we start estimating SLAM features." Default value: 0.0 ( double ).

    + +

    Definition at line 677 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSDtSLAMDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSDtSLAMDelay ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .

    + +

    Definition at line 677 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSDtSLAMDelay()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSDtSLAMDelay ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .

    + +

    Definition at line 677 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSGravityMag()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSGravityMag ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/GravityMag : "Gravity magnitude in the global frame (i.e. should be 9.81 typically)." Default value: 9.81 ( double ).

    + +

    Definition at line 678 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSGravityMag()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSGravityMag ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/GravityMag : 9.81 .

    + +

    Definition at line 678 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSGravityMag()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSGravityMag ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/GravityMag , as a string: double .

    + +

    Definition at line 678 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSLeftMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSLeftMaskPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).

    + +

    Definition at line 679 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSLeftMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomOpenVINSLeftMaskPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/LeftMaskPath : "" .

    + +

    Definition at line 679 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSLeftMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSLeftMaskPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.

    + +

    Definition at line 679 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSRightMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSRightMaskPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).

    + +

    Definition at line 680 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSRightMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomOpenVINSRightMaskPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/RightMaskPath : "" .

    + +

    Definition at line 680 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSRightMaskPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSRightMaskPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.

    + +

    Definition at line 680 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitWindowTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitWindowTime ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).

    + +

    Definition at line 682 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitWindowTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitWindowTime ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .

    + +

    Definition at line 682 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitWindowTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitWindowTime ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .

    + +

    Definition at line 682 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitIMUThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitIMUThresh ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).

    + +

    Definition at line 683 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitIMUThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitIMUThresh ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .

    + +

    Definition at line 683 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitIMUThresh()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitIMUThresh ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .

    + +

    Definition at line 683 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).

    + +

    Definition at line 684 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .

    + +

    Definition at line 684 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitMaxDisparity()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .

    + +

    Definition at line 684 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).

    + +

    Definition at line 685 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSInitMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .

    + +

    Definition at line 685 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .

    + +

    Definition at line 685 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynUse()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynUse ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).

    + +

    Definition at line 686 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynUse()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSInitDynUse ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynUse : false .

    + +

    Definition at line 686 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynUse()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynUse ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .

    + +

    Definition at line 686 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMLEOptCalib()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEOptCalib ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).

    + +

    Definition at line 687 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMLEOptCalib()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEOptCalib ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .

    + +

    Definition at line 687 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMLEOptCalib()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEOptCalib ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .

    + +

    Definition at line 687 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMLEMaxIter()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxIter ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMLEMaxIter : "How many iterations the MLE refinement should use (zero to skip the MLE)." Default value: 50 ( int ).

    + +

    Definition at line 688 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMLEMaxIter()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxIter ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .

    + +

    Definition at line 688 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMLEMaxIter()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxIter ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .

    + +

    Definition at line 688 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMLEMaxTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxTime ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).

    + +

    Definition at line 689 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMLEMaxTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxTime ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .

    + +

    Definition at line 689 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMLEMaxTime()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxTime ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .

    + +

    Definition at line 689 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMLEMaxThreads()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxThreads ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).

    + +

    Definition at line 690 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMLEMaxThreads()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxThreads ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .

    + +

    Definition at line 690 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMLEMaxThreads()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxThreads ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .

    + +

    Definition at line 690 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynNumPose()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynNumPose ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).

    + +

    Definition at line 691 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynNumPose()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpenVINSInitDynNumPose ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .

    + +

    Definition at line 691 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynNumPose()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynNumPose ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .

    + +

    Definition at line 691 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMinDeg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMinDeg ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).

    + +

    Definition at line 692 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMinDeg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMinDeg ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .

    + +

    Definition at line 692 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMinDeg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMinDeg ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .

    + +

    Definition at line 692 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynInflationOri()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationOri ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).

    + +

    Definition at line 693 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynInflationOri()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationOri ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .

    + +

    Definition at line 693 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynInflationOri()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationOri ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .

    + +

    Definition at line 693 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynInflationVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationVel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).

    + +

    Definition at line 694 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynInflationVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationVel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .

    + +

    Definition at line 694 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynInflationVel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationVel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .

    + +

    Definition at line 694 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynInflationBg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationBg ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).

    + +

    Definition at line 695 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynInflationBg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationBg ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .

    + +

    Definition at line 695 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynInflationBg()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationBg ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .

    + +

    Definition at line 695 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynInflationBa()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationBa ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).

    + +

    Definition at line 696 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynInflationBa()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationBa ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .

    + +

    Definition at line 696 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynInflationBa()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationBa ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .

    + +

    Definition at line 696 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSInitDynMinRecCond()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMinRecCond ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).

    + +

    Definition at line 697 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSInitDynMinRecCond()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMinRecCond ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .

    + +

    Definition at line 697 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSInitDynMinRecCond()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMinRecCond ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .

    + +

    Definition at line 697 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSTryZUPT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSTryZUPT ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).

    + +

    Definition at line 699 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSTryZUPT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSTryZUPT ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/TryZUPT : true .

    + +

    Definition at line 699 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSTryZUPT()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSTryZUPT ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .

    + +

    Definition at line 699 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSZUPTChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSZUPTChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).

    + +

    Definition at line 700 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSZUPTChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSZUPTChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .

    + +

    Definition at line 700 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSZUPTChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .

    + +

    Definition at line 700 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSZUPTMaxVelodicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSZUPTMaxVelodicy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ZUPTMaxVelodicy : "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.1 ( double ).

    + +

    Definition at line 701 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSZUPTMaxVelodicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSZUPTMaxVelodicy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .

    + +

    Definition at line 701 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSZUPTMaxVelodicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTMaxVelodicy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .

    + +

    Definition at line 701 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSZUPTNoiseMultiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSZUPTNoiseMultiplier ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ZUPTNoiseMultiplier : "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)." Default value: 10.0 ( double ).

    + +

    Definition at line 702 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSZUPTNoiseMultiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSZUPTNoiseMultiplier ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .

    + +

    Definition at line 702 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSZUPTNoiseMultiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTNoiseMultiplier ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .

    + +

    Definition at line 702 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSZUPTMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSZUPTMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ZUPTMaxDisparity : "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.5 ( double ).

    + +

    Definition at line 703 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSZUPTMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSZUPTMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .

    + +

    Definition at line 703 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSZUPTMaxDisparity()

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    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .

    + +

    Definition at line 703 of file Parameters.h.

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    +
    + +

    ◆ kOdomOpenVINSZUPTOnlyAtBeginning()

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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSZUPTOnlyAtBeginning ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : "If we should only use the zupt at the very beginning static initialization phase." Default value: false ( bool ).

    + +

    Definition at line 704 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSZUPTOnlyAtBeginning()

    + +
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    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultOdomOpenVINSZUPTOnlyAtBeginning ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .

    + +

    Definition at line 704 of file Parameters.h.

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    +
    + +

    ◆ typeOdomOpenVINSZUPTOnlyAtBeginning()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTOnlyAtBeginning ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .

    + +

    Definition at line 704 of file Parameters.h.

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    +
    + +

    ◆ kOdomOpenVINSAccelerometerNoiseDensity()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSAccelerometerNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).

    + +

    Definition at line 706 of file Parameters.h.

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    +
    + +

    ◆ defaultOdomOpenVINSAccelerometerNoiseDensity()

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    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSAccelerometerNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .

    + +

    Definition at line 706 of file Parameters.h.

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    + +

    ◆ typeOdomOpenVINSAccelerometerNoiseDensity()

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    static std::string rtabmap::Parameters::typeOdomOpenVINSAccelerometerNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .

    + +

    Definition at line 706 of file Parameters.h.

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    + +

    ◆ kOdomOpenVINSAccelerometerRandomWalk()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSAccelerometerRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).

    + +

    Definition at line 707 of file Parameters.h.

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    +
    + +

    ◆ defaultOdomOpenVINSAccelerometerRandomWalk()

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    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSAccelerometerRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .

    + +

    Definition at line 707 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomOpenVINSAccelerometerRandomWalk()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSAccelerometerRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .

    + +

    Definition at line 707 of file Parameters.h.

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    +
    + +

    ◆ kOdomOpenVINSGyroscopeNoiseDensity()

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    static std::string rtabmap::Parameters::kOdomOpenVINSGyroscopeNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).

    + +

    Definition at line 708 of file Parameters.h.

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    + +

    ◆ defaultOdomOpenVINSGyroscopeNoiseDensity()

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    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSGyroscopeNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .

    + +

    Definition at line 708 of file Parameters.h.

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    + +

    ◆ typeOdomOpenVINSGyroscopeNoiseDensity()

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    static std::string rtabmap::Parameters::typeOdomOpenVINSGyroscopeNoiseDensity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .

    + +

    Definition at line 708 of file Parameters.h.

    + +
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    + +

    ◆ kOdomOpenVINSGyroscopeRandomWalk()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSGyroscopeRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).

    + +

    Definition at line 709 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSGyroscopeRandomWalk()

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    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSGyroscopeRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .

    + +

    Definition at line 709 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSGyroscopeRandomWalk()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSGyroscopeRandomWalk ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .

    + +

    Definition at line 709 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUpMSCKFSigmaPx()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUpMSCKFSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).

    + +

    Definition at line 710 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUpMSCKFSigmaPx()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSUpMSCKFSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .

    + +

    Definition at line 710 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUpMSCKFSigmaPx()

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    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUpMSCKFSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .

    + +

    Definition at line 710 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUpMSCKFChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUpMSCKFChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).

    + +

    Definition at line 711 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUpMSCKFChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSUpMSCKFChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .

    + +

    Definition at line 711 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUpMSCKFChi2Multiplier()

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    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUpMSCKFChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .

    + +

    Definition at line 711 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUpSLAMSigmaPx()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUpSLAMSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).

    + +

    Definition at line 712 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUpSLAMSigmaPx()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSUpSLAMSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .

    + +

    Definition at line 712 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUpSLAMSigmaPx()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUpSLAMSigmaPx ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .

    + +

    Definition at line 712 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpenVINSUpSLAMChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpenVINSUpSLAMChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).

    + +

    Definition at line 713 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpenVINSUpSLAMChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultOdomOpenVINSUpSLAMChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .

    + +

    Definition at line 713 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpenVINSUpSLAMChi2Multiplier()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpenVINSUpSLAMChi2Multiplier ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .

    + +

    Definition at line 713 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpen3DMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpen3DMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).

    + +

    Definition at line 716 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomOpen3DMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomOpen3DMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpen3D/MaxDepth : 3.0 .

    + +

    Definition at line 716 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomOpen3DMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpen3DMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpen3D/MaxDepth , as a string: float .

    + +

    Definition at line 716 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomOpen3DMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomOpen3DMethod ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).

    + +

    Definition at line 717 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomOpen3DMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomOpen3DMethod ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomOpen3D/Method : 0 .

    + +

    Definition at line 717 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomOpen3DMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomOpen3DMethod ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomOpen3D/Method , as a string: int .

    + +

    Definition at line 717 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomCuVSLAMMulticamMode()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomCuVSLAMMulticamMode ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).

    + +

    Definition at line 720 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomCuVSLAMMulticamMode()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomCuVSLAMMulticamMode ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomCuVSLAM/MulticamMode : 0 .

    + +

    Definition at line 720 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomCuVSLAMMulticamMode()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomCuVSLAMMulticamMode ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .

    + +

    Definition at line 720 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMConfigPath()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMConfigPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ConfigPath : "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored." Default value: "" (string).

    + +

    Definition at line 723 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomLIOSAMConfigPath()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::defaultOdomLIOSAMConfigPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ConfigPath : "" .

    + +

    Definition at line 723 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomLIOSAMConfigPath()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMConfigPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ConfigPath , as a string: string.

    + +

    Definition at line 723 of file Parameters.h.

    + +
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    + +

    ◆ kOdomLIOSAMSensor()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMSensor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).

    + +

    Definition at line 724 of file Parameters.h.

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    + +

    ◆ defaultOdomLIOSAMSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomLIOSAMSensor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/Sensor : 0 .

    + +

    Definition at line 724 of file Parameters.h.

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    + +

    ◆ typeOdomLIOSAMSensor()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMSensor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/Sensor , as a string: int .

    + +

    Definition at line 724 of file Parameters.h.

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    + +

    ◆ kOdomLIOSAMNScan()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMNScan ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).

    + +

    Definition at line 725 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomLIOSAMNScan()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomLIOSAMNScan ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/NScan : 16 .

    + +

    Definition at line 725 of file Parameters.h.

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    ◆ typeOdomLIOSAMNScan()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMNScan ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/NScan , as a string: int .

    + +

    Definition at line 725 of file Parameters.h.

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    + +

    ◆ kOdomLIOSAMHorizonScan()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMHorizonScan ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).

    + +

    Definition at line 726 of file Parameters.h.

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    + +

    ◆ defaultOdomLIOSAMHorizonScan()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultOdomLIOSAMHorizonScan ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/HorizonScan : 1800 .

    + +

    Definition at line 726 of file Parameters.h.

    + +
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    + +

    ◆ typeOdomLIOSAMHorizonScan()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMHorizonScan ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/HorizonScan , as a string: int .

    + +

    Definition at line 726 of file Parameters.h.

    + +
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    + +

    ◆ kOdomLIOSAMImuAccNoise()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMImuAccNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).

    + +

    Definition at line 727 of file Parameters.h.

    + +
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    + +

    ◆ defaultOdomLIOSAMImuAccNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMImuAccNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .

    + +

    Definition at line 727 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMImuAccNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMImuAccNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .

    + +

    Definition at line 727 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMImuGyrNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMImuGyrNoise ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).

    + +

    Definition at line 728 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMImuGyrNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMImuGyrNoise ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .

    + +

    Definition at line 728 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMImuGyrNoise()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMImuGyrNoise ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .

    + +

    Definition at line 728 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMImuAccBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMImuAccBiasN ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).

    + +

    Definition at line 729 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMImuAccBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMImuAccBiasN ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .

    + +

    Definition at line 729 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMImuAccBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMImuAccBiasN ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .

    + +

    Definition at line 729 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMImuGyrBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMImuGyrBiasN ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).

    + +

    Definition at line 730 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMImuGyrBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMImuGyrBiasN ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .

    + +

    Definition at line 730 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMImuGyrBiasN()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMImuGyrBiasN ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .

    + +

    Definition at line 730 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMImuGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMImuGravity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).

    + +

    Definition at line 731 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMImuGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMImuGravity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .

    + +

    Definition at line 731 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMImuGravity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMImuGravity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/ImuGravity , as a string: float .

    + +

    Definition at line 731 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).

    + +

    Definition at line 732 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .

    + +

    Definition at line 732 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMEdgeThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMEdgeThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .

    + +

    Definition at line 732 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMSurfThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMSurfThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).

    + +

    Definition at line 733 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMSurfThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMSurfThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .

    + +

    Definition at line 733 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMSurfThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMSurfThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .

    + +

    Definition at line 733 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

    + +

    Definition at line 734 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/LinVar : 0.01 .

    + +

    Definition at line 734 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMLinVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMLinVar ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/LinVar , as a string: float .

    + +

    Definition at line 734 of file Parameters.h.

    + +
    +
    + +

    ◆ kOdomLIOSAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kOdomLIOSAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

    + +

    Definition at line 735 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultOdomLIOSAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultOdomLIOSAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter OdomLIOSAM/AngVar : 0.01 .

    + +

    Definition at line 735 of file Parameters.h.

    + +
    +
    + +

    ◆ typeOdomLIOSAMAngVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeOdomLIOSAMAngVar ()
    +     		+inlinestatic
    +
    + +

    Type of parameter OdomLIOSAM/AngVar , as a string: float .

    + +

    Definition at line 735 of file Parameters.h.

    + +
    +
    + +

    ◆ kRegRepeatOnce()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRegRepeatOnce ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Reg/RepeatOnce : "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches." Default value: true ( bool ).

    + +

    Definition at line 738 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRegRepeatOnce()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRegRepeatOnce ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Reg/RepeatOnce : true .

    + +

    Definition at line 738 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRegRepeatOnce()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRegRepeatOnce ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Reg/RepeatOnce , as a string: bool .

    + +

    Definition at line 738 of file Parameters.h.

    + +
    +
    + +

    ◆ kRegStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRegStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).

    + +

    Definition at line 739 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRegStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultRegStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Reg/Strategy : 0 .

    + +

    Definition at line 739 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRegStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRegStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Reg/Strategy , as a string: int .

    + +

    Definition at line 739 of file Parameters.h.

    + +
    +
    + +

    ◆ kRegForce3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kRegForce3DoF ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Reg/Force3DoF : "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0." Default value: false ( bool ).

    + +

    Definition at line 740 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultRegForce3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultRegForce3DoF ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Reg/Force3DoF : false .

    + +

    Definition at line 740 of file Parameters.h.

    + +
    +
    + +

    ◆ typeRegForce3DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeRegForce3DoF ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Reg/Force3DoF , as a string: bool .

    + +

    Definition at line 740 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisEstimationType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisEstimationType ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/EstimationType : "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)" Default value: 1 ( int ).

    + +

    Definition at line 743 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisEstimationType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisEstimationType ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/EstimationType : 1 .

    + +

    Definition at line 743 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisEstimationType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisEstimationType ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/EstimationType , as a string: int .

    + +

    Definition at line 743 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisInlierDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisInlierDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/InlierDistance : uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

    + +

    Definition at line 744 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisInlierDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisInlierDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/InlierDistance : 0.1 .

    + +

    Definition at line 744 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisInlierDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisInlierDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/InlierDistance , as a string: float .

    + +

    Definition at line 744 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/RefineIterations : uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()) Default value: 5 ( int ).

    + +

    Definition at line 745 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/RefineIterations : 5 .

    + +

    Definition at line 745 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/RefineIterations , as a string: int .

    + +

    Definition at line 745 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPReprojError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPReprojError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).

    + +

    Definition at line 746 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPReprojError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisPnPReprojError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPReprojError : 2 .

    + +

    Definition at line 746 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPReprojError()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPReprojError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPReprojError , as a string: float .

    + +

    Definition at line 746 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPFlags()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPFlags ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPFlags : uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()) Default value: 0 ( int ).

    + +

    Definition at line 747 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPFlags()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisPnPFlags ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPFlags : 0 .

    + +

    Definition at line 747 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPFlags()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPFlags ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPFlags , as a string: int .

    + +

    Definition at line 747 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPRefineIterations : uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 751 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisPnPRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPRefineIterations : 1 .

    + +

    Definition at line 751 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPRefineIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPRefineIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPRefineIterations , as a string: int .

    + +

    Definition at line 751 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPVarianceMedianRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPVarianceMedianRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPVarianceMedianRatio : uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()) Default value: 4 ( int ).

    + +

    Definition at line 753 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPVarianceMedianRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisPnPVarianceMedianRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPVarianceMedianRatio : 4 .

    + +

    Definition at line 753 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPVarianceMedianRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPVarianceMedianRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .

    + +

    Definition at line 753 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPMaxVariance : uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 754 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisPnPMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPMaxVariance : 0.0 .

    + +

    Definition at line 754 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPMaxVariance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPMaxVariance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPMaxVariance , as a string: float .

    + +

    Definition at line 754 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPSamplingPolicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPSamplingPolicy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPSamplingPolicy : uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str() Default value: 1 ( unsigned int ).

    + +

    Definition at line 755 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPSamplingPolicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultVisPnPSamplingPolicy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPSamplingPolicy : 1 .

    + +

    Definition at line 755 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPSamplingPolicy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPSamplingPolicy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .

    + +

    Definition at line 755 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisPnPSplitLinearCovComponents()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisPnPSplitLinearCovComponents ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/PnPSplitLinearCovComponents : uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str() Default value: false ( bool ).

    + +

    Definition at line 756 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisPnPSplitLinearCovComponents()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisPnPSplitLinearCovComponents ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/PnPSplitLinearCovComponents : false .

    + +

    Definition at line 756 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisPnPSplitLinearCovComponents()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisPnPSplitLinearCovComponents ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .

    + +

    Definition at line 756 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisEpipolarGeometryVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisEpipolarGeometryVar ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/EpipolarGeometryVar : uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

    + +

    Definition at line 758 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisEpipolarGeometryVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisEpipolarGeometryVar ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/EpipolarGeometryVar : 0.1 .

    + +

    Definition at line 758 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisEpipolarGeometryVar()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisEpipolarGeometryVar ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/EpipolarGeometryVar , as a string: float .

    + +

    Definition at line 758 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMinInliers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMinInliers ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).

    + +

    Definition at line 759 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMinInliers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisMinInliers ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MinInliers : 20 .

    + +

    Definition at line 759 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMinInliers()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMinInliers ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MinInliers , as a string: int .

    + +

    Definition at line 759 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMeanInliersDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMeanInliersDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MeanInliersDistance : "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled." Default value: 0.0 ( float ).

    + +

    Definition at line 760 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMeanInliersDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisMeanInliersDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MeanInliersDistance : 0.0 .

    + +

    Definition at line 760 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMeanInliersDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMeanInliersDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MeanInliersDistance , as a string: float .

    + +

    Definition at line 760 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMinInliersDistribution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMinInliersDistribution ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MinInliersDistribution : "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled." Default value: 0.0 ( float ).

    + +

    Definition at line 761 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMinInliersDistribution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisMinInliersDistribution ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MinInliersDistribution : 0.0 .

    + +

    Definition at line 761 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMinInliersDistribution()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMinInliersDistribution ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MinInliersDistribution , as a string: float .

    + +

    Definition at line 761 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).

    + +

    Definition at line 763 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/Iterations : 300 .

    + +

    Definition at line 763 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/Iterations , as a string: int .

    + +

    Definition at line 763 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisFeatureType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisFeatureType ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/FeatureType : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).

    + +

    Definition at line 768 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisFeatureType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisFeatureType ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/FeatureType : 6 .

    + +

    Definition at line 768 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisFeatureType()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisFeatureType ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/FeatureType , as a string: int .

    + +

    Definition at line 768 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).

    + +

    Definition at line 770 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MaxFeatures : 1000 .

    + +

    Definition at line 770 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMaxFeatures()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMaxFeatures ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MaxFeatures , as a string: int .

    + +

    Definition at line 770 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisSSC ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).

    + +

    Definition at line 771 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisSSC ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/SSC : false .

    + +

    Definition at line 771 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisSSC()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisSSC ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/SSC , as a string: bool .

    + +

    Definition at line 771 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).

    + +

    Definition at line 772 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MaxDepth : 0 .

    + +

    Definition at line 772 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMaxDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMaxDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MaxDepth , as a string: float .

    + +

    Definition at line 772 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisMinDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).

    + +

    Definition at line 773 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisMinDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/MinDepth : 0 .

    + +

    Definition at line 773 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisMinDepth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisMinDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/MinDepth , as a string: float .

    + +

    Definition at line 773 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisDepthAsMask()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/DepthAsMask : "Use depth image as mask when extracting features." Default value: true ( bool ).

    + +

    Definition at line 774 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisDepthAsMask()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/DepthAsMask : true .

    + +

    Definition at line 774 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisDepthAsMask()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisDepthAsMask ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/DepthAsMask , as a string: bool .

    + +

    Definition at line 774 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisDepthMaskFloorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 775 of file Parameters.h.

    + +
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    + +

    ◆ defaultVisDepthMaskFloorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/DepthMaskFloorThr : 0.0 .

    + +

    Definition at line 775 of file Parameters.h.

    + +
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    + +

    ◆ typeVisDepthMaskFloorThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisDepthMaskFloorThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/DepthMaskFloorThr , as a string: float .

    + +

    Definition at line 775 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).

    + +

    Definition at line 776 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultVisRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .

    + +

    Definition at line 776 of file Parameters.h.

    + +
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    + +

    ◆ typeVisRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/RoiRatios , as a string: string.

    + +

    Definition at line 776 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisSubPixWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

    + +

    Definition at line 777 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisSubPixWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/SubPixWinSize : 3 .

    + +

    Definition at line 777 of file Parameters.h.

    + +
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    + +

    ◆ typeVisSubPixWinSize()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisSubPixWinSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/SubPixWinSize , as a string: int .

    + +

    Definition at line 777 of file Parameters.h.

    + +
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    + +

    ◆ kVisSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

    + +

    Definition at line 778 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/SubPixIterations : 0 .

    + +

    Definition at line 778 of file Parameters.h.

    + +
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    + +

    ◆ typeVisSubPixIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisSubPixIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/SubPixIterations , as a string: int .

    + +

    Definition at line 778 of file Parameters.h.

    + +
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    + +

    ◆ kVisSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).

    + +

    Definition at line 779 of file Parameters.h.

    + +
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    + +

    ◆ defaultVisSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/SubPixEps : 0.02 .

    + +

    Definition at line 779 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisSubPixEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisSubPixEps ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/SubPixEps , as a string: float .

    + +

    Definition at line 779 of file Parameters.h.

    + +
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    + +

    ◆ kVisGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisGridRows ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 780 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisGridRows()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisGridRows ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/GridRows : 1 .

    + +

    Definition at line 780 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisGridRows()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisGridRows ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/GridRows , as a string: int .

    + +

    Definition at line 780 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisGridCols()

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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisGridCols ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 781 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisGridCols()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisGridCols ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/GridCols : 1 .

    + +

    Definition at line 781 of file Parameters.h.

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    +
    + +

    ◆ typeVisGridCols()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisGridCols ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/GridCols , as a string: int .

    + +

    Definition at line 781 of file Parameters.h.

    + +
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    + +

    ◆ kVisCorType()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorType ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).

    + +

    Definition at line 782 of file Parameters.h.

    + +
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    ◆ defaultVisCorType()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorType ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorType : 0 .

    + +

    Definition at line 782 of file Parameters.h.

    + +
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    + +

    ◆ typeVisCorType()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorType ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorType , as a string: int .

    + +

    Definition at line 782 of file Parameters.h.

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    + +

    ◆ kVisCorNNType()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorNNType ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 783 of file Parameters.h.

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    +
    + +

    ◆ defaultVisCorNNType()

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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorNNType ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorNNType : 1 .

    + +

    Definition at line 783 of file Parameters.h.

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    + +

    ◆ typeVisCorNNType()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorNNType ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorNNType , as a string: int .

    + +

    Definition at line 783 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorNNDR()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorNNDR ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorNNDR : uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()) Default value: 0.8 ( float ).

    + +

    Definition at line 784 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorNNDR()

    + +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultVisCorNNDR ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorNNDR : 0.8 .

    + +

    Definition at line 784 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorNNDR()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorNNDR ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorNNDR , as a string: float .

    + +

    Definition at line 784 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorGuessWinSize()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorGuessWinSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorGuessWinSize : uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()) Default value: 40 ( int ).

    + +

    Definition at line 785 of file Parameters.h.

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    + +

    ◆ defaultVisCorGuessWinSize()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorGuessWinSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorGuessWinSize : 40 .

    + +

    Definition at line 785 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorGuessWinSize()

    + +
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    static std::string rtabmap::Parameters::typeVisCorGuessWinSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorGuessWinSize , as a string: int .

    + +

    Definition at line 785 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorGuessMatchToProjection()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorGuessMatchToProjection ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorGuessMatchToProjection : uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()) Default value: false ( bool ).

    + +

    Definition at line 786 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorGuessMatchToProjection()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisCorGuessMatchToProjection ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorGuessMatchToProjection : false .

    + +

    Definition at line 786 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorGuessMatchToProjection()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorGuessMatchToProjection ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .

    + +

    Definition at line 786 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowWinSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowWinSize : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 16 ( int ).

    + +

    Definition at line 787 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowWinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorFlowWinSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowWinSize : 16 .

    + +

    Definition at line 787 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowWinSize()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowWinSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowWinSize , as a string: int .

    + +

    Definition at line 787 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowIterations : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 30 ( int ).

    + +

    Definition at line 788 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorFlowIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowIterations : 30 .

    + +

    Definition at line 788 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowIterations()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowIterations , as a string: int .

    + +

    Definition at line 788 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowEps ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowEps : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 0.01 ( float ).

    + +

    Definition at line 789 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisCorFlowEps ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowEps : 0.01 .

    + +

    Definition at line 789 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowEps ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowEps , as a string: float .

    + +

    Definition at line 789 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowMaxLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowMaxLevel : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 3 ( int ).

    + +

    Definition at line 790 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowMaxLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisCorFlowMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowMaxLevel : 3 .

    + +

    Definition at line 790 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowMaxLevel()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowMaxLevel , as a string: int .

    + +

    Definition at line 790 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowUseMinEigenVals : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()) Default value: true ( bool ).

    + +

    Definition at line 791 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisCorFlowUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowUseMinEigenVals : true .

    + +

    Definition at line 791 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .

    + +

    Definition at line 791 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowMinEigThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowMinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 1e-4 ( float ).

    + +

    Definition at line 792 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowMinEigThreshold()

    + +
    +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultVisCorFlowMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .

    + +

    Definition at line 792 of file Parameters.h.

    + +
    +
    + +

    ◆ typeVisCorFlowMinEigThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .

    + +

    Definition at line 792 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowErrorThreshold()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 20 ( float ).

    + +

    Definition at line 793 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultVisCorFlowErrorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultVisCorFlowErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowErrorThreshold : 20 .

    + +

    Definition at line 793 of file Parameters.h.

    + +
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    + +

    ◆ typeVisCorFlowErrorThreshold()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowErrorThreshold , as a string: float .

    + +

    Definition at line 793 of file Parameters.h.

    + +
    +
    + +

    ◆ kVisCorFlowGpu()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisCorFlowGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/CorFlowGpu : uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()) Default value: false ( bool ).

    + +

    Definition at line 794 of file Parameters.h.

    + +
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    + +

    ◆ defaultVisCorFlowGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultVisCorFlowGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/CorFlowGpu : false .

    + +

    Definition at line 794 of file Parameters.h.

    + +
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    + +

    ◆ typeVisCorFlowGpu()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisCorFlowGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/CorFlowGpu , as a string: bool .

    + +

    Definition at line 794 of file Parameters.h.

    + +
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    + +

    ◆ kVisBundleAdjustment()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kVisBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Vis/BundleAdjustment : uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

    + +

    Definition at line 798 of file Parameters.h.

    + +
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    + +

    ◆ defaultVisBundleAdjustment()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultVisBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Vis/BundleAdjustment : 0 .

    + +

    Definition at line 798 of file Parameters.h.

    + +
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    + +

    ◆ typeVisBundleAdjustment()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeVisBundleAdjustment ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Vis/BundleAdjustment , as a string: int .

    + +

    Definition at line 798 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyMatcherPath()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyMatcherPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyMatcher/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).

    + +

    Definition at line 802 of file Parameters.h.

    + +
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    + +

    ◆ defaultPyMatcherPath()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultPyMatcherPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyMatcher/Path : "" .

    + +

    Definition at line 802 of file Parameters.h.

    + +
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    + +

    ◆ typePyMatcherPath()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyMatcherPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyMatcher/Path , as a string: string.

    + +

    Definition at line 802 of file Parameters.h.

    + +
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    + +

    ◆ kPyMatcherIterations()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kPyMatcherIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).

    + +

    Definition at line 803 of file Parameters.h.

    + +
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    + +

    ◆ defaultPyMatcherIterations()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultPyMatcherIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyMatcher/Iterations : 20 .

    + +

    Definition at line 803 of file Parameters.h.

    + +
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    + +

    ◆ typePyMatcherIterations()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typePyMatcherIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyMatcher/Iterations , as a string: int .

    + +

    Definition at line 803 of file Parameters.h.

    + +
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    + +

    ◆ kPyMatcherThreshold()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyMatcherThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).

    + +

    Definition at line 804 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyMatcherThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultPyMatcherThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyMatcher/Threshold : 0.2 .

    + +

    Definition at line 804 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyMatcherThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyMatcherThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyMatcher/Threshold , as a string: float .

    + +

    Definition at line 804 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyMatcherCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyMatcherCuda ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).

    + +

    Definition at line 805 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyMatcherCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultPyMatcherCuda ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyMatcher/Cuda : true .

    + +

    Definition at line 805 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyMatcherCuda()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyMatcherCuda ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyMatcher/Cuda , as a string: bool .

    + +

    Definition at line 805 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyMatcherModel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyMatcherModel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyMatcher/Model : "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\")." Default value: "indoor" (string).

    + +

    Definition at line 806 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyMatcherModel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultPyMatcherModel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyMatcher/Model : "indoor" .

    + +

    Definition at line 806 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyMatcherModel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyMatcherModel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyMatcher/Model , as a string: string.

    + +

    Definition at line 806 of file Parameters.h.

    + +
    +
    + +

    ◆ kGMSWithRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGMSWithRotation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).

    + +

    Definition at line 808 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGMSWithRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGMSWithRotation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GMS/WithRotation : false .

    + +

    Definition at line 808 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGMSWithRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGMSWithRotation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GMS/WithRotation , as a string: bool .

    + +

    Definition at line 808 of file Parameters.h.

    + +
    +
    + +

    ◆ kGMSWithScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGMSWithScale ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).

    + +

    Definition at line 809 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGMSWithScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGMSWithScale ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GMS/WithScale : false .

    + +

    Definition at line 809 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGMSWithScale()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGMSWithScale ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GMS/WithScale , as a string: bool .

    + +

    Definition at line 809 of file Parameters.h.

    + +
    +
    + +

    ◆ kGMSThresholdFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGMSThresholdFactor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).

    + +

    Definition at line 810 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGMSThresholdFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultGMSThresholdFactor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GMS/ThresholdFactor : 6.0 .

    + +

    Definition at line 810 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGMSThresholdFactor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGMSThresholdFactor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GMS/ThresholdFactor , as a string: double .

    + +

    Definition at line 810 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyDescriptorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyDescriptorPath ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyDescriptor/Path : "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used." Default value: "" (string).

    + +

    Definition at line 813 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyDescriptorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultPyDescriptorPath ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyDescriptor/Path : "" .

    + +

    Definition at line 813 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyDescriptorPath()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyDescriptorPath ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyDescriptor/Path , as a string: string.

    + +

    Definition at line 813 of file Parameters.h.

    + +
    +
    + +

    ◆ kPyDescriptorDim()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kPyDescriptorDim ()
    +     		+inlinestatic
    +
    + +

    Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).

    + +

    Definition at line 814 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultPyDescriptorDim()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultPyDescriptorDim ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter PyDescriptor/Dim : 4096 .

    + +

    Definition at line 814 of file Parameters.h.

    + +
    +
    + +

    ◆ typePyDescriptorDim()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typePyDescriptorDim ()
    +     		+inlinestatic
    +
    + +

    Type of parameter PyDescriptor/Dim , as a string: int .

    + +

    Definition at line 814 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).

    + +

    Definition at line 820 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/Strategy : 0 .

    + +

    Definition at line 820 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/Strategy , as a string: int .

    + +

    Definition at line 820 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpMaxTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpMaxTranslation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).

    + +

    Definition at line 822 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpMaxTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpMaxTranslation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/MaxTranslation : 0.2 .

    + +

    Definition at line 822 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpMaxTranslation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpMaxTranslation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/MaxTranslation , as a string: float .

    + +

    Definition at line 822 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpMaxRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpMaxRotation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).

    + +

    Definition at line 823 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpMaxRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpMaxRotation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/MaxRotation : 0.78 .

    + +

    Definition at line 823 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpMaxRotation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpMaxRotation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/MaxRotation , as a string: float .

    + +

    Definition at line 823 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpVoxelSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).

    + +

    Definition at line 824 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpVoxelSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/VoxelSize : 0.05 .

    + +

    Definition at line 824 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpVoxelSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpVoxelSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/VoxelSize , as a string: float .

    + +

    Definition at line 824 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpDownsamplingStep()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpDownsamplingStep ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).

    + +

    Definition at line 825 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpDownsamplingStep()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpDownsamplingStep ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/DownsamplingStep : 1 .

    + +

    Definition at line 825 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpDownsamplingStep()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpDownsamplingStep ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/DownsamplingStep , as a string: int .

    + +

    Definition at line 825 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpRangeMin ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).

    + +

    Definition at line 826 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpRangeMin ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/RangeMin : 0 .

    + +

    Definition at line 826 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpRangeMin ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/RangeMin , as a string: float .

    + +

    Definition at line 826 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpRangeMax ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).

    + +

    Definition at line 827 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpRangeMax ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/RangeMax : 0 .

    + +

    Definition at line 827 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpRangeMax ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/RangeMax , as a string: float .

    + +

    Definition at line 827 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpMaxCorrespondenceDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpMaxCorrespondenceDistance ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).

    + +

    Definition at line 831 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpMaxCorrespondenceDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpMaxCorrespondenceDistance ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .

    + +

    Definition at line 831 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpMaxCorrespondenceDistance()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpMaxCorrespondenceDistance ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .

    + +

    Definition at line 831 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpReciprocalCorrespondences()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpReciprocalCorrespondences ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/ReciprocalCorrespondences : "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence." Default value: true ( bool ).

    + +

    Definition at line 833 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpReciprocalCorrespondences()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpReciprocalCorrespondences ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/ReciprocalCorrespondences : true .

    + +

    Definition at line 833 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpReciprocalCorrespondences()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpReciprocalCorrespondences ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .

    + +

    Definition at line 833 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).

    + +

    Definition at line 834 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/Iterations : 30 .

    + +

    Definition at line 834 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/Iterations , as a string: int .

    + +

    Definition at line 834 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpEpsilon ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/Epsilon : "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution." Default value: 0 ( float ).

    + +

    Definition at line 835 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpEpsilon ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/Epsilon : 0 .

    + +

    Definition at line 835 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpEpsilon ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/Epsilon , as a string: float .

    + +

    Definition at line 835 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpCorrespondenceRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpCorrespondenceRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).

    + +

    Definition at line 836 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpCorrespondenceRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpCorrespondenceRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/CorrespondenceRatio : 0.1 .

    + +

    Definition at line 836 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpCorrespondenceRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpCorrespondenceRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/CorrespondenceRatio , as a string: float .

    + +

    Definition at line 836 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpForce4DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpForce4DoF ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/Force4DoF : uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()) Default value: false ( bool ).

    + +

    Definition at line 837 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpForce4DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpForce4DoF ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/Force4DoF : false .

    + +

    Definition at line 837 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpForce4DoF()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpForce4DoF ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/Force4DoF , as a string: bool .

    + +

    Definition at line 837 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpFiltersEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpFiltersEnabled ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/FiltersEnabled : "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both." Default value: 3 ( int ).

    + +

    Definition at line 838 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpFiltersEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpFiltersEnabled ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/FiltersEnabled : 3 .

    + +

    Definition at line 838 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpFiltersEnabled()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpFiltersEnabled ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/FiltersEnabled , as a string: int .

    + +

    Definition at line 838 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlane()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlane ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).

    + +

    Definition at line 842 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlane()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpPointToPlane ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlane : false .

    + +

    Definition at line 842 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlane()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlane ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlane , as a string: bool .

    + +

    Definition at line 842 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneK ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneK : "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals." Default value: 5 ( int ).

    + +

    Definition at line 844 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpPointToPlaneK ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneK : 5 .

    + +

    Definition at line 844 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneK ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneK , as a string: int .

    + +

    Definition at line 844 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneRadius : "Search radius to compute normals for point to plane if the cloud doesn't have already normals." Default value: 0.0 ( float ).

    + +

    Definition at line 845 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpPointToPlaneRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneRadius : 0.0 .

    + +

    Definition at line 845 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneRadius , as a string: float .

    + +

    Definition at line 845 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneGroundNormalsUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneGroundNormalsUp ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneGroundNormalsUp : "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans." Default value: 0.0 ( float ).

    + +

    Definition at line 846 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneGroundNormalsUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpPointToPlaneGroundNormalsUp ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .

    + +

    Definition at line 846 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneGroundNormalsUp()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneGroundNormalsUp ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .

    + +

    Definition at line 846 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneMinComplexity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneMinComplexity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneMinComplexity : uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()) Default value: 0.02 ( float ).

    + +

    Definition at line 847 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneMinComplexity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpPointToPlaneMinComplexity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .

    + +

    Definition at line 847 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneMinComplexity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneMinComplexity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .

    + +

    Definition at line 847 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneComplexityCentered()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneComplexityCentered ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneComplexityCentered : uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()) Default value: false ( bool ).

    + +

    Definition at line 848 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneComplexityCentered()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpPointToPlaneComplexityCentered ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneComplexityCentered : false .

    + +

    Definition at line 848 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneComplexityCentered()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneComplexityCentered ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .

    + +

    Definition at line 848 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPointToPlaneLowComplexityStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPointToPlaneLowComplexityStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PointToPlaneLowComplexityStrategy : uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 849 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPointToPlaneLowComplexityStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpPointToPlaneLowComplexityStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .

    + +

    Definition at line 849 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPointToPlaneLowComplexityStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPointToPlaneLowComplexityStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .

    + +

    Definition at line 849 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpOutlierRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpOutlierRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/OutlierRatio : uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()) Default value: 0.85 ( float ).

    + +

    Definition at line 850 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpOutlierRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpOutlierRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/OutlierRatio : 0.85 .

    + +

    Definition at line 850 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpOutlierRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpOutlierRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/OutlierRatio , as a string: float .

    + +

    Definition at line 850 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpDebugExportFormat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpDebugExportFormat ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/DebugExportFormat : "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten." Default value: "" (string).

    + +

    Definition at line 851 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpDebugExportFormat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultIcpDebugExportFormat ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/DebugExportFormat : "" .

    + +

    Definition at line 851 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpDebugExportFormat()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpDebugExportFormat ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/DebugExportFormat , as a string: string.

    + +

    Definition at line 851 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPMConfig()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPMConfig ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PMConfig : uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str() Default value: "" (string).

    + +

    Definition at line 854 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPMConfig()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultIcpPMConfig ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PMConfig : "" .

    + +

    Definition at line 854 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPMConfig()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPMConfig ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PMConfig , as a string: string.

    + +

    Definition at line 854 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPMMatcherKnn()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPMMatcherKnn ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PMMatcherKnn : "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set." Default value: 1 ( int ).

    + +

    Definition at line 855 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPMMatcherKnn()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultIcpPMMatcherKnn ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PMMatcherKnn : 1 .

    + +

    Definition at line 855 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPMMatcherKnn()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPMMatcherKnn ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PMMatcherKnn , as a string: int .

    + +

    Definition at line 855 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPMMatcherEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPMMatcherEpsilon ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PMMatcherEpsilon : "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set." Default value: 0.0 ( float ).

    + +

    Definition at line 856 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPMMatcherEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpPMMatcherEpsilon ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PMMatcherEpsilon : 0.0 .

    + +

    Definition at line 856 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPMMatcherEpsilon()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPMMatcherEpsilon ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PMMatcherEpsilon , as a string: float .

    + +

    Definition at line 856 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpPMMatcherIntensity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpPMMatcherIntensity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/PMMatcherIntensity : uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()) Default value: false ( bool ).

    + +

    Definition at line 857 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpPMMatcherIntensity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpPMMatcherIntensity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/PMMatcherIntensity : false .

    + +

    Definition at line 857 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpPMMatcherIntensity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpPMMatcherIntensity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/PMMatcherIntensity , as a string: bool .

    + +

    Definition at line 857 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpCCSamplingLimit()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpCCSamplingLimit ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/CCSamplingLimit : "Maximum number of points per cloud (they are randomly resampled below this limit otherwise)." Default value: 50000 ( unsigned int ).

    + +

    Definition at line 859 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpCCSamplingLimit()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultIcpCCSamplingLimit ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/CCSamplingLimit : 50000 .

    + +

    Definition at line 859 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpCCSamplingLimit()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpCCSamplingLimit ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .

    + +

    Definition at line 859 of file Parameters.h.

    + +
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    + +

    ◆ kIcpCCFilterOutFarthestPoints()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpCCFilterOutFarthestPoints ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/CCFilterOutFarthestPoints : "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence." Default value: false ( bool ).

    + +

    Definition at line 860 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpCCFilterOutFarthestPoints()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultIcpCCFilterOutFarthestPoints ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/CCFilterOutFarthestPoints : false .

    + +

    Definition at line 860 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpCCFilterOutFarthestPoints()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpCCFilterOutFarthestPoints ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .

    + +

    Definition at line 860 of file Parameters.h.

    + +
    +
    + +

    ◆ kIcpCCMaxFinalRMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kIcpCCMaxFinalRMS ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).

    + +

    Definition at line 861 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultIcpCCMaxFinalRMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultIcpCCMaxFinalRMS ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Icp/CCMaxFinalRMS : 0.2 .

    + +

    Definition at line 861 of file Parameters.h.

    + +
    +
    + +

    ◆ typeIcpCCMaxFinalRMS()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeIcpCCMaxFinalRMS ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Icp/CCMaxFinalRMS , as a string: float .

    + +

    Definition at line 861 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoWinWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoWinWidth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).

    + +

    Definition at line 864 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoWinWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoWinWidth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/WinWidth : 15 .

    + +

    Definition at line 864 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoWinWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoWinWidth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/WinWidth , as a string: int .

    + +

    Definition at line 864 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoWinHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoWinHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).

    + +

    Definition at line 865 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoWinHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoWinHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/WinHeight : 3 .

    + +

    Definition at line 865 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoWinHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoWinHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/WinHeight , as a string: int .

    + +

    Definition at line 865 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoIterations ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).

    + +

    Definition at line 866 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoIterations ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/Iterations : 30 .

    + +

    Definition at line 866 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoIterations()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoIterations ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/Iterations , as a string: int .

    + +

    Definition at line 866 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoMaxLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).

    + +

    Definition at line 867 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoMaxLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/MaxLevel : 5 .

    + +

    Definition at line 867 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoMaxLevel()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoMaxLevel ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/MaxLevel , as a string: int .

    + +

    Definition at line 867 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).

    + +

    Definition at line 868 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultStereoMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/MinDisparity : 0.5 .

    + +

    Definition at line 868 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/MinDisparity , as a string: float .

    + +

    Definition at line 868 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).

    + +

    Definition at line 869 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/MaxDisparity : 128.0 .

    + +

    Definition at line 869 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoMaxDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoMaxDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/MaxDisparity , as a string: float .

    + +

    Definition at line 869 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoOpticalFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoOpticalFlow ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used." Default value: true ( bool ).

    + +

    Definition at line 870 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoOpticalFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultStereoOpticalFlow ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/OpticalFlow : true .

    + +

    Definition at line 870 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoOpticalFlow()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoOpticalFlow ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/OpticalFlow , as a string: bool .

    + +

    Definition at line 870 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSSD()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSSD ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

    + +

    Definition at line 871 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSSD()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultStereoSSD ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/SSD : true .

    + +

    Definition at line 871 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSSD()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSSD ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/SSD , as a string: bool .

    + +

    Definition at line 871 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoEps ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).

    + +

    Definition at line 872 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultStereoEps ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/Eps : 0.01 .

    + +

    Definition at line 872 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoEps()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoEps ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/Eps , as a string: double .

    + +

    Definition at line 872 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/UseMinEigenVals : uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

    + +

    Definition at line 873 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultStereoUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/UseMinEigenVals : true .

    + +

    Definition at line 873 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoUseMinEigenVals()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoUseMinEigenVals ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/UseMinEigenVals , as a string: bool .

    + +

    Definition at line 873 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoMinEigThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/MinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()) Default value: 1e-4 ( double ).

    + +

    Definition at line 874 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoMinEigThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultStereoMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/MinEigThreshold : 1e-4 .

    + +

    Definition at line 874 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoMinEigThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoMinEigThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/MinEigThreshold , as a string: double .

    + +

    Definition at line 874 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoErrorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/ErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()) Default value: 50 ( double ).

    + +

    Definition at line 875 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoErrorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultStereoErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/ErrorThreshold : 50 .

    + +

    Definition at line 875 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoErrorThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoErrorThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/ErrorThreshold , as a string: double .

    + +

    Definition at line 875 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoGpu ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/Gpu : uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()) Default value: false ( bool ).

    + +

    Definition at line 876 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultStereoGpu ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/Gpu : false .

    + +

    Definition at line 876 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoGpu()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoGpu ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/Gpu , as a string: bool .

    + +

    Definition at line 876 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoDenseStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoDenseStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).

    + +

    Definition at line 878 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoDenseStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoDenseStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Stereo/DenseStrategy : 0 .

    + +

    Definition at line 878 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoDenseStrategy()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoDenseStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Stereo/DenseStrategy , as a string: int .

    + +

    Definition at line 878 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).

    + +

    Definition at line 880 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/BlockSize : 15 .

    + +

    Definition at line 880 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/BlockSize , as a string: int .

    + +

    Definition at line 880 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).

    + +

    Definition at line 881 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/MinDisparity : 0 .

    + +

    Definition at line 881 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/MinDisparity , as a string: int .

    + +

    Definition at line 881 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).

    + +

    Definition at line 882 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/NumDisparities : 128 .

    + +

    Definition at line 882 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/NumDisparities , as a string: int .

    + +

    Definition at line 882 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMPreFilterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMPreFilterSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).

    + +

    Definition at line 883 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMPreFilterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMPreFilterSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/PreFilterSize : 9 .

    + +

    Definition at line 883 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMPreFilterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMPreFilterSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/PreFilterSize , as a string: int .

    + +

    Definition at line 883 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).

    + +

    Definition at line 884 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/PreFilterCap : 31 .

    + +

    Definition at line 884 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/PreFilterCap , as a string: int .

    + +

    Definition at line 884 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).

    + +

    Definition at line 885 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/UniquenessRatio : 15 .

    + +

    Definition at line 885 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/UniquenessRatio , as a string: int .

    + +

    Definition at line 885 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMTextureThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMTextureThreshold ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).

    + +

    Definition at line 886 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMTextureThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMTextureThreshold ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/TextureThreshold : 10 .

    + +

    Definition at line 886 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMTextureThreshold()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMTextureThreshold ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/TextureThreshold , as a string: int .

    + +

    Definition at line 886 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).

    + +

    Definition at line 887 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/SpeckleWindowSize : 100 .

    + +

    Definition at line 887 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/SpeckleWindowSize , as a string: int .

    + +

    Definition at line 887 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).

    + +

    Definition at line 888 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/SpeckleRange : 4 .

    + +

    Definition at line 888 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/SpeckleRange , as a string: int .

    + +

    Definition at line 888 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).

    + +

    Definition at line 889 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoBM/Disp12MaxDiff : -1 .

    + +

    Definition at line 889 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoBM/Disp12MaxDiff , as a string: int .

    + +

    Definition at line 889 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).

    + +

    Definition at line 891 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/BlockSize : 15 .

    + +

    Definition at line 891 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMBlockSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMBlockSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/BlockSize , as a string: int .

    + +

    Definition at line 891 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).

    + +

    Definition at line 892 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/MinDisparity : 0 .

    + +

    Definition at line 892 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMMinDisparity()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMMinDisparity ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/MinDisparity , as a string: int .

    + +

    Definition at line 892 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).

    + +

    Definition at line 893 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/NumDisparities : 128 .

    + +

    Definition at line 893 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMNumDisparities()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMNumDisparities ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/NumDisparities , as a string: int .

    + +

    Definition at line 893 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).

    + +

    Definition at line 894 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/PreFilterCap : 31 .

    + +

    Definition at line 894 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMPreFilterCap()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMPreFilterCap ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/PreFilterCap , as a string: int .

    + +

    Definition at line 894 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).

    + +

    Definition at line 895 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/UniquenessRatio : 20 .

    + +

    Definition at line 895 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMUniquenessRatio()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMUniquenessRatio ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/UniquenessRatio , as a string: int .

    + +

    Definition at line 895 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).

    + +

    Definition at line 896 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .

    + +

    Definition at line 896 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMSpeckleWindowSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMSpeckleWindowSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .

    + +

    Definition at line 896 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).

    + +

    Definition at line 897 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/SpeckleRange : 4 .

    + +

    Definition at line 897 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMSpeckleRange()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMSpeckleRange ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/SpeckleRange , as a string: int .

    + +

    Definition at line 897 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).

    + +

    Definition at line 898 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .

    + +

    Definition at line 898 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMDisp12MaxDiff()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMDisp12MaxDiff ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .

    + +

    Definition at line 898 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMP1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMP1 ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).

    + +

    Definition at line 899 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMP1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMP1 ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/P1 : 2 .

    + +

    Definition at line 899 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMP1()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMP1 ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/P1 , as a string: int .

    + +

    Definition at line 899 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMP2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMP2 ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).

    + +

    Definition at line 900 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMP2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMP2 ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/P2 : 5 .

    + +

    Definition at line 900 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMP2()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMP2 ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/P2 , as a string: int .

    + +

    Definition at line 900 of file Parameters.h.

    + +
    +
    + +

    ◆ kStereoSGBMMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kStereoSGBMMode ()
    +     		+inlinestatic
    +
    + +

    Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).

    + +

    Definition at line 902 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultStereoSGBMMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultStereoSGBMMode ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter StereoSGBM/Mode : 0 .

    + +

    Definition at line 902 of file Parameters.h.

    + +
    +
    + +

    ◆ typeStereoSGBMMode()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeStereoSGBMMode ()
    +     		+inlinestatic
    +
    + +

    Type of parameter StereoSGBM/Mode , as a string: int .

    + +

    Definition at line 902 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridSensor ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/Sensor : "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s)." Default value: 1 ( int ).

    + +

    Definition at line 908 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGridSensor ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/Sensor : 1 .

    + +

    Definition at line 908 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridSensor()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridSensor ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/Sensor , as a string: int .

    + +

    Definition at line 908 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridDepthDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridDepthDecimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/DepthDecimation : uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()) Default value: 4 ( unsigned int ).

    + +

    Definition at line 909 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridDepthDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultGridDepthDecimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/DepthDecimation : 4 .

    + +

    Definition at line 909 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridDepthDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridDepthDecimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/DepthDecimation , as a string: unsigned int .

    + +

    Definition at line 909 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridRangeMin ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).

    + +

    Definition at line 910 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridRangeMin ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/RangeMin : 0.0 .

    + +

    Definition at line 910 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridRangeMin()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridRangeMin ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/RangeMin , as a string: float .

    + +

    Definition at line 910 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridRangeMax ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).

    + +

    Definition at line 911 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridRangeMax ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/RangeMax : 5.0 .

    + +

    Definition at line 911 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridRangeMax()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridRangeMax ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/RangeMax , as a string: float .

    + +

    Definition at line 911 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridDepthRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridDepthRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/DepthRoiRatios : uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()) Default value: "0.0 0.0 0.0 0.0" (string).

    + +

    Definition at line 912 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridDepthRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultGridDepthRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .

    + +

    Definition at line 912 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridDepthRoiRatios()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridDepthRoiRatios ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/DepthRoiRatios , as a string: string.

    + +

    Definition at line 912 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridFootprintLength()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridFootprintLength ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/FootprintLength : "Footprint length used to filter points over the footprint of the robot." Default value: 0.0 ( float ).

    + +

    Definition at line 913 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridFootprintLength()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridFootprintLength ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/FootprintLength : 0.0 .

    + +

    Definition at line 913 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridFootprintLength()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridFootprintLength ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/FootprintLength , as a string: float .

    + +

    Definition at line 913 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridFootprintWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridFootprintWidth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/FootprintWidth : "Footprint width used to filter points over the footprint of the robot. Footprint length should be set." Default value: 0.0 ( float ).

    + +

    Definition at line 914 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridFootprintWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridFootprintWidth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/FootprintWidth : 0.0 .

    + +

    Definition at line 914 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridFootprintWidth()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridFootprintWidth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/FootprintWidth , as a string: float .

    + +

    Definition at line 914 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridFootprintHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridFootprintHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/FootprintHeight : "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set." Default value: 0.0 ( float ).

    + +

    Definition at line 915 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridFootprintHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridFootprintHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/FootprintHeight : 0.0 .

    + +

    Definition at line 915 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridFootprintHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridFootprintHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/FootprintHeight , as a string: float .

    + +

    Definition at line 915 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridScanDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridScanDecimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/ScanDecimation : uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()) Default value: 1 ( int ).

    + +

    Definition at line 916 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridScanDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGridScanDecimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/ScanDecimation : 1 .

    + +

    Definition at line 916 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridScanDecimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridScanDecimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/ScanDecimation , as a string: int .

    + +

    Definition at line 916 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridCellSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridCellSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).

    + +

    Definition at line 917 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridCellSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridCellSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/CellSize : 0.05 .

    + +

    Definition at line 917 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridCellSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridCellSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/CellSize , as a string: float .

    + +

    Definition at line 917 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridPreVoxelFiltering()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridPreVoxelFiltering ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/PreVoxelFiltering : uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()) Default value: true ( bool ).

    + +

    Definition at line 918 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridPreVoxelFiltering()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridPreVoxelFiltering ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/PreVoxelFiltering : true .

    + +

    Definition at line 918 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridPreVoxelFiltering()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridPreVoxelFiltering ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/PreVoxelFiltering , as a string: bool .

    + +

    Definition at line 918 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMapFrameProjection()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMapFrameProjection ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MapFrameProjection : "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead." Default value: false ( bool ).

    + +

    Definition at line 919 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMapFrameProjection()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridMapFrameProjection ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MapFrameProjection : false .

    + +

    Definition at line 919 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMapFrameProjection()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMapFrameProjection ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MapFrameProjection , as a string: bool .

    + +

    Definition at line 919 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridNormalsSegmentation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridNormalsSegmentation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/NormalsSegmentation : "Segment ground from obstacles using point normals, otherwise a fast passthrough is used." Default value: true ( bool ).

    + +

    Definition at line 920 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridNormalsSegmentation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridNormalsSegmentation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/NormalsSegmentation : true .

    + +

    Definition at line 920 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridNormalsSegmentation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridNormalsSegmentation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/NormalsSegmentation , as a string: bool .

    + +

    Definition at line 920 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMaxObstacleHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMaxObstacleHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).

    + +

    Definition at line 921 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMaxObstacleHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridMaxObstacleHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MaxObstacleHeight : 0.0 .

    + +

    Definition at line 921 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMaxObstacleHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMaxObstacleHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MaxObstacleHeight , as a string: float .

    + +

    Definition at line 921 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMinGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMinGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).

    + +

    Definition at line 922 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMinGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridMinGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MinGroundHeight : 0.0 .

    + +

    Definition at line 922 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMinGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMinGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MinGroundHeight , as a string: float .

    + +

    Definition at line 922 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMaxGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMaxGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MaxGroundHeight : uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()) Default value: 0.0 ( float ).

    + +

    Definition at line 923 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMaxGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridMaxGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MaxGroundHeight : 0.0 .

    + +

    Definition at line 923 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMaxGroundHeight()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMaxGroundHeight ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MaxGroundHeight , as a string: float .

    + +

    Definition at line 923 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMaxGroundAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMaxGroundAngle ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MaxGroundAngle : uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()) Default value: 45 ( float ).

    + +

    Definition at line 924 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMaxGroundAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridMaxGroundAngle ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MaxGroundAngle : 45 .

    + +

    Definition at line 924 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMaxGroundAngle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMaxGroundAngle ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MaxGroundAngle , as a string: float .

    + +

    Definition at line 924 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridNormalK ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).

    + +

    Definition at line 925 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGridNormalK ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/NormalK : 20 .

    + +

    Definition at line 925 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridNormalK()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridNormalK ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/NormalK , as a string: int .

    + +

    Definition at line 925 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridClusterRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridClusterRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).

    + +

    Definition at line 926 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridClusterRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridClusterRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/ClusterRadius : 0.1 .

    + +

    Definition at line 926 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridClusterRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridClusterRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/ClusterRadius , as a string: float .

    + +

    Definition at line 926 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridMinClusterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridMinClusterSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/MinClusterSize : uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()) Default value: 10 ( int ).

    + +

    Definition at line 927 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridMinClusterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGridMinClusterSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/MinClusterSize : 10 .

    + +

    Definition at line 927 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridMinClusterSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridMinClusterSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/MinClusterSize , as a string: int .

    + +

    Definition at line 927 of file Parameters.h.

    + +
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    + +

    ◆ kGridFlatObstacleDetected()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridFlatObstacleDetected ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).

    + +

    Definition at line 928 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridFlatObstacleDetected()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridFlatObstacleDetected ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/FlatObstacleDetected : true .

    + +

    Definition at line 928 of file Parameters.h.

    + +
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    + +

    ◆ typeGridFlatObstacleDetected()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridFlatObstacleDetected ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/FlatObstacleDetected , as a string: bool .

    + +

    Definition at line 928 of file Parameters.h.

    + +
    +
    + +

    ◆ kGrid3D()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGrid3D ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/3D : uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()) Default value: false ( bool ).

    + +

    Definition at line 932 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGrid3D()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGrid3D ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/3D : false .

    + +

    Definition at line 932 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGrid3D()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGrid3D ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/3D , as a string: bool .

    + +

    Definition at line 932 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGroundIsObstacle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGroundIsObstacle ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/GroundIsObstacle : uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()) Default value: false ( bool ).

    + +

    Definition at line 934 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGroundIsObstacle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridGroundIsObstacle ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/GroundIsObstacle : false .

    + +

    Definition at line 934 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGroundIsObstacle()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGroundIsObstacle ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/GroundIsObstacle , as a string: bool .

    + +

    Definition at line 934 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridNoiseFilteringRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridNoiseFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).

    + +

    Definition at line 935 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridNoiseFilteringRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridNoiseFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/NoiseFilteringRadius : 0.0 .

    + +

    Definition at line 935 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridNoiseFilteringRadius()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridNoiseFilteringRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/NoiseFilteringRadius , as a string: float .

    + +

    Definition at line 935 of file Parameters.h.

    + +
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    + +

    ◆ kGridNoiseFilteringMinNeighbors()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridNoiseFilteringMinNeighbors ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).

    + +

    Definition at line 936 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridNoiseFilteringMinNeighbors()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultGridNoiseFilteringMinNeighbors ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .

    + +

    Definition at line 936 of file Parameters.h.

    + +
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    + +

    ◆ typeGridNoiseFilteringMinNeighbors()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridNoiseFilteringMinNeighbors ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .

    + +

    Definition at line 936 of file Parameters.h.

    + +
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    + +

    ◆ kGridScan2dUnknownSpaceFilled()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridScan2dUnknownSpaceFilled ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/Scan2dUnknownSpaceFilled : uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()) Default value: false ( bool ).

    + +

    Definition at line 937 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridScan2dUnknownSpaceFilled()

    + +
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    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridScan2dUnknownSpaceFilled ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .

    + +

    Definition at line 937 of file Parameters.h.

    + +
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    + +

    ◆ typeGridScan2dUnknownSpaceFilled()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridScan2dUnknownSpaceFilled ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .

    + +

    Definition at line 937 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridRayTracing()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridRayTracing ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Grid/RayTracing : uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()) Default value: false ( bool ).

    + +

    Definition at line 938 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridRayTracing()

    + +
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    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridRayTracing ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Grid/RayTracing : false .

    + +

    Definition at line 938 of file Parameters.h.

    + +
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    + +

    ◆ typeGridRayTracing()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridRayTracing ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Grid/RayTracing , as a string: bool .

    + +

    Definition at line 938 of file Parameters.h.

    + +
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    + +

    ◆ kGridGlobalUpdateError()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalUpdateError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value." Default value: 0.01 ( float ).

    + +

    Definition at line 939 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridGlobalUpdateError()

    + +
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    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalUpdateError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/UpdateError : 0.01 .

    + +

    Definition at line 939 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalUpdateError()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalUpdateError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/UpdateError , as a string: float .

    + +

    Definition at line 939 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalFootprintRadius()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalFootprintRadius ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).

    + +

    Definition at line 940 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalFootprintRadius()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalFootprintRadius ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/FootprintRadius : 0.0 .

    + +

    Definition at line 940 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalFootprintRadius()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalFootprintRadius ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/FootprintRadius , as a string: float .

    + +

    Definition at line 940 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalMinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalMinSize ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).

    + +

    Definition at line 941 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalMinSize()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalMinSize ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/MinSize : 0.0 .

    + +

    Definition at line 941 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalMinSize()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalMinSize ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/MinSize , as a string: float .

    + +

    Definition at line 941 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalEroded()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalEroded ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).

    + +

    Definition at line 942 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalEroded()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultGridGlobalEroded ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/Eroded : false .

    + +

    Definition at line 942 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalEroded()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalEroded ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/Eroded , as a string: bool .

    + +

    Definition at line 942 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalMaxNodes()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalMaxNodes ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/MaxNodes : "Maximum nodes assembled in the map starting from the last node (0=unlimited)." Default value: 0 ( int ).

    + +

    Definition at line 943 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalMaxNodes()

    + +
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    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultGridGlobalMaxNodes ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/MaxNodes : 0 .

    + +

    Definition at line 943 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalMaxNodes()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalMaxNodes ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/MaxNodes , as a string: int .

    + +

    Definition at line 943 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalAltitudeDelta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalAltitudeDelta ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/AltitudeDelta : "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building)." Default value: 0 ( float ).

    + +

    Definition at line 944 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalAltitudeDelta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalAltitudeDelta ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/AltitudeDelta : 0 .

    + +

    Definition at line 944 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalAltitudeDelta()

    + +
    +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalAltitudeDelta ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/AltitudeDelta , as a string: float .

    + +

    Definition at line 944 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalOccupancyThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalOccupancyThr ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).

    + +

    Definition at line 945 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalOccupancyThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalOccupancyThr ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/OccupancyThr : 0.5 .

    + +

    Definition at line 945 of file Parameters.h.

    + +
    +
    + +

    ◆ typeGridGlobalOccupancyThr()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalOccupancyThr ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/OccupancyThr , as a string: float .

    + +

    Definition at line 945 of file Parameters.h.

    + +
    +
    + +

    ◆ kGridGlobalProbHit()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalProbHit ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).

    + +

    Definition at line 946 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultGridGlobalProbHit()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalProbHit ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/ProbHit : 0.7 .

    + +

    Definition at line 946 of file Parameters.h.

    + +
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    + +

    ◆ typeGridGlobalProbHit()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalProbHit ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/ProbHit , as a string: float .

    + +

    Definition at line 946 of file Parameters.h.

    + +
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    + +

    ◆ kGridGlobalProbMiss()

    + +
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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalProbMiss ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).

    + +

    Definition at line 947 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridGlobalProbMiss()

    + +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalProbMiss ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/ProbMiss : 0.4 .

    + +

    Definition at line 947 of file Parameters.h.

    + +
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    + +

    ◆ typeGridGlobalProbMiss()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalProbMiss ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/ProbMiss , as a string: float .

    + +

    Definition at line 947 of file Parameters.h.

    + +
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    + +

    ◆ kGridGlobalProbClampingMin()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalProbClampingMin ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).

    + +

    Definition at line 948 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridGlobalProbClampingMin()

    + +
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    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalProbClampingMin ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .

    + +

    Definition at line 948 of file Parameters.h.

    + +
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    + +

    ◆ typeGridGlobalProbClampingMin()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalProbClampingMin ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/ProbClampingMin , as a string: float .

    + +

    Definition at line 948 of file Parameters.h.

    + +
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    + +

    ◆ kGridGlobalProbClampingMax()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalProbClampingMax ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).

    + +

    Definition at line 949 of file Parameters.h.

    + +
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    + +

    ◆ defaultGridGlobalProbClampingMax()

    + +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultGridGlobalProbClampingMax ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/ProbClampingMax : 0.971 .

    + +

    Definition at line 949 of file Parameters.h.

    + +
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    + +

    ◆ typeGridGlobalProbClampingMax()

    + +
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    static std::string rtabmap::Parameters::typeGridGlobalProbClampingMax ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/ProbClampingMax , as a string: float .

    + +

    Definition at line 949 of file Parameters.h.

    + +
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    + +

    ◆ kGridGlobalFloodFillDepth()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kGridGlobalFloodFillDepth ()
    +     		+inlinestatic
    +
    + +

    Key of parameter GridGlobal/FloodFillDepth : "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." Default value: 0 ( unsigned int ).

    + +

    Definition at line 950 of file Parameters.h.

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    ◆ defaultGridGlobalFloodFillDepth()

    + +
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    + + + + + + + +
    static unsigned int rtabmap::Parameters::defaultGridGlobalFloodFillDepth ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter GridGlobal/FloodFillDepth : 0 .

    + +

    Definition at line 950 of file Parameters.h.

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    ◆ typeGridGlobalFloodFillDepth()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeGridGlobalFloodFillDepth ()
    +     		+inlinestatic
    +
    + +

    Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .

    + +

    Definition at line 950 of file Parameters.h.

    + +
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    ◆ kMarkerStrategy()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerStrategy ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).

    + +

    Definition at line 952 of file Parameters.h.

    + +
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    ◆ defaultMarkerStrategy()

    + +
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    + + + + + + + +
    static int rtabmap::Parameters::defaultMarkerStrategy ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/Strategy : 0 .

    + +

    Definition at line 952 of file Parameters.h.

    + +
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    ◆ typeMarkerStrategy()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerStrategy ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/Strategy , as a string: int .

    + +

    Definition at line 952 of file Parameters.h.

    + +
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    ◆ kMarkerDictionary()

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    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerDictionary ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/Dictionary : "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21" Default value: 0 ( int ).

    + +

    Definition at line 953 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMarkerDictionary()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultMarkerDictionary ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/Dictionary : 0 .

    + +

    Definition at line 953 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMarkerDictionary()

    + +
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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerDictionary ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/Dictionary , as a string: int .

    + +

    Definition at line 953 of file Parameters.h.

    + +
    +
    + +

    ◆ kMarkerLength()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerLength ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/Length : "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID." Default value: 0 ( float ).

    + +

    Definition at line 954 of file Parameters.h.

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    ◆ defaultMarkerLength()

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    static float rtabmap::Parameters::defaultMarkerLength ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/Length : 0 .

    + +

    Definition at line 954 of file Parameters.h.

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    + +

    ◆ typeMarkerLength()

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    static std::string rtabmap::Parameters::typeMarkerLength ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/Length , as a string: float .

    + +

    Definition at line 954 of file Parameters.h.

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    ◆ kMarkerLengths()

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    static std::string rtabmap::Parameters::kMarkerLengths ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/Lengths : uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str() Default value: "" (string).

    + +

    Definition at line 955 of file Parameters.h.

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    ◆ defaultMarkerLengths()

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    static std::string rtabmap::Parameters::defaultMarkerLengths ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/Lengths : "" .

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    Definition at line 955 of file Parameters.h.

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    ◆ typeMarkerLengths()

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    static std::string rtabmap::Parameters::typeMarkerLengths ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/Lengths , as a string: string.

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    Definition at line 955 of file Parameters.h.

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    ◆ kMarkerMaxDepthError()

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    static std::string rtabmap::Parameters::kMarkerMaxDepthError ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/MaxDepthError : uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()) Default value: 0.01 ( float ).

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    Definition at line 956 of file Parameters.h.

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    ◆ defaultMarkerMaxDepthError()

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    static float rtabmap::Parameters::defaultMarkerMaxDepthError ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/MaxDepthError : 0.01 .

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    Definition at line 956 of file Parameters.h.

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    ◆ typeMarkerMaxDepthError()

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    static std::string rtabmap::Parameters::typeMarkerMaxDepthError ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/MaxDepthError , as a string: float .

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    Definition at line 956 of file Parameters.h.

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    ◆ kMarkerVarianceLinear()

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    static std::string rtabmap::Parameters::kMarkerVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/VarianceLinear : uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()) Default value: 0.001 ( float ).

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    Definition at line 957 of file Parameters.h.

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    ◆ defaultMarkerVarianceLinear()

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    static float rtabmap::Parameters::defaultMarkerVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/VarianceLinear : 0.001 .

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    Definition at line 957 of file Parameters.h.

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    ◆ typeMarkerVarianceLinear()

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    static std::string rtabmap::Parameters::typeMarkerVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/VarianceLinear , as a string: float .

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    Definition at line 957 of file Parameters.h.

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    ◆ kMarkerVarianceAngular()

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    static std::string rtabmap::Parameters::kMarkerVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/VarianceAngular : uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()) Default value: 0.01 ( float ).

    + +

    Definition at line 958 of file Parameters.h.

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    ◆ defaultMarkerVarianceAngular()

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    static float rtabmap::Parameters::defaultMarkerVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/VarianceAngular : 0.01 .

    + +

    Definition at line 958 of file Parameters.h.

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    ◆ typeMarkerVarianceAngular()

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    static std::string rtabmap::Parameters::typeMarkerVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/VarianceAngular , as a string: float .

    + +

    Definition at line 958 of file Parameters.h.

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    ◆ kMarkerVarianceOrientationIgnored()

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    static std::string rtabmap::Parameters::kMarkerVarianceOrientationIgnored ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/VarianceOrientationIgnored : uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()) Default value: false ( bool ).

    + +

    Definition at line 959 of file Parameters.h.

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    ◆ defaultMarkerVarianceOrientationIgnored()

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    static bool rtabmap::Parameters::defaultMarkerVarianceOrientationIgnored ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/VarianceOrientationIgnored : false .

    + +

    Definition at line 959 of file Parameters.h.

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    ◆ typeMarkerVarianceOrientationIgnored()

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    static std::string rtabmap::Parameters::typeMarkerVarianceOrientationIgnored ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .

    + +

    Definition at line 959 of file Parameters.h.

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    + +

    ◆ kMarkerMaxRange()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerMaxRange ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/MaxRange : "Maximum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

    + +

    Definition at line 960 of file Parameters.h.

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    ◆ defaultMarkerMaxRange()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultMarkerMaxRange ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/MaxRange : 0.0 .

    + +

    Definition at line 960 of file Parameters.h.

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    ◆ typeMarkerMaxRange()

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    static std::string rtabmap::Parameters::typeMarkerMaxRange ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/MaxRange , as a string: float .

    + +

    Definition at line 960 of file Parameters.h.

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    + +

    ◆ kMarkerMinRange()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerMinRange ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/MinRange : "Miniminum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

    + +

    Definition at line 961 of file Parameters.h.

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    + +

    ◆ defaultMarkerMinRange()

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    +
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    + + + + + + + +
    static float rtabmap::Parameters::defaultMarkerMinRange ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/MinRange : 0.0 .

    + +

    Definition at line 961 of file Parameters.h.

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    + +

    ◆ typeMarkerMinRange()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerMinRange ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/MinRange , as a string: float .

    + +

    Definition at line 961 of file Parameters.h.

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    + +

    ◆ kMarkerPriors()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerPriors ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/Priors : "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation)." Default value: "" (string).

    + +

    Definition at line 962 of file Parameters.h.

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    + +

    ◆ defaultMarkerPriors()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::defaultMarkerPriors ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/Priors : "" .

    + +

    Definition at line 962 of file Parameters.h.

    + +
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    + +

    ◆ typeMarkerPriors()

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    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerPriors ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/Priors , as a string: string.

    + +

    Definition at line 962 of file Parameters.h.

    + +
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    + +

    ◆ kMarkerPriorsVarianceLinear()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerPriorsVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).

    + +

    Definition at line 963 of file Parameters.h.

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    + +

    ◆ defaultMarkerPriorsVarianceLinear()

    + +
    +
    + + + + + +
    + + + + + + + +
    static float rtabmap::Parameters::defaultMarkerPriorsVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/PriorsVarianceLinear : 0.001 .

    + +

    Definition at line 963 of file Parameters.h.

    + +
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    + +

    ◆ typeMarkerPriorsVarianceLinear()

    + +
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    static std::string rtabmap::Parameters::typeMarkerPriorsVarianceLinear ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/PriorsVarianceLinear , as a string: float .

    + +

    Definition at line 963 of file Parameters.h.

    + +
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    + +

    ◆ kMarkerPriorsVarianceAngular()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerPriorsVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).

    + +

    Definition at line 964 of file Parameters.h.

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    + +

    ◆ defaultMarkerPriorsVarianceAngular()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultMarkerPriorsVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter Marker/PriorsVarianceAngular : 0.001 .

    + +

    Definition at line 964 of file Parameters.h.

    + +
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    + +

    ◆ typeMarkerPriorsVarianceAngular()

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    static std::string rtabmap::Parameters::typeMarkerPriorsVarianceAngular ()
    +     		+inlinestatic
    +
    + +

    Type of parameter Marker/PriorsVarianceAngular , as a string: float .

    + +

    Definition at line 964 of file Parameters.h.

    + +
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    + +

    ◆ kMarkerAprilTagNThreads()

    + +
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    static std::string rtabmap::Parameters::kMarkerAprilTagNThreads ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).

    + +

    Definition at line 966 of file Parameters.h.

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    + +

    ◆ defaultMarkerAprilTagNThreads()

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    + + + + + + + +
    static int rtabmap::Parameters::defaultMarkerAprilTagNThreads ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/NThreads : 1 .

    + +

    Definition at line 966 of file Parameters.h.

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    + +

    ◆ typeMarkerAprilTagNThreads()

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    static std::string rtabmap::Parameters::typeMarkerAprilTagNThreads ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/NThreads , as a string: int .

    + +

    Definition at line 966 of file Parameters.h.

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    + +

    ◆ kMarkerAprilTagQuadDecimate()

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    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerAprilTagQuadDecimate ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/QuadDecimate : "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution." Default value: 1.0 ( float ).

    + +

    Definition at line 967 of file Parameters.h.

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    + +

    ◆ defaultMarkerAprilTagQuadDecimate()

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    + + + + + + + +
    static float rtabmap::Parameters::defaultMarkerAprilTagQuadDecimate ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .

    + +

    Definition at line 967 of file Parameters.h.

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    ◆ typeMarkerAprilTagQuadDecimate()

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    static std::string rtabmap::Parameters::typeMarkerAprilTagQuadDecimate ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .

    + +

    Definition at line 967 of file Parameters.h.

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    + +

    ◆ kMarkerAprilTagQuadSigma()

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    static std::string rtabmap::Parameters::kMarkerAprilTagQuadSigma ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/QuadSigma : "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8)." Default value: 0.0 ( float ).

    + +

    Definition at line 968 of file Parameters.h.

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    + +

    ◆ defaultMarkerAprilTagQuadSigma()

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    static float rtabmap::Parameters::defaultMarkerAprilTagQuadSigma ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .

    + +

    Definition at line 968 of file Parameters.h.

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    ◆ typeMarkerAprilTagQuadSigma()

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    static std::string rtabmap::Parameters::typeMarkerAprilTagQuadSigma ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/QuadSigma , as a string: float .

    + +

    Definition at line 968 of file Parameters.h.

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    ◆ kMarkerAprilTagRefineEdges()

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    static std::string rtabmap::Parameters::kMarkerAprilTagRefineEdges ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/RefineEdges : uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()) Default value: true ( bool ).

    + +

    Definition at line 969 of file Parameters.h.

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    ◆ defaultMarkerAprilTagRefineEdges()

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    static bool rtabmap::Parameters::defaultMarkerAprilTagRefineEdges ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/RefineEdges : true .

    + +

    Definition at line 969 of file Parameters.h.

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    ◆ typeMarkerAprilTagRefineEdges()

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    static std::string rtabmap::Parameters::typeMarkerAprilTagRefineEdges ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .

    + +

    Definition at line 969 of file Parameters.h.

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    ◆ kMarkerAprilTagDecodeSharpening()

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    static std::string rtabmap::Parameters::kMarkerAprilTagDecodeSharpening ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/DecodeSharpening : "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions." Default value: 0.25 ( double ).

    + +

    Definition at line 970 of file Parameters.h.

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    ◆ defaultMarkerAprilTagDecodeSharpening()

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    static double rtabmap::Parameters::defaultMarkerAprilTagDecodeSharpening ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .

    + +

    Definition at line 970 of file Parameters.h.

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    ◆ typeMarkerAprilTagDecodeSharpening()

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    static std::string rtabmap::Parameters::typeMarkerAprilTagDecodeSharpening ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .

    + +

    Definition at line 970 of file Parameters.h.

    + +
    +
    + +

    ◆ kMarkerAprilTagDebug()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerAprilTagDebug ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerAprilTag/Debug : uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()) Default value: false ( bool ).

    + +

    Definition at line 971 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMarkerAprilTagDebug()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultMarkerAprilTagDebug ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerAprilTag/Debug : false .

    + +

    Definition at line 971 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMarkerAprilTagDebug()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerAprilTagDebug ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerAprilTag/Debug , as a string: bool .

    + +

    Definition at line 971 of file Parameters.h.

    + +
    +
    + +

    ◆ kMarkerOpenCVCornerRefinementMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kMarkerOpenCVCornerRefinementMethod ()
    +     		+inlinestatic
    +
    + +

    Key of parameter MarkerOpenCV/CornerRefinementMethod : "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true." Default value: 0 ( int ).

    + +

    Definition at line 973 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultMarkerOpenCVCornerRefinementMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static int rtabmap::Parameters::defaultMarkerOpenCVCornerRefinementMethod ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .

    + +

    Definition at line 973 of file Parameters.h.

    + +
    +
    + +

    ◆ typeMarkerOpenCVCornerRefinementMethod()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeMarkerOpenCVCornerRefinementMethod ()
    +     		+inlinestatic
    +
    + +

    Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .

    + +

    Definition at line 973 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterMadgwickGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterMadgwickGain ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/MadgwickGain : "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1]." Default value: 0.1 ( double ).

    + +

    Definition at line 975 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterMadgwickGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultImuFilterMadgwickGain ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/MadgwickGain : 0.1 .

    + +

    Definition at line 975 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterMadgwickGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterMadgwickGain ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/MadgwickGain , as a string: double .

    + +

    Definition at line 975 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterMadgwickZeta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterMadgwickZeta ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).

    + +

    Definition at line 976 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterMadgwickZeta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultImuFilterMadgwickZeta ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/MadgwickZeta : 0.0 .

    + +

    Definition at line 976 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterMadgwickZeta()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterMadgwickZeta ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/MadgwickZeta , as a string: double .

    + +

    Definition at line 976 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterComplementaryGainAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterComplementaryGainAcc ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).

    + +

    Definition at line 978 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterComplementaryGainAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultImuFilterComplementaryGainAcc ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .

    + +

    Definition at line 978 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterComplementaryGainAcc()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterComplementaryGainAcc ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .

    + +

    Definition at line 978 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterComplementaryBiasAlpha()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterComplementaryBiasAlpha ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).

    + +

    Definition at line 979 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterComplementaryBiasAlpha()

    + +
    +
    + + + + + +
    + + + + + + + +
    static double rtabmap::Parameters::defaultImuFilterComplementaryBiasAlpha ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .

    + +

    Definition at line 979 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterComplementaryBiasAlpha()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterComplementaryBiasAlpha ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .

    + +

    Definition at line 979 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterComplementaryDoBiasEstimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterComplementaryDoBiasEstimation ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).

    + +

    Definition at line 980 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterComplementaryDoBiasEstimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultImuFilterComplementaryDoBiasEstimation ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .

    + +

    Definition at line 980 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterComplementaryDoBiasEstimation()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterComplementaryDoBiasEstimation ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .

    + +

    Definition at line 980 of file Parameters.h.

    + +
    +
    + +

    ◆ kImuFilterComplementaryDoAdpativeGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::kImuFilterComplementaryDoAdpativeGain ()
    +     		+inlinestatic
    +
    + +

    Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).

    + +

    Definition at line 981 of file Parameters.h.

    + +
    +
    + +

    ◆ defaultImuFilterComplementaryDoAdpativeGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static bool rtabmap::Parameters::defaultImuFilterComplementaryDoAdpativeGain ()
    +     		+inlinestatic
    +
    + +

    Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .

    + +

    Definition at line 981 of file Parameters.h.

    + +
    +
    + +

    ◆ typeImuFilterComplementaryDoAdpativeGain()

    + +
    +
    + + + + + +
    + + + + + + + +
    static std::string rtabmap::Parameters::typeImuFilterComplementaryDoAdpativeGain ()
    +     		+inlinestatic
    +
    + +

    Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .

    + +

    Definition at line 981 of file Parameters.h.

    + +
    +

    ◆ getDefaultParameters()

    @@ -184,7 +59244,7 @@ static std::string     		createD - + @@ -198,7 +59258,7 @@ static std::string  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
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    Public Member Functions | @@ -239,9 +256,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/ProgressState.h
    • +
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    + +
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    +
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    - -
    rtabmap::PythonInterface Member List
    @@ -87,9 +104,12 @@ $(function() {
    static const ParametersMap & rtabmap::Parameters::getDefaultParameters static const ParametersMap & rtabmap::Parameters::getDefaultParameters ( ) createD

    Get default parameters

    -

    Definition at line 978 of file Parameters.h.

    +

    Definition at line 990 of file Parameters.h.

    @@ -266,9 +59326,9 @@ static std::string     		createD - + - + @@ -335,7 +59395,7 @@ static std::string  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
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    - -
    Public Member Functions | @@ -208,9 +225,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/ParticleFilter.h
    • +
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    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html index 8d638d17..2414bf99 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
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    - -
    rtabmap::ProgressState Member List
    @@ -89,9 +106,12 @@ $(function() {
    static ParametersMap rtabmap::Parameters::filterParameters static ParametersMap rtabmap::Parameters::filterParameters (const ParametersMap & const ParametersMap &  parameters,
    createD - + @@ -355,9 +59415,13 @@ static std::string  @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
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    - -
    rtabmap::ParticleFilter Member List
    @@ -87,9 +104,12 @@ $(function() {
    static const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap static const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap ( ) createD
  • corelib/include/rtabmap/core/Parameters.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html index 27c0dbbb..c585a84f 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    init(double initValue=0.0f) (defined in rtabmap::ParticleFilter)rtabmap::ParticleFilterinline
    ParticleFilter(unsigned int nParticles=200, double noise=0.1, double lambda=10.0, double initValue=0.0) (defined in rtabmap::ParticleFilter)rtabmap::ParticleFilterinline
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter.html index aef05e45..5899bdb0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    setCanceled(bool canceled) (defined in rtabmap::ProgressState)rtabmap::ProgressStateinline
    ~ProgressState() (defined in rtabmap::ProgressState)rtabmap::ProgressStateinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState.html b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState.html index 02d5f2c7..040c2c25 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    operator=(const PythonInterface &)=delete (defined in rtabmap::PythonInterface)rtabmap::PythonInterface
    PythonInterface(const PythonInterface &)=delete (defined in rtabmap::PythonInterface)rtabmap::PythonInterface
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface.html b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface.html index 4399b87e..04cb023d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    isScanRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
    isUserDataRequired() constrtabmap::Registration
    isUserDataRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
    kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
    kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration
    kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration
    kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
    kTypeIcp enum valuertabmap::Registration
    kTypeUndef enum valuertabmap::Registration
    kTypeVis enum valuertabmap::Registration
    kTypeVisIcp enum valuertabmap::Registration
    parseParameters(const ParametersMap &parameters)rtabmap::Registrationvirtual
    Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected
    repeatOnce() constrtabmap::Registrationinline
    Type enum namertabmap::Registration
    ~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html b/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html index a084b253..77994b73 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -103,22 +120,22 @@ Inheritance diagram for rtabmap::Registration:
    -
    [legend]
    +
    [legend]
    -

    Public Types

    enum  Type { kTypeUndef = -1 -, kTypeVis = 0 -, kTypeIcp = 1 -, kTypeVisIcp = 2 +
    enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 }
     Registration strategy selected by Reg/Strategy. More...
     
    - - + + @@ -150,7 +167,7 @@ float  - + @@ -168,12 +185,12 @@ void  +static Registration *  - +static Registration *  +

    Public Member Functions

    virtual void parseParameters (const ParametersMap &parameters)
     Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
    virtual void parseParameters (const ParametersMap &parameters)
     Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.
     
    bool isImageRequired () const
    getMinGeometryCorres
     
    void setChildRegistration (Registration *child)
     Replaces child_; takes ownership of child.
     Replaces the current child registration; takes ownership of child.
     
    Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
    setChildRegistration<

    Static Public Member Functions

    -static Registration * create (const ParametersMap &parameters)
    create (const ParametersMap &parameters)
     Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
     
    -static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
    create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
     
    +  @@ -209,8 +226,8 @@ Protected Member Functions

    @@ -188,7 +205,7 @@ Static Public Attributes

    Protected Member Functions

    - Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     child is owned and deleted in the destructor.
     
    virtual Transform computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0

    Detailed Description

    Abstract base for registering two observations (visual, ICP, or both).

    -

    Factory create() builds RegistrationVis, RegistrationIcp, or RegistrationVisIcp from Reg/Strategy in a ParametersMap.

    -

    computeTransformation() wraps signatures and delegates to computeTransformationMod(), which calls computeTransformationImpl() on the concrete strategy, optionally chains a child_ registration (e.g. ICP after visual), applies Reg/Force3DoF, and may repeat once with the first result as guess when Reg/RepeatOnce is enabled.

    +

    Factory create() builds RegistrationVis, RegistrationIcp, or the two chained (kTypeVisIcp) from Reg/Strategy in a ParametersMap.

    +

    computeTransformation() wraps signatures and delegates to computeTransformationMod(), which calls computeTransformationImpl() on the concrete strategy, optionally chains a child registration (e.g. ICP after visual), applies Reg/Force3DoF, and may repeat once with the first result as guess when Reg/RepeatOnce is enabled.

    Requirement queries (isImageRequired(), isScanRequired(), etc.) OR-combine with the child when the parent returns false. Minimum correspondence thresholds take the maximum between parent and child.

    See also
    RegistrationVis
    @@ -233,6 +250,16 @@ Protected Member Functions

    Registration strategy selected by Reg/Strategy.

    + + + + + +
    Enumerator
    kTypeUndef 

    Undefined / invalid strategy.

    +
    kTypeVis 

    Visual registration only (RegistrationVis).

    +
    kTypeIcp 

    Geometric registration only (RegistrationIcp).

    +
    kTypeVisIcp 

    Visual registration refined by ICP (RegistrationVis chained with RegistrationIcp).

    +

    Definition at line 64 of file Registration.h.

    @@ -251,7 +278,7 @@ Protected Member Functions virtual void rtabmap::Registration::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -263,7 +290,7 @@ Protected Member Functions
    -

    Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.

    +

    Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.

    Reimplemented in rtabmap::RegistrationIcp, and rtabmap::RegistrationVis.

    @@ -372,7 +399,7 @@ Protected Member Functions

    Strategy-specific registration.

    -

    May modify from and to; a child_ registration reuses those changes.

    +

    May modify from and to; a child registration reuses those changes.

    Implemented in rtabmap::RegistrationIcp, and rtabmap::RegistrationVis.

    @@ -597,9 +624,13 @@ Protected Member Functions
  • corelib/include/rtabmap/core/Registration.h
    • + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::RegistrationIcp Member List
    @@ -111,10 +128,10 @@ $(function() { kIcpPCL enum valuertabmap::RegistrationIcp kIcpPointMatcher enum valuertabmap::RegistrationIcp kIcpUndef enum valuertabmap::RegistrationIcp - kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration + kTypeIcp enum valuertabmap::Registration + kTypeUndef enum valuertabmap::Registration + kTypeVis enum valuertabmap::Registration + kTypeVisIcp enum valuertabmap::Registration parseParameters(const ParametersMap &parameters)rtabmap::RegistrationIcpvirtual Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected RegistrationIcp(const ParametersMap &parameters=ParametersMap(), Registration *child=0) (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcp @@ -126,9 +143,12 @@ $(function() { ~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual ~RegistrationIcp() (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcpvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html index f636ca70..5623abdb 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -95,7 +112,7 @@ Inheritance diagram for rtabmap::RegistrationIcp:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::RegistrationIcp:
    @@ -105,7 +122,7 @@ Collaboration diagram for rtabmap::RegistrationIcp:
    -
    [legend]
    +
    [legend]
    @@ -120,10 +137,10 @@ Public Types } - @@ -131,13 +148,13 @@ Public Types +  +  - - + + - + @@ -196,12 +213,12 @@ static const char *  +static Registration *  - +static Registration *  +

    Public Types

     
    - Public Types inherited from rtabmap::Registration
    enum  Type { kTypeUndef = -1 -, kTypeVis = 0 -, kTypeIcp = 1 -, kTypeVisIcp = 2 +
    enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 }
     Registration strategy selected by Reg/Strategy. More...
     

    Public Member Functions

    - RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     
    - RegistrationIcp (IcpStrategy strategy, const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    RegistrationIcp (IcpStrategy strategy, const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     
    virtual void parseParameters (const ParametersMap &parameters)
     Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
    virtual void parseParameters (const ParametersMap &parameters)
     Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.
     
    - Public Member Functions inherited from rtabmap::Registration
    @@ -170,7 +187,7 @@ float getMinGeometryCorres
     
    void setChildRegistration (Registration *child)
     Replaces child_; takes ownership of child.
     Replaces the current child registration; takes ownership of child.
     
    Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
    strate
     
    - Static Public Member Functions inherited from rtabmap::Registration
    -static Registration * create (const ParametersMap &parameters)
    create (const ParametersMap &parameters)
     Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
     
    -static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
    create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
     
    +  @@ -295,7 +312,7 @@ Additional Inherited Members

    Returns true if strategy is built into this rtabmap binary.

    -

    kPCL is always available; kPointMatcher requires the RTABMAP_POINTMATCHER build flag; kCCCoreLib requires RTABMAP_CCCORELIB.

    +

    kIcpPCL is always available; kIcpPointMatcher requires the RTABMAP_POINTMATCHER build flag; kIcpCCCoreLib requires RTABMAP_CCCORELIB.

    @@ -311,7 +328,7 @@ Additional Inherited Members - + @@ -323,7 +340,7 @@ Additional Inherited Members

    @@ -217,7 +234,7 @@ Protected Member Functions

     
    - Protected Member Functions inherited from rtabmap::Registration
    - Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     child is owned and deleted in the destructor.
     
    virtual bool isImageRequiredImpl () const
    virtual void rtabmap::RegistrationIcp::parseParameters (const ParametersMap & const ParametersMap &  parameters)
    -

    Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.

    +

    Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to the child registration if set.

    Reimplemented from rtabmap::Registration.

    @@ -376,7 +393,7 @@ Additional Inherited Members

    Strategy-specific registration.

    -

    May modify from and to; a child_ registration reuses those changes.

    +

    May modify from and to; a child registration reuses those changes.

    Implements rtabmap::Registration.

    @@ -473,9 +490,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/RegistrationIcp.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.js b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.js new file mode 100644 index 00000000..fb217330 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.js @@ -0,0 +1,12 @@ +var classrtabmap_1_1RegistrationIcp = +[ + [ "IcpStrategy", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fab", [ + [ "kIcpUndef", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabadebfaf4d0822a35b7b56f37f9c133327", null ], + [ "kIcpPCL", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabafd4289953af3132d6d334fb438f22ace", null ], + [ "kIcpPointMatcher", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabac978d96078e7e0209d4a25894de3c805", null ], + [ "kIcpCCCoreLib", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3faba0f8b0cfe29412a3d66af5eb19dd7c0db", null ], + [ "kIcpEnd", "classrtabmap_1_1RegistrationIcp.html#a59f6aec4f68d2f7402253c942bfe3fabaf6639ca6ae5f75d631dbbf7f61455881", null ] + ] ], + [ "parseParameters", "classrtabmap_1_1RegistrationIcp.html#abd60fffd946201723c35beebc7bfea6a", null ], + [ "computeTransformationImpl", "classrtabmap_1_1RegistrationIcp.html#a8a18107160cfc05cfb8a5109540d81b5", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo-members.html index 6240cffe..7d851e27 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::RegistrationInfo Member List
    @@ -108,9 +125,12 @@ $(function() { totalTimertabmap::RegistrationInfo variancertabmap::RegistrationInfo + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html index eb9eee6b..8777d3b5 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -586,9 +603,13 @@ Public Attributes
  • corelib/include/rtabmap/core/RegistrationInfo.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.js b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.js new file mode 100644 index 00000000..2ed27f1f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.js @@ -0,0 +1,26 @@ +var classrtabmap_1_1RegistrationInfo = +[ + [ "copyWithoutData", "classrtabmap_1_1RegistrationInfo.html#ae7abf7e34019a0c27b2de8ac5647f277", null ], + [ "covariance", "classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5", null ], + [ "rejectedMsg", "classrtabmap_1_1RegistrationInfo.html#af47520f216ad7259cfcc07254c4daa96", null ], + [ "totalTime", "classrtabmap_1_1RegistrationInfo.html#a52c83dd2b8f59c4ed360dc0eadc5de57", null ], + [ "inliers", "classrtabmap_1_1RegistrationInfo.html#a9de693920adf2f33eb283018c1e52456", null ], + [ "inliersRatio", "classrtabmap_1_1RegistrationInfo.html#a2ffbcc42740094d7cb5e38bcd03006c8", null ], + [ "inliersMeanDistance", "classrtabmap_1_1RegistrationInfo.html#a9b5a886b0d4a77966820ed5766ff42fc", null ], + [ "inliersDistribution", "classrtabmap_1_1RegistrationInfo.html#a4461db9c85505ed07f6d69b5e0329601", null ], + [ "inliersIDs", "classrtabmap_1_1RegistrationInfo.html#a3672f48c403ae0d9a309aa7b3a0715b2", null ], + [ "matches", "classrtabmap_1_1RegistrationInfo.html#a5dd0548e61c157636449fb607869f3a8", null ], + [ "variance", "classrtabmap_1_1RegistrationInfo.html#a95b6903a7b750f9ada14000dc37800dc", null ], + [ "matchesIDs", "classrtabmap_1_1RegistrationInfo.html#aa7a148863f31e6556f483b7d932a40dc", null ], + [ "projectedIDs", "classrtabmap_1_1RegistrationInfo.html#aa81f7ffab8e77dfc5240fd7e9a587498", null ], + [ "inliersPerCam", "classrtabmap_1_1RegistrationInfo.html#a1537d6d65162a8c84cabcae7fba37c26", null ], + [ "matchesPerCam", "classrtabmap_1_1RegistrationInfo.html#ab79de88af655e987d8232d5b86d7ad82", null ], + [ "icpInliersRatio", "classrtabmap_1_1RegistrationInfo.html#aa77a6a2994d004c83ce37906d7adce06", null ], + [ "icpTranslation", "classrtabmap_1_1RegistrationInfo.html#a0aca4419a027a27d3aa9b65d7019898b", null ], + [ "icpRotation", "classrtabmap_1_1RegistrationInfo.html#a9487cf937223f68f2658189298d727e4", null ], + [ "icpStructuralComplexity", "classrtabmap_1_1RegistrationInfo.html#a702e62ddd46f3912312be7b55fbba4de", null ], + [ "icpStructuralDistribution", "classrtabmap_1_1RegistrationInfo.html#a8b152df7c54273e6e33cdfa1744157f5", null ], + [ "icpCorrespondences", "classrtabmap_1_1RegistrationInfo.html#a2cd3a5a3de9c1a07101ef198bf11a495", null ], + [ "icpRMS", "classrtabmap_1_1RegistrationInfo.html#a1612de115fbd0bfb6dbe8e3aa3528037", null ], + [ "icpIterations", "classrtabmap_1_1RegistrationInfo.html#a4183e994d882e94bd782678a3ab4cd12", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html index b2c83ee4..3df95fce 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::RegistrationVis Member List
    @@ -111,10 +128,10 @@ $(function() { isScanRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual isUserDataRequired() constrtabmap::Registration isUserDataRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual - kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration - kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration + kTypeIcp enum valuertabmap::Registration + kTypeUndef enum valuertabmap::Registration + kTypeVis enum valuertabmap::Registration + kTypeVisIcp enum valuertabmap::Registration parseParameters(const ParametersMap &parameters)rtabmap::RegistrationVisvirtual Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected RegistrationVis(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::RegistrationVis @@ -124,9 +141,12 @@ $(function() { ~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual ~RegistrationVis() (defined in rtabmap::RegistrationVis)rtabmap::RegistrationVisvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html index 66e75ed1..3e21bb9a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::RegistrationVis:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::RegistrationVis:
    @@ -108,15 +125,15 @@ Collaboration diagram for rtabmap::RegistrationVis:
    -
    [legend]
    +
    [legend]
    +  - + @@ -164,7 +181,7 @@ float  - + @@ -192,7 +209,7 @@ Protected Member Functions +  @@ -205,21 +222,21 @@ Protected Member Functions - +static Registration *  - +static Registration *  + @@ -232,7 +249,7 @@ static Registration *

    Detailed Description

    Visual registration between two signatures using features and geometry.

    Extracts and matches features (Feature2D), then estimates motion with Vis/EstimationType (3D→3D, 3D→2D PnP, or 2D→2D epipolar). Supports RGB-D (CameraModel + depth), stereo (StereoCameraModel), optical flow, GMS, and optional Python matchers when built with Python support.

    -

    Can chain a child_ registration (e.g. RegistrationIcp in Registration::kTypeVisIcp). Feature-related Vis/ parameters are mapped to Kp/ for Feature2D::create().

    +

    Can chain a child registration (e.g. RegistrationIcp in Registration::kTypeVisIcp). Feature-related Vis/ parameters are mapped to Kp/ for Feature2D::create().

    See also
    Registration
    RegistrationInfo
    @@ -251,7 +268,7 @@ static Registration *
    - + @@ -512,7 +529,7 @@ static Registration *

    Strategy-specific registration.

    -

    May modify from and to; a child_ registration reuses those changes.

    +

    May modify from and to; a child registration reuses those changes.

    Implements rtabmap::Registration.

    @@ -609,9 +626,13 @@ static Registration *
  • corelib/include/rtabmap/core/RegistrationVis.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.js b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.js new file mode 100644 index 00000000..57cb1b78 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.js @@ -0,0 +1,13 @@ +var classrtabmap_1_1RegistrationVis = +[ + [ "RegistrationVis", "classrtabmap_1_1RegistrationVis.html#aa845f7fbbfc8fc340dba96a2a6550d03", null ], + [ "parseParameters", "classrtabmap_1_1RegistrationVis.html#a6560046940995044d7a51cb0066d420e", null ], + [ "getInlierDistance", "classrtabmap_1_1RegistrationVis.html#a488ecb8a7423996abdad98b0044cd7f2", null ], + [ "getIterations", "classrtabmap_1_1RegistrationVis.html#a93331add1822dd6f02bc74efec6d6834", null ], + [ "getMinInliers", "classrtabmap_1_1RegistrationVis.html#ae951e95c4ae2ea1ab5c4d849823d66c4", null ], + [ "getNNType", "classrtabmap_1_1RegistrationVis.html#a697d562bebe30b73a1ecd34dabee4347", null ], + [ "getNNDR", "classrtabmap_1_1RegistrationVis.html#aed9e9e593b290a4be1aeda05967a631a", null ], + [ "getEstimationType", "classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31", null ], + [ "getDetector", "classrtabmap_1_1RegistrationVis.html#a0a860fb3509b4c5b135b66ebd5cd6e55", null ], + [ "computeTransformationImpl", "classrtabmap_1_1RegistrationVis.html#aa47fd3a0599ee918e024161db330a92f", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap-members.html index 24d96ff8..463c0aac 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@ @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Rtabmap Member List
    @@ -167,9 +184,12 @@ $(function() {

    Public Member Functions

    - RegistrationVis (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    RegistrationVis (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     child is owned and deleted in the destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parses Vis/ and feature parameters; recreates feature detectors.
     
    float getInlierDistance () const
    getMinGeometryCorres
     
    void setChildRegistration (Registration *child)
     Replaces child_; takes ownership of child.
     Replaces the current child registration; takes ownership of child.
     
    Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
     
    - Protected Member Functions inherited from rtabmap::Registration
    - Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
    Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
     child is owned and deleted in the destructor.
     
    virtual bool isScanRequiredImpl () const

    Additional Inherited Members

    - Public Types inherited from rtabmap::Registration
    enum  Type { kTypeUndef = -1 -, kTypeVis = 0 -, kTypeIcp = 1 -, kTypeVisIcp = 2 +
    enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 }
     Registration strategy selected by Reg/Strategy. More...
     
    - Static Public Member Functions inherited from rtabmap::Registration
    -static Registration * create (const ParametersMap &parameters)
    create (const ParametersMap &parameters)
     Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
     
    -static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
    create (Type &type, const ParametersMap &parameters=ParametersMap())
     Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
     
    - Static Public Attributes inherited from rtabmap::Registration
    static double COVARIANCE_LINEAR_EPSILON
    virtual void rtabmap::RegistrationVis::parseParameters (const ParametersMap & const ParametersMap &  parameters)
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    VhStrategy enum namertabmap::Rtabmap
    ~Rtabmap() (defined in rtabmap::Rtabmap)rtabmap::Rtabmapvirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html index 2cee6994..1b5e6fc0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -110,7 +127,7 @@ Public Member Functions bool process (const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())  Appearance-only convenience overload (loop-closure detection without odometry).
      -void init (const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false) +void init (const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)  Initializes Rtabmap with parameters and a database.
      void init (const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false) @@ -209,10 +226,10 @@ void dumpData () const  Dumps the Memory state (signatures, words, dictionary) to the working directory.
      -void parseParameters (const ParametersMap &parameters) +void parseParameters (const ParametersMap &parameters)  Re-parses parameters and propagates them to owned sub-objects (Memory, BayesFilter, Optimizer, ...).
      -const ParametersMap & getParameters () const +const ParametersMap & getParameters () const   void setWorkingDirectory (std::string path)  Sets the working directory used for dumps, logs and temporary files.
    @@ -259,7 +276,7 @@ RTABMAP_DEPRECATED void ge   cv::Mat getInformation (const cv::Mat &covariance) const - Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when Parameters::kRGBDLoopCovLimited() is enabled.
    + Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when Parameters::kRGBDLoopCovLimited() is enabled.
      void addNodesToRepublish (const std::vector< int > &ids)  Marks node ids whose data should be re-emitted on the next process().
    @@ -307,45 +324,45 @@ cv::Mat getInformation

    Rtabmap orchestrates the full SLAM iteration. Each new sensor observation passed to process() goes through the steps described below.

    1. Memory update

    Done via Memory::update(): a new Signature is added to STM, the oldest STM entry is promoted to WM if STM is full, and rehearsal compares the new signature to the previous STM signature.

    -

    When the robot barely moved since the previous frame (odometry displacement below Parameters::kRGBDLinearUpdate() and Parameters::kRGBDAngularUpdate()), the iteration is flagged as a "small displacement":

      +

      When the robot barely moved since the previous frame (odometry displacement below Parameters::kRGBDLinearUpdate() and Parameters::kRGBDAngularUpdate()), the iteration is flagged as a "small displacement":

      • If a loop closure or localization was already accepted on a recent iteration, appearance-based global loop-closure detection and proximity detection by space are both skipped to avoid wasting work while the robot is stationary at an already-known location (only retrieval runs).
      • Otherwise (no recent loop closure / localization), both still run normally so a first-time loop closure can still be detected from a standstill.

      In either case, at the end of the iteration, if no loop closure, proximity detection or landmark observation latched onto the new node, it is deleted from Memory so the map does not grow while the robot is idle.

      -

      Rehearsal still runs first, so visually similar consecutive idle frames may also be merged into the previous STM signature (its weight is incremented and the new signature is discarded) when the similarity exceeds Parameters::kMemRehearsalSimilarity().

      +

      Rehearsal still runs first, so visually similar consecutive idle frames may also be merged into the previous STM signature (its weight is incremented and the new signature is discarded) when the similarity exceeds Parameters::kMemRehearsalSimilarity().

      2. Loop-closure hypothesis

      Scored via Memory::computeLikelihood() and the recursive BayesFilter (prior + observation update).

      3. Hypothesis selection
      -

      The highest posterior is compared against the loop-closure threshold (Parameters::kRtabmapLoopThr()); if accepted, the loop-closure link is added and the pose graph is re-optimized by Optimizer.

      +

      The highest posterior is compared against the loop-closure threshold (Parameters::kRtabmapLoopThr()); if accepted, the loop-closure link is added and the pose graph is re-optimized by Optimizer.

      In RGB-D mode, two extra checks must pass before the link is committed:

      • a valid geometric transform must be computed between the two candidate nodes by the registration pipeline (visual + optional ICP, see Memory::computeTransform());
        • -
      • the resulting transform must not be rejected by the graph-optimization consistency check (see Parameters::kRGBDOptimizeMaxError()).
        • +
      • the resulting transform must not be rejected by the graph-optimization consistency check (see Parameters::kRGBDOptimizeMaxError()).

      The optimization used by the consistency check depends on the operating mode:

        -
      • In mapping mode, optimizeCurrentMap() re-optimizes the local map around the current signature including the new link, then graph::computeMaxGraphErrors() measures the worst per-link residual / its standard deviation. If the ratio exceeds Parameters::kRGBDOptimizeMaxError(), the loop closure(s) added this iteration are removed from Memory.
        • -
      • In localization mode, optimization is run on a sub-graph composed of the odometry cache (Parameters::kRGBDMaxOdomCacheSize()), the newly added localization link and pose priors fixing the map nodes (weighted by Parameters::kRGBDLocalizationPriorInf()). The same error-ratio check is applied; on failure the localization is rejected for this iteration but the persisted map and its links are left untouched.
        • +
      • In mapping mode, the local map is re-optimized around the current signature including the new link, then graph::computeMaxGraphErrors() measures the worst per-link residual / its standard deviation. If the ratio exceeds Parameters::kRGBDOptimizeMaxError(), the loop closure(s) added this iteration are removed from Memory.
        • +
      • In localization mode, optimization is run on a sub-graph composed of the odometry cache (Parameters::kRGBDMaxOdomCacheSize()), the newly added localization link and pose priors fixing the map nodes (with the variance set from Parameters::kRGBDLocalizationPriorError()). The same error-ratio check is applied; on failure the localization is rejected for this iteration but the persisted map and its links are left untouched.
      -

      In both modes, if the same link is rejected twice in a row, repairGraph() may also be attempted (within Parameters::kRGBDOptimizeMaxErrorRepairRadius()) to drop the offending link instead of the new candidate.

      +

      In both modes, if the same link is rejected twice in a row, a graph repair may also be attempted (within Parameters::kRGBDOptimizeMaxErrorRepairRadius()) to drop the offending link instead of the new candidate.

      If either RGB-D check fails, the candidate is discarded and no link is added.

      4. Retrieval
      -

      Once a loop-closure hypothesis is selected, neighbors of the matched node are brought back from LTM into WM via Memory::reactivateSignatures(), so the next iteration can compare against them too. Up to Parameters::kRtabmapMaxRetrieved() nodes are pulled per iteration; nodes around the current path or local pose may also be retrieved (capped by Parameters::kRtabmapMaxLocalRetrieved()).

      -

      Retrieval (and the related node immunization) is only active when memory management is enabled, i.e. when Parameters::kRtabmapTimeThr() or Parameters::kRtabmapMemoryThr() is non-zero.

      +

      Once a loop-closure hypothesis is selected, neighbors of the matched node are brought back from LTM into WM via Memory::reactivateSignatures(), so the next iteration can compare against them too. Up to Parameters::kRtabmapMaxRetrieved() nodes are pulled per iteration; nodes around the current path or local pose may also be retrieved (capped by Parameters::kRGBDMaxLocalRetrieved()).

      +

      Retrieval (and the related node immunization) is only active when memory management is enabled, i.e. when Parameters::kRtabmapTimeThr() or Parameters::kRtabmapMemoryThr() is non-zero.

      5. Proximity detection (RGB-D mode)

      Visual and scan-based local matches to nearby nodes, used in addition to the appearance-based loop closure.

      Candidate proximity links go through the same two RGB-D gates as loop closures above: a valid geometric transform must be computed by the registration pipeline, and the transform must not be rejected by the graph-optimization consistency check.

      6. Transfer (WM to LTM)
      -

      At the end of the iteration, if the iteration exceeded the configured time budget (Parameters::kRtabmapTimeThr()) or WM exceeded its size budget (Parameters::kRtabmapMemoryThr()), Memory::forget() moves the oldest low-frequency signatures from WM to LTM (immunized nodes – retrieved neighbors, the last localization node, etc. – are kept in WM).

      +

      At the end of the iteration, if the iteration exceeded the configured time budget (Parameters::kRtabmapTimeThr()) or WM exceeded its size budget (Parameters::kRtabmapMemoryThr()), Memory::forget() moves the oldest low-frequency signatures from WM to LTM (immunized nodes – retrieved neighbors, the last localization node, etc. – are kept in WM).

      Transfer is skipped when both thresholds are 0 (memory management disabled).

      7. Map / localization output

      Optimized poses, current map correction and statistics are made available to callers via the getters below.

      Operating modes
      -

      Selected by Parameters::kMemIncrementalMemory() (see Memory::isIncremental()):

        +

        Selected by Parameters::kMemIncrementalMemory() (see Memory::isIncremental()):

        • Mapping: STM and WM grow; loop closures update the optimized graph.
        • Localization: STM/WM are frozen; the current node is matched against the persisted map and only getLastLocalizationPose() is updated.
        Path planning

        Rtabmap also exposes basic graph-based path planning in RGB-D mode (computePath(), getPath(), getPathStatus()), used by the GUI to navigate between mapped locations.

        -

        When memory management is enabled (see step 4 Retrieval and step 6 Transfer), the retrieval step also pulls nodes along the currently planned path back from LTM into WM (capped by Parameters::kRtabmapMaxLocalRetrieved()) so the robot is able to re-localize against upcoming waypoints as it follows the path, even when those nodes had been transferred out of WM earlier.

        +

        When memory management is enabled (see step 4 Retrieval and step 6 Transfer), the retrieval step also pulls nodes along the currently planned path back from LTM into WM (capped by Parameters::kRGBDMaxLocalRetrieved()) so the robot is able to re-localize against upcoming waypoints as it follows the path, even when those nodes had been transferred out of WM earlier.

        See also
        Memory
        BayesFilter
        @@ -439,7 +456,7 @@ cv::Mat getInformation
        -
        Returns
        True if data was added to the map (i.e. an update() succeeded).
        +
        Returns
        True if data was added to the map (i.e. the memory update succeeded).
    @@ -553,7 +570,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    void rtabmap::Rtabmap::init ( - const ParametersMap &  + const ParametersMap &  parameters, @@ -719,7 +736,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    -
    Returns
    True if RGB-D SLAM mode is enabled (Parameters::kRGBDEnabled()).
    +
    Returns
    True if RGB-D SLAM mode is enabled (Parameters::kRGBDEnabled()).

    Definition at line 299 of file Rtabmap.h.

    @@ -1287,7 +1304,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    Returns
    Maximum allowed processing time per process() call, in milliseconds.
    -
    See also
    Parameters::kRtabmapTimeThr()
    +
    See also
    Parameters::kRtabmapTimeThr()

    Definition at line 369 of file Rtabmap.h.

    @@ -1312,7 +1329,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    Sets the per-iteration time budget (ms).

    Drives how aggressively WM is transferred to LTM to keep iterations under the threshold. 0 disables the time bound.

    Note
    This setting and setMemoryThreshold() are the only two switches that enable RTAB-Map's memory management (WM-to-LTM transfer, retrieval and node immunization). When both are 0, memory management is disabled and all signatures stay in working memory.
    -
    See also
    Parameters::kRtabmapTimeThr()
    +
    See also
    Parameters::kRtabmapTimeThr()
    @@ -1339,7 +1356,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    Returns
    Maximum allowed WM size (number of signatures).
    -
    See also
    Parameters::kRtabmapMemoryThr()
    +
    See also
    Parameters::kRtabmapMemoryThr()

    Definition at line 388 of file Rtabmap.h.

    @@ -1363,7 +1380,7 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    Sets the maximum number of signatures kept in WM (0 = unbounded).

    Note
    This setting and setTimeThreshold() are the only two switches that enable RTAB-Map's memory management (WM-to-LTM transfer, retrieval and node immunization). When both are 0, memory management is disabled and all signatures stay in working memory.
    -
    See also
    Parameters::kRtabmapMemoryThr()
    +
    See also
    Parameters::kRtabmapMemoryThr()
    @@ -1385,11 +1402,11 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

    Sets the localization prior pose used to seed the next process() call (localization mode only).

    Tells RTAB-Map where the robot is currently located in the map frame, so that the very next call to process() can align incoming odometry with the persisted map without waiting for a loop closure. Typical use cases: restoring localization after a session restart, applying an external pose estimate (e.g. from a GPS or a known starting point), or recovering from "kidnapped robot" situations.

    -

    This call only stages state; it does not itself produce a non-identity getMapCorrection(). The alignment between the odometry frame and the map frame is performed on the next process() call, which consumes initialPose together with the incoming odometry pose. Two branches are taken depending on Parameters::kRGBDOptimizeFromGraphEnd():

      +

      This call only stages state; it does not itself produce a non-identity getMapCorrection(). The alignment between the odometry frame and the map frame is performed on the next process() call, which consumes initialPose together with the incoming odometry pose. Two branches are taken depending on Parameters::kRGBDOptimizeFromGraphEnd():

      • false (default): getMapCorrection() is set so that the live odometry pose is shifted to land on initialPose in the map frame (the optimized map is left untouched).
      • true: every optimized node pose is rigidly transformed so that the map itself moves to align with initialPose (the map correction stays close to identity).
      -

      The transform applied is restricted by SLAM dimensionality: 3-DoF (x, y, yaw) for 2D SLAM, 4-DoF (x, y, z, yaw) when gravity is available (IMU orientation or Memory::isOdomGravityUsed()) and Parameters::kOptimizerGravitySigma() is non-zero, full 6-DoF otherwise.

      +

      The transform applied is restricted by SLAM dimensionality: 3-DoF (x, y, yaw) for 2D SLAM, 4-DoF (x, y, z, yaw) when gravity is available (IMU orientation or Memory::isOdomGravityUsed()) and Parameters::kOptimizerGravitySigma() is non-zero, full 6-DoF otherwise.

      Side effects on the staged state:

      • getLastLocalizationPose() is replaced by initialPose; the localization covariance, the last localization node id and the odometry cache used for loop-closure rejection are all cleared.
      • getMapCorrection() is reset to identity and any backup is cleared.
        • @@ -1403,9 +1420,9 @@ odomAngularVariance, odomAngularVariance, odomAngularVariance).

        Note
        No-op (with warning) in mapping mode.
        -
        See also
        Parameters::kMemIncrementalMemory()
        +
        See also
        Parameters::kMemIncrementalMemory()
        -Parameters::kRGBDOptimizeFromGraphEnd()
        +Parameters::kRGBDOptimizeFromGraphEnd()
        @@ -1425,7 +1442,7 @@ Parameters::kRGBDOptimizeFromGraphEnd()

        Starts a new map session (next process() will create a fresh map id).

        -

        In mapping mode, this increments the map id, clears the local optimized graph and resets the Bayes filter. In localization mode, it resets the map correction, the localization node and the odometry cache; if Parameters::kRtabmapRestartAtOrigin() is enabled, the last localization pose is reset to identity.

        +

        In mapping mode, this increments the map id, clears the local optimized graph and resets the Bayes filter. In localization mode, it resets the map correction, the localization node and the odometry cache; if Parameters::kRGBDStartAtOrigin() is enabled, the last localization pose is reset to identity.

        Returns
        The new map id (mapping mode), or -1 (localization mode).
        @@ -1584,17 +1601,17 @@ Parameters::kRGBDOptimizeFromGraphEnd()

        Exports the current pose graph to a text file.

        -

        Forwards to graph::exportPoses() after collecting either the optimized or the raw odometry poses (and the matching constraints when needed).

        +

        Forwards to graph::exportPoses() after collecting either the optimized or the raw odometry poses (and the matching constraints when needed).

        Parameters
        - +
        pathOutput file path.
        optimizedIf true, export optimized poses; otherwise raw odometry poses.
        globalIf true, include nodes from LTM as well; otherwise only WM/STM.
        formatOutput format code; see graph::exportPoses() for the full list of supported values (raw, RGBD-SLAM/TUM, KITTI, TORO, g2o, ...).
        formatOutput format code; see graph::exportPoses() for the full list of supported values (raw, RGBD-SLAM/TUM, KITTI, TORO, g2o, ...).
        -
        See also
        graph::exportPoses()
        +
        See also
        graph::exportPoses()
        @@ -1628,7 +1645,7 @@ Parameters::kRGBDOptimizeFromGraphEnd() - + @@ -1663,8 +1680,8 @@ Parameters::kRGBDOptimizeFromGraphEnd()

        Sets the working directory used for dumps, logs and temporary files.

        -

        Can also be configured through Parameters::kRtabmapWorkingDirectory() in the parameter map passed to init() or parseParameters().

        -
        See also
        Parameters::kRtabmapWorkingDirectory()
        +

        Can also be configured through Parameters::kRtabmapWorkingDirectory() in the parameter map passed to init() or parseParameters().

        +
        See also
        Parameters::kRtabmapWorkingDirectory()
        @@ -1944,7 +1961,7 @@ Parameters::kRGBDOptimizeFromGraphEnd()
        Parameters
        const ParametersMap & rtabmap::Rtabmap::getParameters const ParametersMap & rtabmap::Rtabmap::getParameters ( ) const
        - +
        poseQuery pose in the map frame.
        radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
        radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
        kIf non-zero, also cap the result to the k nearest neighbors.
        distsSqrOptional output: per-id squared distance to pose.
        @@ -1996,7 +2013,7 @@ Parameters::kRGBDOptimizeFromGraphEnd()
        Parameters
        - +
        nodeIdQuery node id. Pass 0 to query around the latest node. A negative id requests neighbors of the corresponding landmark.
        radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
        radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
        kIf non-zero, cap the result to the k nearest neighbors.
        distsSqrOptional output: per-id squared distance to nodeId.
        @@ -2070,9 +2087,9 @@ Parameters::kRGBDOptimizeFromGraphEnd()

        Post-processing: searches for additional loop closures over the existing graph.

        Clusters nearby optimized poses and runs registration between candidates that are not yet linked. New links are added to Memory and the graph is re-optimized.

        -
        Note
        The registration approach used here is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp), so the quality and sensor requirements of this pass mirror the live loop-closure pipeline.
        +
        Note
        The registration approach used here is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp), so the quality and sensor requirements of this pass mirror the live loop-closure pipeline.
        -Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(), or that are already reachable from each other within that many graph hops, are filtered out. This prevents trivial "loop closures" between temporally or topologically adjacent nodes.
        +Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(), or that are already reachable from each other within that many graph hops, are filtered out. This prevents trivial "loop closures" between temporally or topologically adjacent nodes.
        Parameters
        @@ -2133,8 +2150,8 @@ Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(),
        clusterRadiusMaxMaximum metric distance (m) between two candidate nodes.
        - - + +
        optimizerTypeBackend optimizer (e.g. 1=g2o); availability depends on what RTAB-Map was built with.
        rematchFeaturesIf true, re-match visual features between connected nodes before BA (otherwise reuse existing word-id correspondences).
        iterationsSolver iterations (0 falls back to Parameters::kOptimizerIterations()).
        pixelVariancePixel reprojection variance used by the cost (0 falls back to Parameters::kOptimizerPixelVariance()).
        iterationsSolver iterations (0 falls back to Parameters::kOptimizerIterations()).
        pixelVariancePixel reprojection variance used by the cost (0 falls back to Parameters::kOptimizerPixelVariance()).
        @@ -2221,7 +2238,7 @@ Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(),

        Re-runs registration on every link of the current graph and updates the ones that converge.

        Useful after parameter changes to refresh stored transforms.

        -
        Note
        The registration approach is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp). For each link, the link's existing relative transform (the constraint produced by the current optimized local graph) is passed as the initial guess to Memory::computeTransform(), so links already close to convergence are refined locally rather than re-estimated from scratch.
        +
        Note
        The registration approach is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp). For each link, the link's existing relative transform (the constraint produced by the current optimized local graph) is passed as the initial guess to Memory::computeTransform(), so links already close to convergence are refined locally rather than re-estimated from scratch.
        Returns
        Number of links refined, or -1 if not in RGB-D mode.
        @@ -2266,8 +2283,8 @@ Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(),

        Marks node ids whose data should be re-emitted on the next process().

        The requested signatures are attached to the Statistics object produced by the next process() call (via the same mechanism as the regular "last signature -data"), so consumers reading getStatistics() pick them up alongside the normal output. Up to Parameters::kRtabmapMaxRepublished() ids are emitted per iteration; any leftover ids stay queued for subsequent iterations until they are republished or fall out of the current graph.

        -

        Pass an empty vector to clear the request set. Requires Parameters::kRtabmapMaxRepublished() > 0 and Parameters::kRtabmapPublishLastSignature() = true.

        +data"), so consumers reading getStatistics() pick them up alongside the normal output. Up to Parameters::kRtabmapMaxRepublished() ids are emitted per iteration; any leftover ids stay queued for subsequent iterations until they are republished or fall out of the current graph.

        +

        Pass an empty vector to clear the request set. Requires Parameters::kRtabmapMaxRepublished() > 0 and Parameters::kRtabmapPublishLastSignature() = true.

        @@ -2297,7 +2314,7 @@ data"), so consumers reading
        Note
        Must be called before init(); an error is logged and the call ignored once the memory exists.
        -
        Warning
        Incompatible with mapping: adding new nodes asserts in Memory::createSignature(). Loop closure detection also cannot match new observations against a descriptor-less dictionary.
        +
        Warning
        Incompatible with mapping: adding new nodes asserts in Memory::createSignature(). Loop closure detection also cannot match new observations against a descriptor-less dictionary.
        See also
        Memory::setDummyDictionary()
        @@ -2383,7 +2400,7 @@ data"), so consumers reading

        Plans a path from the current location to node targetNode.

        -

        RGB-D mode only (requires Parameters::kRGBDEnabled() = true).

        +

        RGB-D mode only (requires Parameters::kRGBDEnabled() = true).

        Parameters
        @@ -2392,7 +2409,7 @@ data"), so consumers reading
        Returns
        True if a path was computed; the result is available via getPath().
        -
        See also
        Parameters::kRGBDEnabled()
        +
        See also
        Parameters::kRGBDEnabled()
        @@ -2426,7 +2443,7 @@ data"), so consumers reading
        Parameters
        targetNodeDestination node id (positive) or landmark id (negative).
        - +
        targetPoseGoal pose in the map frame.
        toleranceGoal-acceptance tolerance (meters). A negative value falls back to Parameters::kRGBDLocalRadius(); 0 means infinite tolerance.
        toleranceGoal-acceptance tolerance (meters). A negative value falls back to Parameters::kRGBDLocalRadius(); 0 means infinite tolerance.
        @@ -2691,9 +2708,9 @@ data"), so consumers reading only neighbor (sequential) links         – loop-closure links, landmark links and intermediate nodes are not used to traverse between members. Paths are produced one at a time, each starting from the still-unclaimed pose nearest to target; a candidate is added to the current path only if it has at least one neighbor link to a node already in the path.

        -

        Used internally by proximity detection by space (see Parameters::kRGBDProximityBySpace()) in two independent stages, each iterating over the segmented paths:

          +

          Used internally by proximity detection by space (see Parameters::kRGBDProximityBySpace()) in two independent stages, each iterating over the segmented paths:

          • One-to-one (visual registration): runs registration between the current node and at most one node per neighbor-connected path, avoiding redundant attempts against nearby members of the same local trajectory.
            • -
          • One-to-many (scan matching, enabled when Parameters::kRGBDProximityPathMaxNeighbors() > 0): on each path, neighboring nodes are assembled around the nearest pose on the path (up to the configured count, walked forward and backward) and their laser scans are merged for an ICP registration against the current scan. The neighbor-link-only structure of each path is what makes this assembly geometrically consistent.
            • +
          • One-to-many (scan matching, enabled when Parameters::kRGBDProximityPathMaxNeighbors() > 0): on each path, neighboring nodes are assembled around the nearest pose on the path (up to the configured count, walked forward and backward) and their laser scans are merged for an ICP registration against the current scan. The neighbor-link-only structure of each path is what makes this assembly geometrically consistent.
          Parameters
          @@ -2725,7 +2742,7 @@ data"), so consumers reading -

          The exact formulas are selected by Parameters::kRtabmapVirtualPlaceLikelihoodRatio() (default 0, Angeli PhD formulation):

          +

          The exact formulas are selected by Parameters::kRtabmapVirtualPlaceLikelihoodRatio() (default 0, Angeli PhD formulation):

          • Ratio = 0 (mean / std-dev formulation): + -
            -Generated by doxygen 1.9.8 -
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        Real-Time Appearance-Based Mapping
        ~RtabmapEvent3DMap() (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinlinevirtual
        ~UEvent() (defined in UEvent)UEventinlinevirtual
        + -
        -Generated by doxygen 1.9.8 -
        + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html index cf0b7fc9..defff25c 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
        RTAB-Map 0.23.10
        +
        Real-Time Appearance-Based Mapping
        @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
        + +
        +
        +
        + +
        - -
        Public Member Functions | @@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::RtabmapEvent3DMap:
        -
        [legend]
        +
        [legend]
        Collaboration diagram for rtabmap::RtabmapEvent3DMap:
        @@ -102,7 +119,7 @@ Collaboration diagram for rtabmap::RtabmapEvent3DMap:
        -
        [legend]
        +
        [legend]
        @@ -130,7 +147,7 @@ Additional Inherited Members

        Public Member Functions

        Detailed Description

        -

        Definition at line 172 of file RtabmapEvent.h.

        +

        Definition at line 183 of file RtabmapEvent.h.

        Constructor & Destructor Documentation

        ◆ RtabmapEvent3DMap() [1/2]

        @@ -156,7 +173,7 @@ Additional Inherited Members
        -

        Definition at line 175 of file RtabmapEvent.h.

        +

        Definition at line 186 of file RtabmapEvent.h.

        @@ -200,7 +217,7 @@ Additional Inherited Members
        -

        Definition at line 177 of file RtabmapEvent.h.

        +

        Definition at line 188 of file RtabmapEvent.h.

        @@ -227,7 +244,7 @@ Additional Inherited Members
        -

        Definition at line 187 of file RtabmapEvent.h.

        +

        Definition at line 198 of file RtabmapEvent.h.

        @@ -255,7 +272,7 @@ Additional Inherited Members
        -

        Definition at line 189 of file RtabmapEvent.h.

        +

        Definition at line 200 of file RtabmapEvent.h.

        @@ -282,7 +299,7 @@ Additional Inherited Members
        -

        Definition at line 190 of file RtabmapEvent.h.

        +

        Definition at line 201 of file RtabmapEvent.h.

        @@ -309,7 +326,7 @@ Additional Inherited Members
        -

        Definition at line 191 of file RtabmapEvent.h.

        +

        Definition at line 202 of file RtabmapEvent.h.

        @@ -339,7 +356,7 @@ Additional Inherited Members

        Implements UEvent.

        -

        Definition at line 193 of file RtabmapEvent.h.

        +

        Definition at line 204 of file RtabmapEvent.h.

        @@ -347,9 +364,13 @@ Additional Inherited Members
      • corelib/include/rtabmap/core/RtabmapEvent.h
      + -
      -Generated by doxygen 1.9.8 -
      + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.js b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.js new file mode 100644 index 00000000..89f262f2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.js @@ -0,0 +1,4 @@ +var classrtabmap_1_1RtabmapEvent3DMap = +[ + [ "getClassName", "classrtabmap_1_1RtabmapEvent3DMap.html#ad2d9581145b56762e1d9ae5f04101db5", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html index fbc9b35f..f5fdef8e 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
      RTAB-Map 0.23.10
      +
      Real-Time Appearance-Based Mapping
      @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
      + +
      +
      +
      + +
      - -
      rtabmap::RtabmapEventCmd Member List
      @@ -83,32 +100,32 @@ $(function() {

      This is the complete list of members for rtabmap::RtabmapEventCmd, including all inherited members.

      - + - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + @@ -122,9 +139,12 @@ $(function() {
      Cmd enum name (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      Cmd enum namertabmap::RtabmapEventCmd
      d enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      dummy enum name (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      getClassName() constrtabmap::RtabmapEventCmdinlinevirtual
      getCmd() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
      getCode() constUEventinline
      getParameters() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
      kCmdCancelGoal enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdCleanDataBuffer enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdClose enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdDumpMemory enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdDumpPrediction enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdExportPoses enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdGenerateDOTGraph enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdGoal enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdInit enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdLabel enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdPause enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdPublish3DMap enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdRemoveLabel enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdRepublishData enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdResetMemory enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdResume enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdTriggerNewMap enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdUndef enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdUpdateParams enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
      kCmdCancelGoal enum valuertabmap::RtabmapEventCmd
      kCmdCleanDataBuffer enum valuertabmap::RtabmapEventCmd
      kCmdClose enum valuertabmap::RtabmapEventCmd
      kCmdDumpMemory enum valuertabmap::RtabmapEventCmd
      kCmdDumpPrediction enum valuertabmap::RtabmapEventCmd
      kCmdExportPoses enum valuertabmap::RtabmapEventCmd
      kCmdGenerateDOTGraph enum valuertabmap::RtabmapEventCmd
      kCmdGoal enum valuertabmap::RtabmapEventCmd
      kCmdInit enum valuertabmap::RtabmapEventCmd
      kCmdLabel enum valuertabmap::RtabmapEventCmd
      kCmdPause enum valuertabmap::RtabmapEventCmd
      kCmdPublish3DMap enum valuertabmap::RtabmapEventCmd
      kCmdRemoveLabel enum valuertabmap::RtabmapEventCmd
      kCmdRepublishData enum valuertabmap::RtabmapEventCmd
      kCmdResetMemory enum valuertabmap::RtabmapEventCmd
      kCmdResume enum valuertabmap::RtabmapEventCmd
      kCmdTriggerNewMap enum valuertabmap::RtabmapEventCmd
      kCmdUndef enum valuertabmap::RtabmapEventCmd
      kCmdUpdateParams enum valuertabmap::RtabmapEventCmd
      RtabmapEventCmd(Cmd cmd, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
      RtabmapEventCmd(Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
      RtabmapEventCmd(Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
      ~RtabmapEventCmd() (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinlinevirtual
      ~UEvent() (defined in UEvent)UEventinlinevirtual
      + -
      -Generated by doxygen 1.9.8 -
      + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd.html index 70547c2b..d2c58099 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEventCmd.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
      RTAB-Map 0.23.10
      +
      Real-Time Appearance-Based Mapping
      @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
      + +
      +
      +
      + +
      - -
      Public Types | @@ -84,73 +101,79 @@ $(function() {
      rtabmap::RtabmapEventCmd Class Reference
      + +

      Command sent to RtabmapThread, with its parameters. + More...

      + +

      #include <RtabmapEvent.h>

      Inheritance diagram for rtabmap::RtabmapEventCmd:
      Inheritance graph
      - + -
      [legend]
      +
      [legend]
      Collaboration diagram for rtabmap::RtabmapEventCmd:
      Collaboration graph
      - + -
      [legend]
      +
      [legend]
      - +

      Public Types

      enum  dummy { d }
       
      enum  Cmd {
      -  kCmdUndef -, kCmdInit -, kCmdResetMemory -, kCmdClose +
      enum  Cmd {
      +  kCmdUndef +, kCmdInit +, kCmdResetMemory +, kCmdClose ,
      -  kCmdUpdateParams -, kCmdDumpMemory -, kCmdDumpPrediction -, kCmdGenerateDOTGraph +  kCmdUpdateParams +, kCmdDumpMemory +, kCmdDumpPrediction +, kCmdGenerateDOTGraph ,
      -  kCmdExportPoses -, kCmdCleanDataBuffer -, kCmdPublish3DMap -, kCmdRepublishData +  kCmdExportPoses +, kCmdCleanDataBuffer +, kCmdPublish3DMap +, kCmdRepublishData ,
      -  kCmdTriggerNewMap -, kCmdPause -, kCmdResume -, kCmdGoal +  kCmdTriggerNewMap +, kCmdPause +, kCmdResume +, kCmdGoal ,
      -  kCmdCancelGoal -, kCmdLabel -, kCmdRemoveLabel +  kCmdCancelGoal +, kCmdLabel +, kCmdRemoveLabel
      }
       What the receiving RtabmapThread should do. More...
       
      - + - + - + - + - + - + @@ -160,7 +183,7 @@ Public Member Functions - + @@ -175,8 +198,10 @@ Additional Inherited Members

      Public Member Functions

       RtabmapEventCmd (Cmd cmd, const ParametersMap &parameters=ParametersMap())
       RtabmapEventCmd (Cmd cmd, const ParametersMap &parameters=ParametersMap())
       
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap())
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap())
       
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap())
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap())
       
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const ParametersMap &parameters=ParametersMap())
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const ParametersMap &parameters=ParametersMap())
       
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const UVariant &value4, const ParametersMap &parameters=ParametersMap())
       RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const UVariant &value4, const ParametersMap &parameters=ParametersMap())
       
      Cmd getCmd () const
      Cmd getCmd () const
       
      const UVariant & value1 () const
       
       
      const UVariant & value4 () const
       
      const ParametersMap & getParameters () const
      const ParametersMap & getParameters () const
       
      virtual std::string getClassName () const
       
       

      Detailed Description

      -
      -

      Definition at line 57 of file RtabmapEvent.h.

      +

      Command sent to RtabmapThread, with its parameters.

      +

      Posting one to UEventsManager is how the map is controlled from another thread: initializing or closing it, resetting the memory, requesting the graph, setting a goal, labelling a node... The arguments listed for each Cmd are passed as value1 / value2 to the constructor, and parameter maps through parameters.

      + +

      Definition at line 67 of file RtabmapEvent.h.

      Member Enumeration Documentation

      ◆ dummy

      @@ -190,7 +215,7 @@ Additional Inherited Members
      -

      Definition at line 60 of file RtabmapEvent.h.

      +

      Definition at line 70 of file RtabmapEvent.h.

      @@ -201,12 +226,54 @@ Additional Inherited Members
      - +
      enum rtabmap::RtabmapEventCmd::Cmdenum rtabmap::RtabmapEventCmd::Cmd
      -

      Definition at line 61 of file RtabmapEvent.h.

      +

      What the receiving RtabmapThread should do.

      + + + + + + + + + + + + + + + + + + + + +
      Enumerator
      kCmdUndef 

      No command.

      +
      kCmdInit 

      Initialize the map. Params: [string] database path + ParametersMap.

      +
      kCmdResetMemory 

      Clear the map and start over from an empty memory.

      +
      kCmdClose 

      Close the map. Params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true).

      +
      kCmdUpdateParams 

      Apply new parameters. Params: ParametersMap.

      +
      kCmdDumpMemory 

      Dump the memory content to text files in the working directory.

      +
      kCmdDumpPrediction 

      Dump the Bayes filter prediction matrix to a text file.

      +
      kCmdGenerateDOTGraph 

      Write the graph as a DOT file. Params: [bool] global, [string] path, if global=false: [int] id, [int] margin.

      +
      kCmdExportPoses 

      Export the poses to a file. Params: [bool] global, [bool] optimized, [string] path, [int] type (0=raw format, 1=RGBD-SLAM format, 2=KITTI format, 3=TORO, 4=g2o).

      +
      kCmdCleanDataBuffer 

      Drop the frames waiting in the thread's buffer.

      +
      kCmdPublish3DMap 

      Ask for the map, answered with a RtabmapEvent3DMap. Params: [bool] global, [bool] optimized, [bool] graphOnly.

      +
      kCmdRepublishData 

      Republish the data of some nodes. Params: [vector<int>] ids.

      +
      kCmdTriggerNewMap 

      Start a new map session (see Rtabmap::triggerNewMap()).

      +
      kCmdPause 

      Stop consuming incoming data.

      +
      kCmdResume 

      Resume after a kCmdPause.

      +
      kCmdGoal 

      Plan a path to a node. Params: [string] label or [int] location ID.

      +
      kCmdCancelGoal 

      Abandon the current goal.

      +
      kCmdLabel 

      Label a node. Params: [string] label, [int] location ID.

      +
      kCmdRemoveLabel 

      Remove a label. Params: [string] label.

      +
      + +

      Definition at line 72 of file RtabmapEvent.h.

      @@ -223,14 +290,14 @@ Additional Inherited Members rtabmap::RtabmapEventCmd::RtabmapEventCmd ( - Cmd  + Cmd  cmd, - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -245,7 +312,7 @@ Additional Inherited Members
      -

      Definition at line 83 of file RtabmapEvent.h.

      +

      Definition at line 94 of file RtabmapEvent.h.

      @@ -261,7 +328,7 @@ Additional Inherited Members rtabmap::RtabmapEventCmd::RtabmapEventCmd ( - Cmd  + Cmd  cmd, @@ -273,8 +340,8 @@ Additional Inherited Members - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -289,7 +356,7 @@ Additional Inherited Members
      -

      Definition at line 87 of file RtabmapEvent.h.

      +

      Definition at line 98 of file RtabmapEvent.h.

      @@ -305,7 +372,7 @@ Additional Inherited Members rtabmap::RtabmapEventCmd::RtabmapEventCmd ( - Cmd  + Cmd  cmd, @@ -323,8 +390,8 @@ Additional Inherited Members - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -339,7 +406,7 @@ Additional Inherited Members
      -

      Definition at line 92 of file RtabmapEvent.h.

      +

      Definition at line 103 of file RtabmapEvent.h.

      @@ -355,7 +422,7 @@ Additional Inherited Members rtabmap::RtabmapEventCmd::RtabmapEventCmd ( - Cmd  + Cmd  cmd, @@ -379,8 +446,8 @@ Additional Inherited Members - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -395,7 +462,7 @@ Additional Inherited Members
      -

      Definition at line 98 of file RtabmapEvent.h.

      +

      Definition at line 109 of file RtabmapEvent.h.

      @@ -411,7 +478,7 @@ Additional Inherited Members rtabmap::RtabmapEventCmd::RtabmapEventCmd ( - Cmd  + Cmd  cmd, @@ -441,8 +508,8 @@ Additional Inherited Members - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -457,7 +524,7 @@ Additional Inherited Members
      -

      Definition at line 105 of file RtabmapEvent.h.

      +

      Definition at line 116 of file RtabmapEvent.h.

      @@ -484,7 +551,7 @@ Additional Inherited Members
      -

      Definition at line 114 of file RtabmapEvent.h.

      +

      Definition at line 125 of file RtabmapEvent.h.

      @@ -499,7 +566,7 @@ Additional Inherited Members - + @@ -512,7 +579,7 @@ Additional Inherited Members
      Cmd rtabmap::RtabmapEventCmd::getCmd Cmd rtabmap::RtabmapEventCmd::getCmd ( ) const
      -

      Definition at line 115 of file RtabmapEvent.h.

      +

      Definition at line 126 of file RtabmapEvent.h.

      @@ -539,7 +606,7 @@ Additional Inherited Members
      -

      Definition at line 117 of file RtabmapEvent.h.

      +

      Definition at line 128 of file RtabmapEvent.h.

      @@ -566,7 +633,7 @@ Additional Inherited Members
      -

      Definition at line 118 of file RtabmapEvent.h.

      +

      Definition at line 129 of file RtabmapEvent.h.

      @@ -593,7 +660,7 @@ Additional Inherited Members
      -

      Definition at line 119 of file RtabmapEvent.h.

      +

      Definition at line 130 of file RtabmapEvent.h.

      @@ -620,7 +687,7 @@ Additional Inherited Members
      -

      Definition at line 120 of file RtabmapEvent.h.

      +

      Definition at line 131 of file RtabmapEvent.h.

      @@ -634,7 +701,7 @@ Additional Inherited Members - + @@ -647,7 +714,7 @@ Additional Inherited Members
      const ParametersMap & rtabmap::RtabmapEventCmd::getParameters const ParametersMap & rtabmap::RtabmapEventCmd::getParameters ( ) const
      -

      Definition at line 122 of file RtabmapEvent.h.

      +

      Definition at line 133 of file RtabmapEvent.h.

      @@ -677,7 +744,7 @@ Additional Inherited Members

      Implements UEvent.

      -

      Definition at line 124 of file RtabmapEvent.h.

      +

      Definition at line 135 of file RtabmapEvent.h.

      @@ -685,9 +752,13 @@ Additional Inherited Members
    • corelib/include/rtabmap/core/RtabmapEvent.h
    + -
    -Generated by doxygen 1.9.8 -
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    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.js b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.js new file mode 100644 index 00000000..75c83b17 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.js @@ -0,0 +1,4 @@ +var classrtabmap_1_1RtabmapLabelErrorEvent = +[ + [ "getClassName", "classrtabmap_1_1RtabmapLabelErrorEvent.html#ab41ac9cdd98c1d94b1a8dc9a21364315", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread-members.html index 59365e7a..429fbddf 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::RtabmapThread Member List
    @@ -83,18 +100,18 @@ $(function() {

    This is the complete list of members for rtabmap::RtabmapThread, including all inherited members.

    - + - + - - - + + + @@ -115,20 +132,20 @@ $(function() { - - + + - + - - + + - + @@ -144,9 +161,12 @@ $(function() {
    clearBufferedData() (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    clearBufferedData()rtabmap::RtabmapThread
    close(bool databaseSaved, const std::string &databasePath="")rtabmap::RtabmapThread
    Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
    Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
    createIntermediateNodes(bool enabled) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    createIntermediateNodes(bool enabled)rtabmap::RtabmapThread
    currentThreadId() (defined in UThread)UThreadinlinestatic
    Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
    Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    getCreateIntermediateNodes() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
    getDataBufferSize() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
    getDetectorRate() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
    getCreateIntermediateNodes() constrtabmap::RtabmapThreadinline
    getDataBufferSize() constrtabmap::RtabmapThreadinline
    getDetectorRate() constrtabmap::RtabmapThreadinline
    getThreadHandle() const (defined in UThread)UThreadinline
    getThreadId() const (defined in UThread)UThreadinline
    Handle typedef (defined in UThreadC< void >)UThreadC< void >
    kPLow enum value (defined in UThread)UThread
    kPNormal enum value (defined in UThread)UThread
    kPRealTime enum value (defined in UThread)UThread
    kStateDetecting enum value (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    kStateProcessCommand enum value (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    kStateDetecting enum valuertabmap::RtabmapThread
    kStateProcessCommand enum valuertabmap::RtabmapThread
    post(UEvent *event, bool async=true) constUEventsSenderprotected
    Priority enum nameUThread
    registerToEventsManager() (defined in UEventsHandler)UEventsHandler
    RtabmapThread(Rtabmap *rtabmap) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    RtabmapThread(Rtabmap *rtabmap)rtabmap::RtabmapThread
    Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    setAffinity(int cpu=0)UThread
    setDataBufferSize(unsigned int bufferSize) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    setDetectorRate(float rate) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    setDataBufferSize(unsigned int bufferSize)rtabmap::RtabmapThread
    setDetectorRate(float rate)rtabmap::RtabmapThread
    setPriority(Priority priority)UThread
    start()UThread
    State enum name (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
    State enum namertabmap::RtabmapThread
    TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
    UEventsHandler()UEventsHandlerinlineprotected
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html index 14f95c55..591dd916 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -85,12 +102,17 @@ $(function() {
    rtabmap::RtabmapThread Class Reference
    + +

    Runs a Rtabmap instance in its own thread, driven by events. + More...

    + +

    #include <RtabmapThread.h>

    Inheritance diagram for rtabmap::RtabmapThread:
    Inheritance graph
    - + @@ -100,13 +122,13 @@ Inheritance diagram for rtabmap::RtabmapThread:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::RtabmapThread:
    Collaboration graph
    - + @@ -116,13 +138,14 @@ Collaboration diagram for rtabmap::RtabmapThread:
    -
    [legend]
    +
    [legend]
    - +

    Public Types

    enum  State { kStateDetecting -, kStateProcessCommand +
    enum  State { kStateDetecting +, kStateProcessCommand }
     What the main loop does on its next wake-up. More...
     
    - Public Types inherited from UThread
    enum  Priority {
    @@ -147,20 +170,21 @@ Public Types
    - + + + - + + - + + - + + @@ -169,6 +193,7 @@ void  + @@ -217,6 +242,7 @@ void  + @@ -264,8 +290,39 @@ Additional Inherited Members

    Public Member Functions

    - RtabmapThread (Rtabmap *rtabmap)
     RtabmapThread (Rtabmap *rtabmap)
     Constructor.
     
    void clearBufferedData ()
     Drops the buffered frames, the pending user data and the odometry state.
     
    -void setDetectorRate (float rate)
    void setDetectorRate (float rate)
     Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).
     
    -void setDataBufferSize (unsigned int bufferSize)
    void setDataBufferSize (unsigned int bufferSize)
     Sets how many frames may wait in the buffer (0 = unlimited).
     
    -void createIntermediateNodes (bool enabled)
    void createIntermediateNodes (bool enabled)
     Keeps the frames skipped by setDetectorRate() as intermediate nodes.
     
    float getDetectorRate () const
     
    createIntermediateNod
    bool getCreateIntermediateNodes () const
     
    void close (bool databaseSaved, const std::string &databasePath="")
     Joins the thread and closes rtabmap. This will delete rtabmap object if set.
     
    - Public Member Functions inherited from UThread
     UThread (Priority priority=kPNormal)
    unregisterFromEventsM

    Protected Member Functions

    virtual bool handleEvent (UEvent *anEvent)
     Receives the events listed in the class description.
     
    - Protected Member Functions inherited from UEventsHandler
     UEventsHandler ()
     

    Detailed Description

    -
    -

    Definition at line 51 of file RtabmapThread.h.

    +

    Runs a Rtabmap instance in its own thread, driven by events.

    +

    The thread owns the Rtabmap object and calls Rtabmap::process() on the data it receives, so that mapping never blocks the sensor or odometry threads. It is the last stage of the event-based pipeline: SensorCaptureThread → OdometryThread → RtabmapThread.

    +

    Input events (handled in handleEvent(), i.e. in the caller's thread):

    +

    Output events, posted from the thread:

    +

    Input regulation, on top of what Rtabmap does:

      +
    • Frames are queued in a buffer of Parameters::kRtabmapImageBufferSize() elements; when it is full the oldest frame is dropped, so a slow map update never delays the live pipeline.
      • +
    • Frames arriving faster than Parameters::kRtabmapDetectionRate() are skipped, which is the rate limiting that Rtabmap::process() itself does not do. With Parameters::kRtabmapCreateIntermediateNodes() enabled they are kept instead, and added as intermediate nodes (odometry-only, not used for loop closure detection).
      • +
    • An identity odometry pose, or a covariance ≥ 9999, is read as an odometry reset and triggers a new map id on the next processed frame. The largest covariance seen between two processed frames is the one passed on, so the link weight does not depend on the odometry frame rate.
      • +
    +

    The object registers itself as a UEventsHandler, so posting an event to UEventsManager is enough to feed it:

    rtabmap::RtabmapThread rtabmapThread(new rtabmap::Rtabmap()); // takes ownership
    +
    rtabmapThread.start();
    +
    UEventsManager::addHandler(&rtabmapThread);
    +
    UEventsManager::createPipe(&odomThread, &rtabmapThread, "OdometryEvent");
    +
    UEventsManager::addHandler
    static void addHandler(UEventsHandler *handler)
    +
    rtabmap::RtabmapThread
    Runs a Rtabmap instance in its own thread, driven by events.
    Definition RtabmapThread.h:107
    +
    rtabmap::Rtabmap
    Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
    Definition Rtabmap.h:194
    +
    See also
    Rtabmap
    +
    +OdometryThread
    +
    +SensorCaptureThread
    + +

    Definition at line 104 of file RtabmapThread.h.

    Member Enumeration Documentation

    ◆ State

    @@ -274,16 +331,115 @@ Additional Inherited Members
    - +
    enum rtabmap::RtabmapThread::Stateenum rtabmap::RtabmapThread::State
    -

    Definition at line 56 of file RtabmapThread.h.

    +

    What the main loop does on its next wake-up.

    + + + +
    Enumerator
    kStateDetecting 

    Process the next buffered frame.

    +
    kStateProcessCommand 

    Execute the next queued RtabmapEventCmd.

    +
    + +

    Definition at line 110 of file RtabmapThread.h.

    + +
    +
    +

    Constructor & Destructor Documentation

    + +

    ◆ RtabmapThread()

    + +
    +
    + + + + + + + + +
    rtabmap::RtabmapThread::RtabmapThread (Rtabmap * rtabmap)
    +
    + +

    Constructor.

    +
    Parameters
    + + +
    rtabmapThe map to run; must not be null. The thread takes ownership and deletes it in close(), which the destructor calls.
    +
    +
    +

    The buffer size, detection rate and intermediate node settings are taken from the default parameters here, then updated by every RtabmapEventCmd::kCmdInit and RtabmapEventCmd::kCmdUpdateParams command.

    Member Function Documentation

    + +

    ◆ setDetectorRate()

    + +
    +
    + + + + + + + + +
    void rtabmap::RtabmapThread::setDetectorRate (float rate)
    +
    + +

    Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).

    +

    Same setting as Parameters::kRtabmapDetectionRate(). Frames arriving faster are dropped, or added as intermediate nodes if createIntermediateNodes() is enabled.

    + +
    +
    + +

    ◆ setDataBufferSize()

    + +
    +
    + + + + + + + + +
    void rtabmap::RtabmapThread::setDataBufferSize (unsigned int bufferSize)
    +
    + +

    Sets how many frames may wait in the buffer (0 = unlimited).

    +

    Same setting as Parameters::kRtabmapImageBufferSize(). Once full, the oldest frame is dropped to make room for the new one.

    + +
    +
    + +

    ◆ createIntermediateNodes()

    + +
    +
    + + + + + + + + +
    void rtabmap::RtabmapThread::createIntermediateNodes (bool enabled)
    +
    + +

    Keeps the frames skipped by setDetectorRate() as intermediate nodes.

    +

    Same setting as Parameters::kRtabmapCreateIntermediateNodes(). Those nodes carry the odometry link but take no part in loop closure detection.

    + +
    +

    ◆ getDetectorRate()

    @@ -306,8 +462,9 @@ Additional Inherited Members
    +
    Returns
    Maximum processing rate in Hz (0 = unlimited).
    -

    Definition at line 71 of file RtabmapThread.h.

    +

    Definition at line 155 of file RtabmapThread.h.

    @@ -333,8 +490,9 @@ Additional Inherited Members
    +
    Returns
    Maximum number of buffered frames (0 = unlimited).
    -

    Definition at line 72 of file RtabmapThread.h.

    +

    Definition at line 157 of file RtabmapThread.h.

    @@ -360,8 +518,9 @@ Additional Inherited Members
    +
    Returns
    True if skipped frames are added as intermediate nodes.
    -

    Definition at line 73 of file RtabmapThread.h.

    +

    Definition at line 159 of file RtabmapThread.h.

    @@ -390,13 +549,16 @@ Additional Inherited Members
    -

    Close rtabmap. This will delete rtabmap object if set.

    Parameters
    + +

    Joins the thread and closes rtabmap. This will delete rtabmap object if set.

    +
    Parameters
    - +
    databaseSavedtrue=database saved, false=database discarded.
    databasePathoutput database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).
    databasePathoutput database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).
    +

    Called by the destructor with databaseSaved true. The object cannot be used afterwards: the Rtabmap instance it owned is gone.

    @@ -413,7 +575,7 @@ Additional Inherited Members virtual bool rtabmap::RtabmapThread::handleEvent ( UEvent *  - event) + anEvent) @@ -423,9 +585,10 @@ Additional Inherited Members
    -

    Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

    Returns
    "true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
    -
    -"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.
    + +

    Receives the events listed in the class description.

    +

    Runs in the posting thread: data events are only queued here, the work happens in the thread's main loop. Events are ignored until the thread is started.

    +
    Returns
    Always false, so the event keeps being dispatched to other handlers.

    Implements UEventsHandler.

    @@ -435,9 +598,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/RtabmapThread.h
    • + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.js b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.js new file mode 100644 index 00000000..c7dfdf04 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.js @@ -0,0 +1,17 @@ +var classrtabmap_1_1RtabmapThread = +[ + [ "State", "classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae", [ + [ "kStateDetecting", "classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c", null ], + [ "kStateProcessCommand", "classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001", null ] + ] ], + [ "RtabmapThread", "classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955", null ], + [ "clearBufferedData", "classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac", null ], + [ "setDetectorRate", "classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064", null ], + [ "setDataBufferSize", "classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe", null ], + [ "createIntermediateNodes", "classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116", null ], + [ "getDetectorRate", "classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1", null ], + [ "getDataBufferSize", "classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0", null ], + [ "getCreateIntermediateNodes", "classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643", null ], + [ "close", "classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574", null ], + [ "handleEvent", "classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.map index 39494b8d..f49f525d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.md5 index 6127fa93..237fd9ce 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__coll__graph.md5 @@ -1 +1 @@ -ffc6920860101476a1dd68ce3a997aac \ No newline at end of file +b8bf5e43f72c4974e1fa02d7aec2c7ee \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.map index 39494b8d..f49f525d 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.map +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.map @@ -1,5 +1,5 @@ - + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.md5 index 6127fa93..237fd9ce 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.md5 +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread__inherit__graph.md5 @@ -1 +1 @@ -ffc6920860101476a1dd68ce3a997aac \ No newline at end of file +b8bf5e43f72c4974e1fa02d7aec2c7ee \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec-members.html index 87aefcbd..cfaa45dd 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::RvlCodec Member List
    @@ -87,9 +104,12 @@ $(function() { DecompressRVL(const unsigned char *input, uint16_t *output, int numPixels) (defined in rtabmap::RvlCodec)rtabmap::RvlCodec RvlCodec() (defined in rtabmap::RvlCodec)rtabmap::RvlCodec + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec.html b/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec.html index cb28eac2..363fc685 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RvlCodec.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -100,9 +117,13 @@ void DecompressRVL (co
  • corelib/include/rtabmap/core/rvl_codec.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SIFT-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT-members.html index ade8906c..e8b3d85b 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1SIFT-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::SIFT Member List
    @@ -137,9 +154,12 @@ $(function() { ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual ~SIFT() (defined in rtabmap::SIFT)rtabmap::SIFTvirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html index b70492f0..efbd297a 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::SIFT:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SIFT:
    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::SIFT:
     -
    [legend]
    +
    [legend]
    +  - + @@ -146,7 +163,7 @@ cv::Mat  - +

    Public Member Functions

    - SIFT (const ParametersMap &parameters=ParametersMap())
    SIFT (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -184,11 +201,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -237,7 +254,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::SIFT::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -335,9 +352,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    @@ -137,9 +154,12 @@ $(function() { ~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual ~SURF() (defined in rtabmap::SURF)rtabmap::SURFvirtual + -
    -Generated by doxygen 1.9.8 -
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    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SURF:
    @@ -111,14 +128,14 @@ Collaboration diagram for rtabmap::SURF:
     -
    [legend]
    +
    [legend]
    +  - + @@ -150,7 +167,7 @@ cv::Mat  - +

    Public Member Functions

    - SURF (const ParametersMap &parameters=ParametersMap())
    SURF (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -188,11 +205,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -241,7 +258,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -261,7 +278,7 @@ static cv::Rect computeRoi virtual void rtabmap::SURF::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -339,9 +356,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SURF_DAISY:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::SURF_DAISY:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - SURF_DAISY (const ParametersMap &parameters=ParametersMap())
    SURF_DAISY (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::SURF
    - SURF (const ParametersMap &parameters=ParametersMap())
    SURF (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::SURF_DAISY::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SURF_FREAK:
    @@ -111,20 +128,20 @@ Collaboration diagram for rtabmap::SURF_FREAK:
    -
    [legend]
    +
    [legend]
    +  - + +  @@ -154,7 +171,7 @@ cv::Mat  - +

    Public Member Functions

    - SURF_FREAK (const ParametersMap &parameters=ParametersMap())
    SURF_FREAK (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    - Public Member Functions inherited from rtabmap::SURF
    - SURF (const ParametersMap &parameters=ParametersMap())
    SURF (const ParametersMap &parameters=ParametersMap())
     
    virtual bool isGpuAvailable () const override
     Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -192,11 +209,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
    create (const ParametersMap &parameters=ParametersMap())
     Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
     
    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
    create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
     Creates a detector of the given type. Caller owns the pointer.
     
    @@ -245,7 +262,7 @@ static cv::Rect computeRoi
     
    - Protected Member Functions inherited from rtabmap::Feature2D
    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -265,7 +282,7 @@ static cv::Rect computeRoi virtual void rtabmap::SURF_FREAK::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -314,9 +331,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    -Generated by doxygen 1.9.8 -
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    @@ -740,9 +757,13 @@ RGB and depth images should be already rectified if calibration was loaded.
  • corelib/include/rtabmap/core/SensorCapture.h
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    + +
    +
    +
    + +
    - -
    rtabmap::SensorCaptureThread Member List
    @@ -158,9 +175,12 @@ $(function() {

    Public Member Functions

    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
    ~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -101,7 +118,7 @@ Inheritance diagram for rtabmap::SensorCaptureThread:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SensorCaptureThread:
    @@ -115,26 +132,26 @@ Collaboration diagram for rtabmap::SensorCaptureThread:
    -
    [legend]
    +
    [legend]
    - + - + - + - + - + - + @@ -176,14 +193,14 @@ Public Member Functions - + - + - - + + @@ -437,8 +454,8 @@ The thread must be started with - - + + @@ -481,8 +498,8 @@ The thread must be started with - - + + @@ -526,8 +543,8 @@ The thread must be started with - - + + @@ -589,8 +606,8 @@ The thread must be started with - - + + @@ -670,8 +687,8 @@ The lidar's local transform should be set as the extrinsics between odometry sen - - + + @@ -1011,7 +1028,7 @@ For stereo images, histogram equalization is applied to both left and right imag

    Sets the target image capture rate (deprecated)

    -
    Deprecated:
    Use setFrameRate() instead
    +
    Deprecated:
    Use setFrameRate() instead

    Definition at line 312 of file SensorCaptureThread.h.

    @@ -1165,8 +1182,8 @@ For stereo images, histogram equalization is applied to both left and right imag
    - - + + @@ -1210,8 +1227,8 @@ For stereo images, histogram equalization is applied to both left and right imag - - + +

    Public Member Functions

     SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
     Constructor for camera-only capture.
     
     SensorCaptureThread (Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     Constructor for camera with odometry sensor.
     
     SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
     Constructor for lidar-only capture.
     
     SensorCaptureThread (Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
     Constructor for lidar with camera.
     
     SensorCaptureThread (Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     Constructor for lidar with odometry sensor.
     
     SensorCaptureThread (Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     SensorCaptureThread (Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
     Constructor for lidar with camera and odometry sensor.
     
    virtual ~SensorCaptureThread ()
    void disableBilateralFiltering ()
     Disables bilateral filtering.
     
    void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
    void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
     Enables IMU data filtering.
     
    void disableIMUFiltering ()
     Disables IMU data filtering.
     
    void enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
    void enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
     Enables automatic feature detection on captured images.
     
    @@ -368,8 +385,8 @@ The thread must be started with const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    const ParametersMap & parameters = ParametersMap(), const ParametersMap & parameters = ParametersMap(),
    void rtabmap::SensorCaptureThread::enableFeatureDetection (const ParametersMap & parameters = ParametersMap())const ParametersMap & parameters = ParametersMap())
    @@ -1298,7 +1315,7 @@ For stereo images, histogram equalization is applied to both left and right imag

    Sets lidar scan processing parameters (deprecated)

    -
    Deprecated:
    Use the new version with groundNormalsUp parameter instead
    +
    Deprecated:
    Use the new version with groundNormalsUp parameter instead

    Use the new version with groundNormalsUp parameter:

    • groundNormalsUp=0.8 for forceGroundNormalsUp=True
    • groundNormalsUp=0.0 for forceGroundNormalsUp=False
      • @@ -1609,9 +1626,13 @@ For stereo images, histogram equalization is applied to both left and right imag
    • corelib/include/rtabmap/core/SensorCaptureThread.h
    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::SensorData Member List
    @@ -174,9 +191,12 @@ $(function() { userDataRaw() const (defined in rtabmap::SensorData)rtabmap::SensorDatainline ~SensorData()rtabmap::SensorDatavirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
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    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    Public Member Functions | @@ -3683,9 +3700,13 @@ The class manages memory efficiently by storing either raw or compressed data (o
  • corelib/include/rtabmap/core/SensorData.h
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    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::SensorEvent Member List
    @@ -100,9 +117,12 @@ $(function() { ~SensorEvent()rtabmap::SensorEventinlinevirtual ~UEvent() (defined in UEvent)UEventinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html index 65cba588..c9f0a020 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Types | @@ -98,7 +115,7 @@ Inheritance diagram for rtabmap::SensorEvent:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::SensorEvent:
    @@ -108,7 +125,7 @@ Collaboration diagram for rtabmap::SensorEvent:
    -
    [legend]
    +
    [legend]
    @@ -162,7 +179,7 @@ Additional Inherited Members

    Public Types

    Detailed Description

    Event class for sensor data communication in RTAB-Map's event system.

    -

    SensorEvent is an event class that extends UEvent and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., RtabmapThread, DataRecorder, CalibrationDialog).

    +

    SensorEvent is an event class that extends UEvent and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., RtabmapThread, DataRecorder, CalibrationDialog).

    The class supports two event codes:

    • kCodeData: Indicates that new sensor data is available
    • kCodeNoMoreImages: Indicates that the sensor stream has ended (end of file, camera disconnected, etc.)
      • @@ -595,9 +612,13 @@ Additional Inherited Members
    • corelib/include/rtabmap/core/SensorEvent.h
    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
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    @@ -137,9 +154,12 @@ $(function() { Signature(const SensorData &data)rtabmap::Signature ~Signature()rtabmap::Signaturevirtual + -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -140,7 +157,7 @@ virtual ~Signature ()< void addLink (const Link &link)  Adds a single link to this signature.
      -bool hasLink (int idTo, Link::Type type=Link::kUndef) const +bool hasLink (int idTo, Link::Type type=Link::kUndef) const  Checks if this signature has a link to a target signature.
      void changeLinkIds (int idFrom, int idTo) @@ -799,7 +816,7 @@ Automatically marks links as modified. Link::Type  - type = Link::kUndef  + type = Link::kUndef  @@ -813,7 +830,7 @@ Automatically marks links as modified.
    Parameters
    - +
    idToTarget signature ID (0 to check for any link of the specified type)
    typeLink type to check for (default: Link::kUndef to check any type)
    typeLink type to check for (default: Link::kUndef to check any type)
    @@ -1972,9 +1989,13 @@ All arrays must have the same size (number of words).
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    • +
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Statistics Member List
    @@ -144,9 +161,12 @@ $(function() { wmState() constrtabmap::Statisticsinline ~Statistics()rtabmap::Statisticsvirtual + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -772,7 +789,7 @@ Use the static methods generated by RTABMAP_STATS() to get standardized names: <

    Sets the last signature data (deprecated)

    -
    Deprecated:
    Use addSignatureData() instead
    +
    Deprecated:
    Use addSignatureData() instead

    This method is deprecated. Use addSignatureData() instead, which allows storing multiple signatures.

    @@ -2258,9 +2275,13 @@ Use Statistics.h
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::Stereo Member List
    @@ -96,9 +113,12 @@ $(function() { winSSD() constrtabmap::Stereoinline ~Stereo()rtabmap::Stereoinlinevirtual + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html index c21533cf..d8e78bef 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -98,17 +115,17 @@ Inheritance diagram for rtabmap::Stereo:
    -
    [legend]
    +
    [legend]
    - + - + @@ -138,7 +155,7 @@ Public Member Functions

    Public Member Functions

     Stereo (const ParametersMap &parameters=ParametersMap())
     Stereo (const ParametersMap &parameters=ParametersMap())
     Constructor.
     
    virtual ~Stereo ()
     Virtual destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse parameters from a parameters map.
     
    virtual std::vector< cv::Point2f > computeCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
    - +

    Static Public Member Functions

    static Stereo * create (const ParametersMap &parameters=ParametersMap())
    static Stereo * create (const ParametersMap &parameters=ParametersMap())
     Factory method to create a Stereo instance.
     
    @@ -162,8 +179,8 @@ Static Public Member Functions rtabmap::Stereo::Stereo ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -222,8 +239,8 @@ Static Public Member Functions static Stereo * rtabmap::Stereo::create ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -238,7 +255,7 @@ Static Public Member Functions

    Creates a Stereo instance based on the stereo optical flow parameter in the provided parameters map. If optical flow is enabled, creates a StereoOpticalFlow instance; otherwise, creates a standard Stereo instance.

    Parameters
    - +
    parametersParameters map containing configuration values. The Parameters::kStereoOpticalFlow() parameter determines which implementation to create.
    parametersParameters map containing configuration values. The Parameters::kStereoOpticalFlow() parameter determines which implementation to create.
    @@ -258,7 +275,7 @@ Static Public Member Functions virtual void rtabmap::Stereo::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -272,13 +289,13 @@ Static Public Member Functions

    Parse parameters from a parameters map.

    Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    Parameters
    @@ -573,9 +590,13 @@ The algorithm searches for correspondences within the disparity range [corelib/include/rtabmap/core/Stereo.h + -
    -Generated by doxygen 1.9.8 -
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    + +
    +
    +
    + +
    - -
    rtabmap::StereoBM Member List
    @@ -96,9 +113,12 @@ $(function() {
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~StereoBM()rtabmap::StereoBMinlinevirtual
    ~StereoDense()rtabmap::StereoDenseinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html index be6d1484..3ed79213 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
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    Public Member Functions | @@ -97,7 +114,7 @@ Inheritance diagram for rtabmap::StereoBM:
    -
    [legend]
    +
    [legend]
    Collaboration diagram for rtabmap::StereoBM:
    @@ -107,20 +124,20 @@ Collaboration diagram for rtabmap::StereoBM:
    -
    [legend]
    +
    [legend]
    - + - + @@ -140,14 +157,14 @@ Additional Inherited Members - + - + - +

    Public Member Functions

     StereoBM (int blockSize, int numDisparities)
     Constructor with explicit block size and number of disparities.
     
     StereoBM (const ParametersMap &parameters=ParametersMap())
     StereoBM (const ParametersMap &parameters=ParametersMap())
     Constructor with parameters map.
     
    virtual ~StereoBM ()
     Virtual destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse parameters from a parameters map.
     
    virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const
     Enumeration of available stereo matching algorithm types. More...
     
    - Static Public Member Functions inherited from rtabmap::StereoDense
    static StereoDense * create (const ParametersMap &parameters)
    static StereoDense * create (const ParametersMap &parameters)
     Factory method to create a StereoDense instance from parameters.
     
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
     Factory method to create a StereoDense instance of a specific type.
     
    - Protected Member Functions inherited from rtabmap::StereoDense
     StereoDense (const ParametersMap &parameters=ParametersMap())
     StereoDense (const ParametersMap &parameters=ParametersMap())
     Protected constructor.
     
    @@ -205,8 +222,8 @@ Additional Inherited Members rtabmap::StereoBM::StereoBM ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -265,7 +282,7 @@ Additional Inherited Members virtual void rtabmap::StereoBM::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -279,16 +296,16 @@ Additional Inherited Members

    Parse parameters from a parameters map.

    Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    Parameters
    @@ -355,9 +372,13 @@ Additional Inherited Members
  • corelib/include/rtabmap/core/stereo/StereoBM.h
    • + -
    -Generated by doxygen 1.9.8 -
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    +
    +
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    @@ -121,9 +138,12 @@ $(function() {
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    T() constrtabmap::StereoCameraModelinline
    ~StereoCameraModel()rtabmap::StereoCameraModelinlinevirtual
    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
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    + +
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    Public Member Functions | @@ -1671,9 +1688,13 @@ Only valid camera models are adjusted. Invalid models are left unchanged.
    <
  • corelib/include/rtabmap/core/StereoCameraModel.h
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    +
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    rtabmap::StereoDense Member List
    @@ -93,9 +110,12 @@ $(function() { Type enum namertabmap::StereoDense ~StereoDense()rtabmap::StereoDenseinlinevirtual + -
    -Generated by doxygen 1.9.8 -
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    -
    [legend]
    +
    [legend]
    @@ -117,7 +134,7 @@ Public Member Functions - + @@ -126,16 +143,16 @@ Public Member Functions

    Public Types

    virtual ~StereoDense ()
     Virtual destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse parameters from a parameters map.
     
    virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const =0
    - + - +

    Static Public Member Functions

    static StereoDense * create (const ParametersMap &parameters)
    static StereoDense * create (const ParametersMap &parameters)
     Factory method to create a StereoDense instance from parameters.
     
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
     Factory method to create a StereoDense instance of a specific type.
     
    - +

    Protected Member Functions

     StereoDense (const ParametersMap &parameters=ParametersMap())
     StereoDense (const ParametersMap &parameters=ParametersMap())
     Protected constructor.
     
    @@ -213,8 +230,8 @@ Protected Member Functions rtabmap::StereoDense::StereoDense ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -250,7 +267,7 @@ Protected Member Functions static StereoDense * rtabmap::StereoDense::create ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -263,7 +280,7 @@ Protected Member Functions

    Factory method to create a StereoDense instance from parameters.

    -

    Creates a StereoDense instance based on the stereo dense strategy parameter in the provided parameters map. The strategy is determined by the Parameters::kStereoDenseStrategy() parameter.

    +

    Creates a StereoDense instance based on the stereo dense strategy parameter in the provided parameters map. The strategy is determined by the Parameters::kStereoDenseStrategy() parameter.

    Parameters
    @@ -293,8 +310,8 @@ Protected Member Functions - - + + @@ -335,7 +352,7 @@ Protected Member Functions - + @@ -418,9 +435,13 @@ Invalid disparities are typically represented by negative values or zero. <
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    +
    +
    + +
    - -
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    @@ -102,9 +119,12 @@ $(function() {
    parametersParameters map containing configuration values
    const ParametersMap & parameters = ParametersMap() const ParametersMap & parameters = ParametersMap() 
    virtual void rtabmap::StereoDense::parseParameters (const ParametersMap & const ParametersMap &  parameters)
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~Stereo()rtabmap::Stereoinlinevirtual
    ~StereoOpticalFlow()rtabmap::StereoOpticalFlowinlinevirtual
    + -
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    +
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    Collaboration diagram for rtabmap::StereoOpticalFlow:
    @@ -107,17 +124,17 @@ Collaboration diagram for rtabmap::StereoOpticalFlow:
    -
    [legend]
    +
    [legend]
    - + - + @@ -136,7 +153,7 @@ Public Member Functions - + @@ -164,7 +181,7 @@ Public Member Functions - +

    Public Member Functions

     StereoOpticalFlow (const ParametersMap &parameters=ParametersMap())
     StereoOpticalFlow (const ParametersMap &parameters=ParametersMap())
     Constructor.
     
    virtual ~StereoOpticalFlow ()
     Virtual destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse parameters from a parameters map.
     
    virtual std::vector< cv::Point2f > computeCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
    float errorThreshold () const
     
    - Public Member Functions inherited from rtabmap::Stereo
     Stereo (const ParametersMap &parameters=ParametersMap())
     Stereo (const ParametersMap &parameters=ParametersMap())
     Constructor.
     
    virtual ~Stereo ()

    Additional Inherited Members

    - Static Public Member Functions inherited from rtabmap::Stereo
    static Stereo * create (const ParametersMap &parameters=ParametersMap())
    static Stereo * create (const ParametersMap &parameters=ParametersMap())
     Factory method to create a Stereo instance.
     
    @@ -188,8 +205,8 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. rtabmap::StereoOpticalFlow::StereoOpticalFlow ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -248,7 +265,7 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. virtual void rtabmap::StereoOpticalFlow::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -262,8 +279,8 @@ GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support. Parse parameters from a parameters map.

    Updates the algorithm's configuration based on the provided parameters map. First calls the base class parseParameters(), then parses optical flow-specific parameters:

      -
    • Parameters::kStereoEps() - Convergence threshold for optical flow
      • -
    • Parameters::kStereoGpu() - Enable GPU acceleration (requires OpenCV CUDA)
      • +
    • Parameters::kStereoEps() - Convergence threshold for optical flow
      • +
    • Parameters::kStereoGpu() - Enable GPU acceleration (requires OpenCV CUDA)
    Parameters
    @@ -489,9 +506,13 @@ If GPU is enabled, the GPU version of this method is called automatically.
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    • + -
    -Generated by doxygen 1.9.8 -
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    +
    +
    + +
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    @@ -95,9 +112,12 @@ $(function() {
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    ~StereoDense()rtabmap::StereoDenseinlinevirtual
    ~StereoSGBM()rtabmap::StereoSGBMinlinevirtual
    + -
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    [legend]
    Collaboration diagram for rtabmap::StereoSGBM:
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    -
    [legend]
    +
    [legend]
    - + - + @@ -137,14 +154,14 @@ Additional Inherited Members - + - + - +

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     StereoSGBM (const ParametersMap &parameters=ParametersMap())
     StereoSGBM (const ParametersMap &parameters=ParametersMap())
     Constructor with parameters map.
     
    virtual ~StereoSGBM ()
     Virtual destructor.
     
    virtual void parseParameters (const ParametersMap &parameters)
    virtual void parseParameters (const ParametersMap &parameters)
     Parse parameters from a parameters map.
     
    virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const
     Enumeration of available stereo matching algorithm types. More...
     
    - Static Public Member Functions inherited from rtabmap::StereoDense
    static StereoDense * create (const ParametersMap &parameters)
    static StereoDense * create (const ParametersMap &parameters)
     Factory method to create a StereoDense instance from parameters.
     
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
    static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
     Factory method to create a StereoDense instance of a specific type.
     
    - Protected Member Functions inherited from rtabmap::StereoDense
     StereoDense (const ParametersMap &parameters=ParametersMap())
     StereoDense (const ParametersMap &parameters=ParametersMap())
     Protected constructor.
     
    @@ -166,8 +183,8 @@ Additional Inherited Members rtabmap::StereoSGBM::StereoSGBM ( - const ParametersMap &  - parameters = ParametersMap()) + const ParametersMap &  + parameters = ParametersMap()) @@ -226,7 +243,7 @@ Additional Inherited Members virtual void rtabmap::StereoSGBM::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -240,17 +257,17 @@ Additional Inherited Members

    Parse parameters from a parameters map.

    Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    Parameters
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    +
    +
    + +
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    [legend]
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    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
    generateDescriptor std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

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    -static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
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    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::SuperPointRpautrat::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -335,9 +352,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    @@ -107,14 +124,14 @@ Collaboration diagram for rtabmap::SuperPointTorch:
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    [legend]
    +
    [legend]
    +  - + @@ -146,7 +163,7 @@ cv::Mat  - +

    Public Member Functions

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    SuperPointTorch (const ParametersMap &parameters=ParametersMap())
     
    virtual void parseParameters (const ParametersMap &parameters) override
    virtual void parseParameters (const ParametersMap &parameters) override
     
    virtual Feature2D::Type getType () const override
     
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     Back-projects keypoints to 3D using depth or stereo in data.
     
    virtual const ParametersMap & getParameters () const
    virtual const ParametersMap & getParameters () const
     
    +static Feature2D *  +static Feature2D *  + 

    @@ -184,11 +201,11 @@ Additional Inherited Members

    static std::string typeName (Type type)
     
    -static Feature2D * create (const ParametersMap &parameters=ParametersMap())
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     Creates a detector of the given type. Caller owns the pointer.
     
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    - Feature2D (const ParametersMap &parameters=ParametersMap())
    Feature2D (const ParametersMap &parameters=ParametersMap())
     

    Detailed Description

    @@ -257,7 +274,7 @@ static cv::Rect computeRoi virtual void rtabmap::SuperPointTorch::parseParameters ( - const ParametersMap &  + const ParametersMap &  parameters) @@ -335,9 +352,13 @@ static cv::Rect computeRoi
  • corelib/include/rtabmap/core/Features2d.h
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    +
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    Use getTransform() instead.
    @@ -1602,9 +1619,13 @@ static bool canParseString
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    -Generated by doxygen 1.9.8 -
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"classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295", null ], + [ "addWordRef", "classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec", null ], + [ "removeAllWordRef", "classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b", null ], + [ "getWord", "classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1", null ], + [ "getUnusedWord", "classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3", null ], + [ "setLastWordId", "classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97", null ], + [ "getVisualWords", "classrtabmap_1_1VWDictionary.html#a6bcad4c04999469001b5ac03b8a61ab4", null ], + [ "getNndrRatio", "classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5", null ], + [ "getNotIndexedWordsCount", "classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8", null ], + [ "getLastIndexedWordId", "classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da", null ], + [ "getTotalActiveReferences", "classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d", null ], + [ "getIndexedWordsCount", "classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c", null ], + [ "getIndexMemoryUsed", "classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576", null ], + [ "getMemoryUsed", "classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307", null ], + [ "setNNStrategy", "classrtabmap_1_1VWDictionary.html#af60e271facb40ff668c4bc24cff1b9cc", null ], + [ "getNNStrategy", "classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb", null ], + [ "isIncremental", "classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369", null ], + [ "isIncrementalFlann", "classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998", null ], + [ "setIncrementalDictionary", "classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff", null ], + [ "setFixedDictionary", "classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a", null ], + [ "isModified", "classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13", null ], + [ "serializeIndex", "classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41", null ], + [ "deserializeIndex", "classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad", null ], + [ "deserializeIndex", "classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526", null ], + [ "exportDictionary", "classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8", null ], + [ "clear", "classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351", null ], + [ "getUnusedWords", "classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388", null ], + [ "getUnusedWordIds", "classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d", null ], + [ "getUnusedWordsSize", "classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412", null ], + [ "removeWords", "classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4", null ], + [ "deleteUnusedWords", "classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa", null ], + [ "getNextId", "classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69", null ], + [ "_visualWords", "classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383", null ], + [ "_totalActiveReferences", "classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html index cc42eb1a..d1fa71c0 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::VisualWord Member List
    @@ -95,9 +112,12 @@ $(function() { VisualWord(int id, const cv::Mat &descriptor, int signatureId=0)rtabmap::VisualWord ~VisualWord()rtabmap::VisualWord + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html index 84244a2f..5f9df103 100644 --- a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Member Functions | @@ -441,9 +458,13 @@ Public Member Functions
  • corelib/include/rtabmap/core/VisualWord.h
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.js b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.js new file mode 100644 index 00000000..ff39f7d2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.js @@ -0,0 +1,14 @@ +var classrtabmap_1_1VisualWord = +[ + [ "VisualWord", "classrtabmap_1_1VisualWord.html#a64ce7c97214265e24e00e3888b85f967", null ], + [ "~VisualWord", "classrtabmap_1_1VisualWord.html#adc2dc719d2e6ed06ff92a2370d9955b2", null ], + [ "addRef", "classrtabmap_1_1VisualWord.html#a5826c6a57f9115e6766bb60e2628fe30", null ], + [ "removeAllRef", "classrtabmap_1_1VisualWord.html#a63364292bdd9921668187b16c2e0457e", null ], + [ "getMemoryUsed", "classrtabmap_1_1VisualWord.html#ad23c14c1c81848fb42573fd5ceac3a42", null ], + [ "getTotalReferences", "classrtabmap_1_1VisualWord.html#a2eaf9703feb310a1038fcd6c8341a1d3", null ], + [ "id", "classrtabmap_1_1VisualWord.html#a988fd37d739297c9b04c7dc156de3c66", null ], + [ "getDescriptor", "classrtabmap_1_1VisualWord.html#a2d20ce6234dc211335a926759e111bbb", null ], + [ "getReferences", "classrtabmap_1_1VisualWord.html#aef73a60eccd61a917f27bf277366a5bc", null ], + [ "isSaved", "classrtabmap_1_1VisualWord.html#a4a4d316a18741c30c8d2d5db50f3c4e7", null ], + [ "setSaved", "classrtabmap_1_1VisualWord.html#a58f7ff50ca24f1586bf3fdf5999d6184", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/deprecated.html b/preview/pr-1492/api/latest/deprecated.html index 2858463d..a43a5559 100644 --- a/preview/pr-1492/api/latest/deprecated.html +++ b/preview/pr-1492/api/latest/deprecated.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    -
    Deprecated List
    Member rtabmap::CameraEvent
    -
    Use SensorEvent instead
    +
    Use SensorEvent instead
    Member rtabmap::CameraInfo
    -
    Use SensorCaptureInfo instead
    +
    Use SensorCaptureInfo instead
    Member rtabmap::CameraThread
    -
    Use SensorCaptureThread instead
    -
    Member rtabmap::LaserScan::LaserScan (const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
    -
    Use constructor without format argument.
    +
    Use SensorCaptureThread instead
    +
    Member rtabmap::graph::findNearestNodes (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, int k)
    +
    Use findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int) with radius=0, k set.
    +
    Member rtabmap::graph::getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
    +
    Use findNearestNodes(int,const std::map<int,Transform>&,float,float,int).
    +
    Member rtabmap::graph::getNodesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius)
    +
    Use findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int).
    +
    Member rtabmap::graph::getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
    +
    Use findNearestPoses(int,const std::map<int,Transform>&,float,float,int).
    +
    Member rtabmap::graph::getPosesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
    +
    Use findNearestPoses(const Transform&,const std::map<int,Transform>&,float,float,int).
    Member rtabmap::LaserScan::LaserScan (const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
    Use constructor without format argument.
    +
    Member rtabmap::LaserScan::LaserScan (const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
    +
    Use constructor without format argument.
    Member rtabmap::Odometry::previousVelocityTransform () const
    Use getVelocityGuess() instead.
    +
    Member rtabmap::OdometryInfo::guessVelocity
    +
    Use guess and interval instead.
    Member rtabmap::SensorCaptureThread::setImageRate (float frameRate)
    -
    Use setFrameRate() instead
    +
    Use setFrameRate() instead
    Member rtabmap::SensorCaptureThread::setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
    -
    Use the new version with groundNormalsUp parameter instead
    +
    Use the new version with groundNormalsUp parameter instead
    Member rtabmap::Statistics::setLastSignatureData (const Signature &data)
    -
    Use addSignatureData() instead
    +
    Use addSignatureData() instead
    Member rtabmap::Transform::getClosestTransform (const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)
    -
    Use getTransform() instead.
    +
    Use getTransform() instead.
    +
    Member rtabmap::util3d::cloudFromDepth (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    +
    This function is deprecated and will be removed in future versions. Use the cloudFromDepth function that accepts a rtabmap::CameraModel instead.
    +
    Member rtabmap::util3d::cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    +
    This function is deprecated and will be removed in future versions. Use the version that accepts a rtabmap::CameraModel instead.
    +
    Member rtabmap::util3d::commonFiltering (const LaserScan &scan, int downsamplingStep, float rangeMin, float rangeMax, float voxelSize, int normalK, float normalRadius, bool forceGroundNormalsUp)
    +
    Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUpAngle=0.8, otherwise set groundNormalsUpAngle=0.0.
    +
    Member rtabmap::util3d::create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
    +
    Use the overload taking viewpoints, so that ray tracing starts from the sensor and not from the base frame.
    +
    Member rtabmap::util3d::create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
    +
    Use the overload taking cv::Mat scans.
    +
    Member rtabmap::util3d::loadBINCloud (const std::string &fileName, int dim)
    +
    This overload exists for compatibility but ignores the dim parameter. Use version without dim directly.
    +
    Member rtabmap::util3d::loadCloud (const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)
    +
    Use loadScan() instead.
    +
    Member rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
    +
    Use the overload taking a viewpoint, so that ray tracing starts from the sensor and not from the base frame.
    +
    Member rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat &scan, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
    +
    Use the overload taking scanHit / scanNoHit; passing a null scanNoHit is equivalent to this one.
    +
    Member rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    +
    This function is deprecated. Use voxelize() for equivalent behavior.
    +
    Member rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
    +
    This function is deprecated. Use voxelize() for equivalent behavior.
    +
    Member rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
    +
    This function is deprecated. Use voxelize() for equivalent behavior.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/dir_000004_000023.html b/preview/pr-1492/api/latest/dir_000004_000023.html new file mode 100644 index 00000000..0fd64e62 --- /dev/null +++ b/preview/pr-1492/api/latest/dir_000004_000023.html @@ -0,0 +1,107 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core -> utilite Relation + + + + + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    Real-Time Appearance-Based Mapping
    +
    +
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    + +
    +
    +
    + +
    + +
    +
    + + +
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    core → utilite Relation

    File in corelib/include/rtabmap/coreIncludes file in utilite
    DBDriver.hinclude / rtabmap / utilite / UThreadNode.h
    EpipolarGeometry.hinclude / rtabmap / utilite / UStl.h
    Landmark.hinclude / rtabmap / utilite / UConversion.h
    Landmark.hinclude / rtabmap / utilite / ULogger.h
    Landmark.hinclude / rtabmap / utilite / UMath.h
    Memory.hinclude / rtabmap / utilite / UStl.h
    OdometryEvent.hinclude / rtabmap / utilite / ULogger.h
    OdometryEvent.hinclude / rtabmap / utilite / UMath.h
    Parameters.hinclude / rtabmap / utilite / UConversion.h
    ParticleFilter.hinclude / rtabmap / utilite / ULogger.h
    ParticleFilter.hinclude / rtabmap / utilite / UMath.h
    ProgressState.hinclude / rtabmap / utilite / ULogger.h
    RtabmapEvent.hinclude / rtabmap / utilite / UVariant.h
    RtabmapThread.hinclude / rtabmap / utilite / UThreadNode.h
    Statistics.hinclude / rtabmap / utilite / UStl.h
    impl / LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
    impl / util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
    +
    + + + + diff --git a/preview/pr-1492/api/latest/dir_000010_000023.html b/preview/pr-1492/api/latest/dir_000010_000023.html new file mode 100644 index 00000000..67f1f180 --- /dev/null +++ b/preview/pr-1492/api/latest/dir_000010_000023.html @@ -0,0 +1,107 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/impl -> utilite Relation + + + + + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    Real-Time Appearance-Based Mapping
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    +
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    + +
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    impl → utilite Relation

    File in corelib/include/rtabmap/core/implIncludes file in utilite
    LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
    util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
    +
    + + + + diff --git a/preview/pr-1492/api/latest/dir_000012_000023.html b/preview/pr-1492/api/latest/dir_000012_000023.html new file mode 100644 index 00000000..c5d655ee --- /dev/null +++ b/preview/pr-1492/api/latest/dir_000012_000023.html @@ -0,0 +1,107 @@ + + + + + + + + +RTAB-Map: corelib/include -> utilite Relation + + + + + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    Real-Time Appearance-Based Mapping
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    include → utilite Relation

    File in corelib/includeIncludes file in utilite
    rtabmap / core / DBDriver.hinclude / rtabmap / utilite / UThreadNode.h
    rtabmap / core / EpipolarGeometry.hinclude / rtabmap / utilite / UStl.h
    rtabmap / core / Landmark.hinclude / rtabmap / utilite / UConversion.h
    rtabmap / core / Landmark.hinclude / rtabmap / utilite / ULogger.h
    rtabmap / core / Landmark.hinclude / rtabmap / utilite / UMath.h
    rtabmap / core / impl / LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
    rtabmap / core / Memory.hinclude / rtabmap / utilite / UStl.h
    rtabmap / core / OdometryEvent.hinclude / rtabmap / utilite / ULogger.h
    rtabmap / core / OdometryEvent.hinclude / rtabmap / utilite / UMath.h
    rtabmap / core / Parameters.hinclude / rtabmap / utilite / UConversion.h
    rtabmap / core / ParticleFilter.hinclude / rtabmap / utilite / ULogger.h
    rtabmap / core / ParticleFilter.hinclude / rtabmap / utilite / UMath.h
    rtabmap / core / ProgressState.hinclude / rtabmap / utilite / ULogger.h
    rtabmap / core / RtabmapEvent.hinclude / rtabmap / utilite / UVariant.h
    rtabmap / core / RtabmapThread.hinclude / rtabmap / utilite / UThreadNode.h
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    + +
    _visualWords : rtabmap::VWDictionary
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_a.html b/preview/pr-1492/api/latest/functions_a.html index 7fda1e65..67af6d8f 100644 --- a/preview/pr-1492/api/latest/functions_a.html +++ b/preview/pr-1492/api/latest/functions_a.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    available() : rtabmap::RegistrationIcp
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_b.html b/preview/pr-1492/api/latest/functions_b.html index 85fee9ed..cddb5e55 100644 --- a/preview/pr-1492/api/latest/functions_b.html +++ b/preview/pr-1492/api/latest/functions_b.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_c.html b/preview/pr-1492/api/latest/functions_c.html index d5e7549c..16787ea0 100644 --- a/preview/pr-1492/api/latest/functions_c.html +++ b/preview/pr-1492/api/latest/functions_c.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    cleanup() : rtabmap::Memory
  • cleanupLocalGrids() : rtabmap::Memory, rtabmap::Rtabmap
  • clear() : rtabmap::CloudMap, rtabmap::GlobalMap, rtabmap::GridMap, rtabmap::LaserScan, rtabmap::LocalGridCache, rtabmap::OccupancyGrid, rtabmap::OctoMap, rtabmap::VWDictionary
    • +
  • clearBufferedData() : rtabmap::RtabmapThread
  • clearCompressedData() : rtabmap::SensorData
  • clearGlobalDescriptors() : rtabmap::SensorData
  • clearPath() : rtabmap::Rtabmap
    • @@ -102,6 +124,7 @@ $(function() {
  • clone() : rtabmap::Transform
  • close() : rtabmap::Memory, rtabmap::Rtabmap, rtabmap::RtabmapThread
  • closeConnection() : rtabmap::DBDriver
    • +
  • Cmd : rtabmap::RtabmapEventCmd
  • Code : rtabmap::SensorEvent
  • compareTo() : rtabmap::Signature
  • CompressionThread() : rtabmap::CompressionThread
    • @@ -115,8 +138,8 @@ $(function() {
  • computePath() : rtabmap::Rtabmap
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
    • -
  • computeTransform() : rtabmap::Memory
    • -
  • computeTransformation() : rtabmap::Registration
    • +
  • computeTransform() : rtabmap::Memory
    • +
  • computeTransformation() : rtabmap::Registration
  • computeTransformationImpl() : rtabmap::Registration, rtabmap::RegistrationIcp, rtabmap::RegistrationVis
  • computeTransformationMod() : rtabmap::Registration
  • constraints() : rtabmap::Statistics
    • @@ -125,11 +148,13 @@ $(function() {
  • convertToBaseFrame() : rtabmap::IMU
  • convertToIntermediate() : rtabmap::Memory
  • copy() : UFile
    • -
  • copyWithoutData() : rtabmap::RegistrationInfo
    • -
  • covariance() : rtabmap::Landmark, rtabmap::RegistrationInfo
    • +
  • copyWithoutData() : rtabmap::OdometryInfo, rtabmap::RegistrationInfo
    • +
  • cornerInliers : rtabmap::OdometryInfo
    • +
  • covariance() : rtabmap::Landmark, rtabmap::OdometryEvent, rtabmap::RegistrationInfo
  • COVARIANCE_ANGULAR_EPSILON : rtabmap::Registration
  • COVARIANCE_LINEAR_EPSILON : rtabmap::Registration
    • -
  • create() : rtabmap::DBDriver, rtabmap::Feature2D, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::Optimizer, rtabmap::Registration, rtabmap::RtabmapColorOcTree, rtabmap::Stereo, rtabmap::StereoDense
    • +
  • create() : rtabmap::DBDriver, rtabmap::Feature2D, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::Optimizer, rtabmap::Registration, rtabmap::RtabmapColorOcTree, rtabmap::Stereo, rtabmap::StereoDense
    • +
  • createIntermediateNodes() : rtabmap::RtabmapThread
  • createLocalMap() : rtabmap::LocalGridMaker
  • currentDir() : UDirectory
  • currentGoalId() : rtabmap::Statistics
    • @@ -137,9 +162,12 @@ $(function() {
  • cy() : rtabmap::CameraModel
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_d.html b/preview/pr-1492/api/latest/functions_d.html index ab40cba3..da29bb8a 100644 --- a/preview/pr-1492/api/latest/functions_d.html +++ b/preview/pr-1492/api/latest/functions_d.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    - d -
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_dup.js b/preview/pr-1492/api/latest/functions_dup.js new file mode 100644 index 00000000..006ddb02 --- /dev/null +++ b/preview/pr-1492/api/latest/functions_dup.js @@ -0,0 +1,30 @@ +var functions_dup = +[ + [ "_", "functions.html", null ], + [ "a", "functions_a.html", null ], + [ "b", "functions_b.html", null ], + [ "c", "functions_c.html", null ], + [ "d", "functions_d.html", null ], + [ "e", "functions_e.html", null ], + [ "f", "functions_f.html", null ], + [ "g", "functions_g.html", null ], + [ "h", "functions_h.html", null ], + [ "i", "functions_i.html", null ], + [ "j", "functions_j.html", null ], + [ "k", "functions_k.html", null ], + [ "l", "functions_l.html", null ], + [ "m", "functions_m.html", null ], + [ "n", "functions_n.html", null ], + [ "o", "functions_o.html", null ], + [ "p", "functions_p.html", null ], + [ "r", "functions_r.html", null ], + [ "s", "functions_s.html", null ], + [ "t", "functions_t.html", null ], + [ "u", "functions_u.html", null ], + [ "v", "functions_v.html", null ], + [ "w", "functions_w.html", null ], + [ "x", "functions_x.html", null ], + [ "y", "functions_y.html", null ], + [ "z", "functions_z.html", null ], + [ "~", "functions_~.html", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/functions_e.html b/preview/pr-1492/api/latest/functions_e.html index f9cc63f5..a9fcfbdf 100644 --- a/preview/pr-1492/api/latest/functions_e.html +++ b/preview/pr-1492/api/latest/functions_e.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    extended() : rtabmap::Statistics
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_enum.html b/preview/pr-1492/api/latest/functions_enum.html index 0750f430..212a60a4 100644 --- a/preview/pr-1492/api/latest/functions_enum.html +++ b/preview/pr-1492/api/latest/functions_enum.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Here is a list of all documented enums with links to the class documentation for each member:
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_eval.html b/preview/pr-1492/api/latest/functions_eval.html index c5fe24bd..0060785a 100644 --- a/preview/pr-1492/api/latest/functions_eval.html +++ b/preview/pr-1492/api/latest/functions_eval.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    kBool : UVariant
  • kChar : UVariant
  • kCharArray : UVariant
    • +
  • kCmdCancelGoal : rtabmap::RtabmapEventCmd
    • +
  • kCmdCleanDataBuffer : rtabmap::RtabmapEventCmd
    • +
  • kCmdClose : rtabmap::RtabmapEventCmd
    • +
  • kCmdDumpMemory : rtabmap::RtabmapEventCmd
    • +
  • kCmdDumpPrediction : rtabmap::RtabmapEventCmd
    • +
  • kCmdExportPoses : rtabmap::RtabmapEventCmd
    • +
  • kCmdGenerateDOTGraph : rtabmap::RtabmapEventCmd
    • +
  • kCmdGoal : rtabmap::RtabmapEventCmd
    • +
  • kCmdInit : rtabmap::RtabmapEventCmd
    • +
  • kCmdLabel : rtabmap::RtabmapEventCmd
    • +
  • kCmdPause : rtabmap::RtabmapEventCmd
    • +
  • kCmdPublish3DMap : rtabmap::RtabmapEventCmd
    • +
  • kCmdRemoveLabel : rtabmap::RtabmapEventCmd
    • +
  • kCmdRepublishData : rtabmap::RtabmapEventCmd
    • +
  • kCmdResetMemory : rtabmap::RtabmapEventCmd
    • +
  • kCmdResume : rtabmap::RtabmapEventCmd
    • +
  • kCmdTriggerNewMap : rtabmap::RtabmapEventCmd
    • +
  • kCmdUndef : rtabmap::RtabmapEventCmd
    • +
  • kCmdUpdateParams : rtabmap::RtabmapEventCmd
  • kCodeData : rtabmap::SensorEvent
  • kCodeNoMoreImages : rtabmap::SensorEvent
    • +
  • kComplementaryFilter : rtabmap::IMUFilter
  • kCustomSensor1 : rtabmap::EnvSensor
    • +
  • kCustomSensor2 : rtabmap::EnvSensor
    • +
  • kCustomSensor3 : rtabmap::EnvSensor
    • +
  • kCustomSensor4 : rtabmap::EnvSensor
    • +
  • kCustomSensor5 : rtabmap::EnvSensor
    • +
  • kCustomSensor6 : rtabmap::EnvSensor
    • +
  • kCustomSensor7 : rtabmap::EnvSensor
    • +
  • kCustomSensor8 : rtabmap::EnvSensor
    • +
  • kCustomSensor9 : rtabmap::EnvSensor
  • kDouble : UVariant
  • kDoubleArray : UVariant
    • +
  • kEnd : rtabmap::Link
  • kFloat : UVariant
  • kFloatArray : UVariant
  • kGlobalClosure : rtabmap::Link
    • @@ -117,6 +167,8 @@ $(function() {
  • kSelfRefLink : rtabmap::Link
  • kShort : UVariant
  • kShortArray : UVariant
    • +
  • kStateDetecting : rtabmap::RtabmapThread
    • +
  • kStateProcessCommand : rtabmap::RtabmapThread
  • kStr : UVariant
  • kTypeBM : rtabmap::StereoDense
  • kTypeCeres : rtabmap::Optimizer
    • @@ -129,6 +181,7 @@ $(function() {
  • kTypeFovis : rtabmap::Odometry
  • kTypeG2O : rtabmap::Optimizer
  • kTypeGTSAM : rtabmap::Optimizer
    • +
  • kTypeIcp : rtabmap::Registration
  • kTypeLIOSAM : rtabmap::Odometry
  • kTypeLOAM : rtabmap::Odometry
  • kTypeMSCKF : rtabmap::Odometry
    • @@ -138,14 +191,16 @@ $(function() {
  • kTypeORBSLAM : rtabmap::Odometry
  • kTypeSGBM : rtabmap::StereoDense
  • kTypeTORO : rtabmap::Optimizer
    • -
  • kTypeUndef : rtabmap::Odometry, rtabmap::Optimizer
    • +
  • kTypeUndef : rtabmap::Odometry, rtabmap::Optimizer, rtabmap::Registration
  • kTypeVINSFusion : rtabmap::Odometry
    • +
  • kTypeVis : rtabmap::Registration
    • +
  • kTypeVisIcp : rtabmap::Registration
  • kTypeViso2 : rtabmap::Odometry
  • kUChar : UVariant
  • kUCharArray : UVariant
  • kUInt : UVariant
  • kUIntArray : UVariant
    • -
  • kUndef : UVariant
    • +
  • kUndef : rtabmap::Link, UVariant
  • kUndefined : rtabmap::EnvSensor
  • kUnknown : rtabmap::LaserScan
  • kUserClosure : rtabmap::Link
    • @@ -170,9 +225,12 @@ $(function() {
  • kXYZRGBNormal : rtabmap::LaserScan
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_f.html b/preview/pr-1492/api/latest/functions_f.html index e9bea7e3..5c35f09f 100644 --- a/preview/pr-1492/api/latest/functions_f.html +++ b/preview/pr-1492/api/latest/functions_f.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    - f -
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func.html b/preview/pr-1492/api/latest/functions_func.html index 314dd19c..68912f3b 100644 --- a/preview/pr-1492/api/latest/functions_func.html +++ b/preview/pr-1492/api/latest/functions_func.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    available() : rtabmap::RegistrationIcp
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func.js b/preview/pr-1492/api/latest/functions_func.js new file mode 100644 index 00000000..4ef41c7a --- /dev/null +++ b/preview/pr-1492/api/latest/functions_func.js @@ -0,0 +1,29 @@ +var functions_func = +[ + [ "a", "functions_func.html", null ], + [ "b", "functions_func_b.html", null ], + [ "c", "functions_func_c.html", null ], + [ "d", "functions_func_d.html", null ], + [ "e", "functions_func_e.html", null ], + [ "f", "functions_func_f.html", null ], + [ "g", "functions_func_g.html", null ], + [ "h", "functions_func_h.html", null ], + [ "i", "functions_func_i.html", null ], + [ "j", "functions_func_j.html", null ], + [ "k", "functions_func_k.html", null ], + [ "l", "functions_func_l.html", null ], + [ "m", "functions_func_m.html", null ], + [ "n", "functions_func_n.html", null ], + [ "o", "functions_func_o.html", null ], + [ "p", "functions_func_p.html", null ], + [ "r", "functions_func_r.html", null ], + [ "s", "functions_func_s.html", null ], + [ "t", "functions_func_t.html", null ], + [ "u", "functions_func_u.html", null ], + [ "v", "functions_func_v.html", null ], + [ "w", "functions_func_w.html", null ], + [ "x", "functions_func_x.html", null ], + [ "y", "functions_func_y.html", null ], + [ "z", "functions_func_z.html", null ], + [ "~", "functions_func_~.html", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/functions_func_b.html b/preview/pr-1492/api/latest/functions_func_b.html index 7a5a1e0c..74f49ecc 100644 --- a/preview/pr-1492/api/latest/functions_func_b.html +++ b/preview/pr-1492/api/latest/functions_func_b.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    bearing() : rtabmap::GPS
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func_c.html b/preview/pr-1492/api/latest/functions_func_c.html index 5b9d08fd..0f140ac3 100644 --- a/preview/pr-1492/api/latest/functions_func_c.html +++ b/preview/pr-1492/api/latest/functions_func_c.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    cleanup() : rtabmap::Memory
  • cleanupLocalGrids() : rtabmap::Memory, rtabmap::Rtabmap
  • clear() : rtabmap::CloudMap, rtabmap::GlobalMap, rtabmap::GridMap, rtabmap::LaserScan, rtabmap::LocalGridCache, rtabmap::OccupancyGrid, rtabmap::OctoMap, rtabmap::VWDictionary
    • +
  • clearBufferedData() : rtabmap::RtabmapThread
  • clearCompressedData() : rtabmap::SensorData
  • clearGlobalDescriptors() : rtabmap::SensorData
  • clearPath() : rtabmap::Rtabmap
    • @@ -112,7 +134,7 @@ $(function() {
  • computePath() : rtabmap::Rtabmap
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
    • -
  • computeTransform() : rtabmap::Memory
    • +
  • computeTransform() : rtabmap::Memory
  • computeTransformation() : rtabmap::Registration
  • computeTransformationImpl() : rtabmap::Registration, rtabmap::RegistrationIcp, rtabmap::RegistrationVis
  • computeTransformationMod() : rtabmap::Registration
    • @@ -122,9 +144,10 @@ $(function() {
  • convertToBaseFrame() : rtabmap::IMU
  • convertToIntermediate() : rtabmap::Memory
  • copy() : UFile
    • -
  • copyWithoutData() : rtabmap::RegistrationInfo
    • -
  • covariance() : rtabmap::Landmark
    • +
  • copyWithoutData() : rtabmap::OdometryInfo, rtabmap::RegistrationInfo
    • +
  • covariance() : rtabmap::Landmark, rtabmap::OdometryEvent
  • create() : rtabmap::DBDriver, rtabmap::Feature2D, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::Optimizer, rtabmap::Registration, rtabmap::RtabmapColorOcTree, rtabmap::Stereo, rtabmap::StereoDense
    • +
  • createIntermediateNodes() : rtabmap::RtabmapThread
  • createLocalMap() : rtabmap::LocalGridMaker
  • currentDir() : UDirectory
  • currentGoalId() : rtabmap::Statistics
    • @@ -132,9 +155,12 @@ $(function() {
  • cy() : rtabmap::CameraModel
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func_d.html b/preview/pr-1492/api/latest/functions_func_d.html index a437800c..c8708771 100644 --- a/preview/pr-1492/api/latest/functions_func_d.html +++ b/preview/pr-1492/api/latest/functions_func_d.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    - d -
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func_e.html b/preview/pr-1492/api/latest/functions_func_e.html index a55a5993..882edcfe 100644 --- a/preview/pr-1492/api/latest/functions_func_e.html +++ b/preview/pr-1492/api/latest/functions_func_e.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    extended() : rtabmap::Statistics
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func_f.html b/preview/pr-1492/api/latest/functions_func_f.html index 70fa08b3..702b6584 100644 --- a/preview/pr-1492/api/latest/functions_func_f.html +++ b/preview/pr-1492/api/latest/functions_func_f.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    fovX() : rtabmap::CameraModel
  • fovY() : rtabmap::CameraModel
  • framesProcessed() : rtabmap::Odometry
    • +
  • from() : rtabmap::Link
  • fromEigen4f() : rtabmap::Transform
  • fromENU_WGS84() : rtabmap::GeodeticCoords
  • fromGeocentric_WGS84() : rtabmap::GeodeticCoords
    • @@ -100,9 +122,12 @@ $(function() {
  • fy() : rtabmap::CameraModel
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_func_g.html b/preview/pr-1492/api/latest/functions_func_g.html index e07c2c74..f39eee45 100644 --- a/preview/pr-1492/api/latest/functions_func_g.html +++ b/preview/pr-1492/api/latest/functions_func_g.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    getCode() : UEvent
  • getCompressedData() : rtabmap::CompressionThread
  • getConnectedGraph() : rtabmap::Optimizer
    • +
  • getCreateIntermediateNodes() : rtabmap::RtabmapThread
  • getData() : rtabmap::IMUEvent
  • getDatabaseMemoryUsed() : rtabmap::Memory
  • getDatabaseUrl() : rtabmap::Memory
  • getDatabaseVersion() : rtabmap::DBDriver, rtabmap::Memory
    • +
  • getDataBufferSize() : rtabmap::RtabmapThread
  • getDbSavingTime() : rtabmap::Memory
  • getDefaultParameters() : rtabmap::Parameters
  • getDescription() : rtabmap::Parameters
  • getDescriptor() : rtabmap::VisualWord
  • getDetector() : rtabmap::RegistrationVis
    • +
  • getDetectorRate() : rtabmap::RtabmapThread
  • getDir() : UDirectory
  • getDistance() : rtabmap::Transform
  • getDistanceSquared() : rtabmap::Transform
  • getEstimationType() : rtabmap::RegistrationVis
  • getEulerAngles() : rtabmap::Transform
    • -
  • getExtension() : UFile
    • +
  • getExtension() : UFile
  • getFeature2D() : rtabmap::Memory
  • getFileNames() : UDirectory
  • getForwardWMPoses() : rtabmap::Rtabmap
    • @@ -199,7 +223,7 @@ $(function() {
  • getPaths() : rtabmap::Rtabmap
  • getPathStatus() : rtabmap::Rtabmap
  • getPathTransformToGoal() : rtabmap::Rtabmap
    • -
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
    • +
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::OdometryResetEvent, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
  • getPoseCovariance() : rtabmap::Signature
  • getPosterior() : rtabmap::BayesFilter
  • getPredictionLC() : rtabmap::BayesFilter
    • @@ -274,9 +298,12 @@ $(function() {
  • groundTruth() : rtabmap::SensorData
    • +
    -
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    Real-Time Appearance-Based Mapping
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    + +
    +
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    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    imagesAlreadyRectified() : rtabmap::Odometry
  • IMU() : rtabmap::IMU
  • imu() : rtabmap::SensorData
    • -
  • IMUEvent() : rtabmap::IMUEvent
    • +
  • IMUEvent() : rtabmap::IMUEvent
  • imus() : rtabmap::Odometry
  • IMUThread() : rtabmap::IMUThread
  • incrementMapId() : rtabmap::Memory
    • -
  • info() : rtabmap::SensorEvent
    • +
  • info() : rtabmap::OdometryEvent, rtabmap::SensorEvent
  • inFrame() : rtabmap::CameraModel
  • init() : rtabmap::CameraDepthAI, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenNI2, rtabmap::CameraOpenni, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraRGBDImages, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, rtabmap::IMUThread, rtabmap::LidarVLP16, rtabmap::Memory, rtabmap::Rtabmap, rtabmap::SensorCapture
  • initRectificationMap() : rtabmap::CameraModel, rtabmap::StereoCameraModel
    • @@ -102,6 +123,7 @@ $(function() {
  • isCapturing() : rtabmap::SensorCaptureThread
  • isChar() : UVariant
  • isCharArray() : UVariant
    • +
  • isCompressed() : rtabmap::LaserScan
  • isConnected() : rtabmap::DBDriver
  • isCovarianceIgnored() : rtabmap::Optimizer
  • isCreating() : UThread
    • @@ -165,9 +187,12 @@ $(function() {
  • iterations() : rtabmap::Optimizer, rtabmap::Stereo
    • +
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    +
    Real-Time Appearance-Based Mapping
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    +
    +
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    joinTrashThread() : rtabmap::Memory
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    loopClosureTransform() : rtabmap::Statistics
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    Real-Time Appearance-Based Mapping
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    +
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    minDisparity() : rtabmap::Stereo
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    rotVariance() : rtabmap::Link
  • rtabmap_T_opengl() : rtabmap::Transform
  • RtabmapColorOcTree() : rtabmap::RtabmapColorOcTree
    • +
  • RtabmapThread() : rtabmap::RtabmapThread
    • +
    -
    -Generated by doxygen 1.9.8 -
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    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
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    SensorCaptureInfo() : rtabmap::SensorCaptureInfo
  • SensorCaptureThread() : rtabmap::SensorCaptureThread
  • SensorData() : rtabmap::SensorData
    • -
  • sensorData() : rtabmap::Signature
    • -
  • SensorEvent() : rtabmap::SensorEvent
    • +
  • sensorData() : rtabmap::Signature
    • +
  • SensorEvent() : rtabmap::SensorEvent
  • separator() : UDirectory
  • serialize() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • serializeData() : rtabmap::Statistics
    • @@ -108,7 +129,9 @@ $(function() {
  • setColorOnly() : rtabmap::SensorCaptureThread
  • setConstraints() : rtabmap::Statistics
  • setCurrentGoalId() : rtabmap::Statistics
    • +
  • setDataBufferSize() : rtabmap::RtabmapThread
  • setDbInMemory() : rtabmap::DBDriverSqlite3
    • +
  • setDetectorRate() : rtabmap::RtabmapThread
  • setDistortionModel() : rtabmap::SensorCaptureThread
  • setDoomed() : UDestroyer< T >
  • setDualMode() : rtabmap::CameraRealSense2
    • @@ -214,10 +237,11 @@ $(function() {
  • stamp() : rtabmap::EnvSensor, rtabmap::GPS, rtabmap::SensorData, rtabmap::Statistics
  • start() : UThread, UTimer
  • startDeletion() : UObjDeletionThread< T >
    • +
  • statistics() : rtabmap::OdometryInfo
  • Statistics() : rtabmap::Statistics
  • Stereo() : rtabmap::Stereo
  • StereoBM() : rtabmap::StereoBM
    • -
  • StereoCameraModel() : rtabmap::StereoCameraModel
    • +
  • StereoCameraModel() : rtabmap::StereoCameraModel
  • stereoCameraModels() : rtabmap::SensorData
  • StereoDense() : rtabmap::StereoDense
  • StereoOpticalFlow() : rtabmap::StereoOpticalFlow
    • @@ -227,9 +251,12 @@ $(function() {
  • strategyName() : rtabmap::RegistrationIcp
    • +
    -
    -Generated by doxygen 1.9.8 -
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    T() : rtabmap::StereoCameraModel
  • takeData() : rtabmap::SensorCapture
  • theta() : rtabmap::Transform
    • +
  • to() : rtabmap::Link
  • to3DoF() : rtabmap::Transform
  • to4DoF() : rtabmap::Transform
  • toBool() : UVariant
    • @@ -102,19 +124,638 @@ $(function() {
  • toUIntArray() : UVariant
  • toUShort() : UVariant
  • toUShortArray() : UVariant
    • +
  • transform() : rtabmap::Link
  • Transform() : rtabmap::Transform
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
  • triggerNewMap() : rtabmap::Rtabmap
  • Tx() : rtabmap::CameraModel
    • -
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    • +
  • type() : rtabmap::EnvSensor, rtabmap::IMUFilter, rtabmap::Link, rtabmap::Optimizer, rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO, UVariant
    • +
  • typeBayesFullPredictionUpdate() : rtabmap::Parameters
    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
  • typeDbSqlite3JournalMode() : rtabmap::Parameters
    • +
  • typeDbSqlite3Synchronous() : rtabmap::Parameters
    • +
  • typeDbSqlite3TempStore() : rtabmap::Parameters
    • +
  • typeDbTargetVersion() : rtabmap::Parameters
    • +
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    • +
  • typeFASTGpu() : rtabmap::Parameters
    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
  • typeIcpReciprocalCorrespondences() : rtabmap::Parameters
    • +
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    • +
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    • +
  • typeImuFilterComplementaryBiasAlpha() : rtabmap::Parameters
    • +
  • typeImuFilterComplementaryDoAdpativeGain() : rtabmap::Parameters
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
  • typeKpDetectorStrategy() : rtabmap::Parameters
    • +
  • typeKpDictionaryPath() : rtabmap::Parameters
    • +
  • typeKpFlannIndexSaved() : rtabmap::Parameters
    • +
  • typeKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • typeKpGridCols() : rtabmap::Parameters
    • +
  • typeKpGridRows() : rtabmap::Parameters
    • +
  • typeKpIncrementalDictionary() : rtabmap::Parameters
    • +
  • typeKpIncrementalFlann() : rtabmap::Parameters
    • +
  • typeKpMaxDepth() : rtabmap::Parameters
    • +
  • typeKpMaxFeatures() : rtabmap::Parameters
    • +
  • typeKpMinDepth() : rtabmap::Parameters
    • +
  • typeKpNewWordsComparedTogether() : rtabmap::Parameters
    • +
  • typeKpNndrRatio() : rtabmap::Parameters
    • +
  • typeKpNNStrategy() : rtabmap::Parameters
    • +
  • typeKpParallelized() : rtabmap::Parameters
    • +
  • typeKpRoiRatios() : rtabmap::Parameters
    • +
  • typeKpSerializeWithChecksum() : rtabmap::Parameters
    • +
  • typeKpSSC() : rtabmap::Parameters
    • +
  • typeKpSubPixEps() : rtabmap::Parameters
    • +
  • typeKpSubPixIterations() : rtabmap::Parameters
    • +
  • typeKpSubPixWinSize() : rtabmap::Parameters
    • +
  • typeKpTfIdfLikelihoodUsed() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagDebug() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagDecodeSharpening() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagNThreads() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagQuadDecimate() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagQuadSigma() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagRefineEdges() : rtabmap::Parameters
    • +
  • typeMarkerDictionary() : rtabmap::Parameters
    • +
  • typeMarkerLength() : rtabmap::Parameters
    • +
  • typeMarkerLengths() : rtabmap::Parameters
    • +
  • typeMarkerMaxDepthError() : rtabmap::Parameters
    • +
  • typeMarkerMaxRange() : rtabmap::Parameters
    • +
  • typeMarkerMinRange() : rtabmap::Parameters
    • +
  • typeMarkerOpenCVCornerRefinementMethod() : rtabmap::Parameters
    • +
  • typeMarkerPriors() : rtabmap::Parameters
    • +
  • typeMarkerPriorsVarianceAngular() : rtabmap::Parameters
    • +
  • typeMarkerPriorsVarianceLinear() : rtabmap::Parameters
    • +
  • typeMarkerStrategy() : rtabmap::Parameters
    • +
  • typeMarkerVarianceAngular() : rtabmap::Parameters
    • +
  • typeMarkerVarianceLinear() : rtabmap::Parameters
    • +
  • typeMarkerVarianceOrientationIgnored() : rtabmap::Parameters
    • +
  • typeMemBadSignaturesIgnored() : rtabmap::Parameters
    • +
  • typeMemBinDataKept() : rtabmap::Parameters
    • +
  • typeMemCompressionParallelized() : rtabmap::Parameters
    • +
  • typeMemCovOffDiagIgnored() : rtabmap::Parameters
    • +
  • typeMemDepthAsMask() : rtabmap::Parameters
    • +
  • typeMemDepthCompressionFormat() : rtabmap::Parameters
    • +
  • typeMemDepthMaskFloorThr() : rtabmap::Parameters
    • +
  • typeMemGenerateIds() : rtabmap::Parameters
    • +
  • typeMemGlobalDescriptorStrategy() : rtabmap::Parameters
    • +
  • typeMemImageCompressionFormat() : rtabmap::Parameters
    • +
  • typeMemImageKept() : rtabmap::Parameters
    • +
  • typeMemImagePostDecimation() : rtabmap::Parameters
    • +
  • typeMemImagePreDecimation() : rtabmap::Parameters
    • +
  • typeMemIncrementalMemory() : rtabmap::Parameters
    • +
  • typeMemInitWMWithAllNodes() : rtabmap::Parameters
    • +
  • typeMemIntermediateNodeDataKept() : rtabmap::Parameters
    • +
  • typeMemLaserScanDownsampleStepSize() : rtabmap::Parameters
    • +
  • typeMemLaserScanNormalK() : rtabmap::Parameters
    • +
  • typeMemLaserScanNormalRadius() : rtabmap::Parameters
    • +
  • typeMemLaserScanVoxelSize() : rtabmap::Parameters
    • +
  • typeMemLoadVisualLocalFeaturesOnInit() : rtabmap::Parameters
    • +
  • typeMemLocalizationDataSaved() : rtabmap::Parameters
    • +
  • typeMemLocalizationReadOnly() : rtabmap::Parameters
    • +
  • typeMemMapLabelsAdded() : rtabmap::Parameters
    • +
  • typeMemNotLinkedNodesKept() : rtabmap::Parameters
    • +
  • typeMemRawDescriptorsKept() : rtabmap::Parameters
    • +
  • typeMemRecentWmRatio() : rtabmap::Parameters
    • +
  • typeMemReduceGraph() : rtabmap::Parameters
    • +
  • typeMemRehearsalIdUpdatedToNewOne() : rtabmap::Parameters
    • +
  • typeMemRehearsalSimilarity() : rtabmap::Parameters
    • +
  • typeMemRehearsalWeightIgnoredWhileMoving() : rtabmap::Parameters
    • +
  • typeMemRotateImagesUpsideUp() : rtabmap::Parameters
    • +
  • typeMemSaveDepth16Format() : rtabmap::Parameters
    • +
  • typeMemStereoFromMotion() : rtabmap::Parameters
    • +
  • typeMemSTMSize() : rtabmap::Parameters
    • +
  • typeMemTransferSortingByWeightId() : rtabmap::Parameters
    • +
  • typeMemUseOdomFeatures() : rtabmap::Parameters
    • +
  • typeMemUseOdomGravity() : rtabmap::Parameters
  • typeName() : rtabmap::Feature2D, rtabmap::Link
    • +
  • typeOdomAlignWithGround() : rtabmap::Parameters
    • +
  • typeOdomCuVSLAMMulticamMode() : rtabmap::Parameters
    • +
  • typeOdomDeskewing() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustment() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMaxFrames() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMinMotion() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleUpdateFeatureMapOnAllFrames() : rtabmap::Parameters
    • +
  • typeOdomF2MFloorThreshold() : rtabmap::Parameters
    • +
  • typeOdomF2MInitDepthFactor() : rtabmap::Parameters
    • +
  • typeOdomF2MMaxNewFeatures() : rtabmap::Parameters
    • +
  • typeOdomF2MMaxSize() : rtabmap::Parameters
    • +
  • typeOdomF2MScanMaxSize() : rtabmap::Parameters
    • +
  • typeOdomF2MScanRange() : rtabmap::Parameters
    • +
  • typeOdomF2MScanSubtractAngle() : rtabmap::Parameters
    • +
  • typeOdomF2MScanSubtractRadius() : rtabmap::Parameters
    • +
  • typeOdomF2MValidDepthRatio() : rtabmap::Parameters
    • +
  • typeOdomFillInfoData() : rtabmap::Parameters
    • +
  • typeOdomFilteringStrategy() : rtabmap::Parameters
    • +
  • typeOdomFovisBucketHeight() : rtabmap::Parameters
    • +
  • typeOdomFovisBucketWidth() : rtabmap::Parameters
    • +
  • typeOdomFovisCliqueInlierThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisFastThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisFastThresholdAdaptiveGain() : rtabmap::Parameters
    • +
  • typeOdomFovisFeatureSearchWindow() : rtabmap::Parameters
    • +
  • typeOdomFovisFeatureWindowSize() : rtabmap::Parameters
    • +
  • typeOdomFovisInlierMaxReprojectionError() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxKeypointsPerBucket() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxMeanReprojectionError() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxPyramidLevel() : rtabmap::Parameters
    • +
  • typeOdomFovisMinFeaturesForEstimate() : rtabmap::Parameters
    • +
  • typeOdomFovisMinPyramidLevel() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxDistEpipolarLine() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxRefinementDisplacement() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoRequireMutualMatch() : rtabmap::Parameters
    • +
  • typeOdomFovisTargetPixelsPerFeature() : rtabmap::Parameters
    • +
  • typeOdomFovisUpdateTargetFeaturesWithRefined() : rtabmap::Parameters
    • +
  • typeOdomFovisUseAdaptiveThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisUseBucketing() : rtabmap::Parameters
    • +
  • typeOdomFovisUseHomographyInitialization() : rtabmap::Parameters
    • +
  • typeOdomFovisUseImageNormalization() : rtabmap::Parameters
    • +
  • typeOdomFovisUseSubpixelRefinement() : rtabmap::Parameters
    • +
  • typeOdomGuessMotion() : rtabmap::Parameters
    • +
  • typeOdomGuessSmoothingDelay() : rtabmap::Parameters
    • +
  • typeOdomHolonomic() : rtabmap::Parameters
    • +
  • typeOdomImageBufferSize() : rtabmap::Parameters
    • +
  • typeOdomImageDecimation() : rtabmap::Parameters
    • +
  • typeOdomKalmanMeasurementNoise() : rtabmap::Parameters
    • +
  • typeOdomKalmanProcessNoise() : rtabmap::Parameters
    • +
  • typeOdomKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMAngVar() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMConfigPath() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMEdgeThreshold() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMHorizonScan() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuAccBiasN() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuAccNoise() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGravity() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGyrBiasN() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGyrNoise() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMLinVar() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMNScan() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMSensor() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMSurfThreshold() : rtabmap::Parameters
    • +
  • typeOdomLOAMAngVar() : rtabmap::Parameters
    • +
  • typeOdomLOAMLinVar() : rtabmap::Parameters
    • +
  • typeOdomLOAMLocalMapping() : rtabmap::Parameters
    • +
  • typeOdomLOAMResolution() : rtabmap::Parameters
    • +
  • typeOdomLOAMScanPeriod() : rtabmap::Parameters
    • +
  • typeOdomLOAMSensor() : rtabmap::Parameters
    • +
  • typeOdomMonoInitMinFlow() : rtabmap::Parameters
    • +
  • typeOdomMonoInitMinTranslation() : rtabmap::Parameters
    • +
  • typeOdomMonoMaxVariance() : rtabmap::Parameters
    • +
  • typeOdomMonoMinTranslation() : rtabmap::Parameters
    • +
  • typeOdomMSCKFFastThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridCol() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridMaxFeatureNum() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridMinFeatureNum() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridRow() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovAccBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovExRot() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovExTrans() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovGyroBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovVel() : rtabmap::Parameters
    • +
  • typeOdomMSCKFMaxCamStateSize() : rtabmap::Parameters
    • +
  • typeOdomMSCKFMaxIteration() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseAcc() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseAccBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseFeature() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseGyro() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseGyroBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFOptTranslationThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPatchSize() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPositionStdThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPyramidLevels() : rtabmap::Parameters
    • +
  • typeOdomMSCKFRansacThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFRotationThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFStereoThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTrackingRateThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTrackPrecision() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTranslationThreshold() : rtabmap::Parameters
    • +
  • typeOdomOKVISConfigPath() : rtabmap::Parameters
    • +
  • typeOdomOpen3DMaxDepth() : rtabmap::Parameters
    • +
  • typeOdomOpen3DMethod() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSAccelerometerNoiseDensity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSAccelerometerRandomWalk() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamExtrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamIntrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamTimeoffset() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibIMUGSensitivity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibIMUIntrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSConfigPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSDtSLAMDelay() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFeatRepMSCKF() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFeatRepSLAM() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxBaseline() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxCondNumber() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxRuns() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiRefineFeatures() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiTriangulate1d() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGravityMag() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGyroscopeNoiseDensity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGyroscopeRandomWalk() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationBa() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationBg() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationOri() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationVel() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMinDeg() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMinRecCond() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxIter() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxThreads() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxTime() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEOptCalib() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynNumPose() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynUse() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitIMUThresh() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitWindowTime() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSIntegration() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSLeftMaskPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxClones() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxMSCKFInUpdate() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxSLAM() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxSLAMInUpdate() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMinPxDist() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSNumPts() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSRightMaskPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSTryZUPT() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpMSCKFChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpMSCKFSigmaPx() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpSLAMChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpSLAMSigmaPx() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseFEJ() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseKLT() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseStereo() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTMaxVelodicy() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTNoiseMultiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTOnlyAtBeginning() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMAccNoise() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMAccWalk() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMBf() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMFps() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMGyroNoise() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMGyroWalk() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMInertial() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMMapSize() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMSamplingRate() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMThDepth() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMVocPath() : rtabmap::Parameters
    • +
  • typeOdomParticleLambdaR() : rtabmap::Parameters
    • +
  • typeOdomParticleLambdaT() : rtabmap::Parameters
    • +
  • typeOdomParticleNoiseR() : rtabmap::Parameters
    • +
  • typeOdomParticleNoiseT() : rtabmap::Parameters
    • +
  • typeOdomParticleSize() : rtabmap::Parameters
    • +
  • typeOdomResetCountdown() : rtabmap::Parameters
    • +
  • typeOdomScanKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomStrategy() : rtabmap::Parameters
    • +
  • typeOdomVINSFusionConfigPath() : rtabmap::Parameters
    • +
  • typeOdomVisKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketHeight() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketWidth() : rtabmap::Parameters
    • +
  • typeOdomViso2InlierThreshold() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchBinsize() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchDispTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchHalfResolution() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchMultiStage() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchNmsN() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchNmsTau() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchOutlierDispTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchOutlierFlowTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchRadius() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchRefinement() : rtabmap::Parameters
    • +
  • typeOdomViso2RansacIters() : rtabmap::Parameters
    • +
  • typeOdomViso2Reweighting() : rtabmap::Parameters
    • +
  • typeOptimizerBaseline() : rtabmap::Parameters
    • +
  • typeOptimizerDisparityVariance() : rtabmap::Parameters
    • +
  • typeOptimizerEpsilon() : rtabmap::Parameters
    • +
  • typeOptimizerGravitySigma() : rtabmap::Parameters
    • +
  • typeOptimizerIterations() : rtabmap::Parameters
    • +
  • typeOptimizerLandmarksIgnored() : rtabmap::Parameters
    • +
  • typeOptimizerPixelVariance() : rtabmap::Parameters
    • +
  • typeOptimizerPriorsIgnored() : rtabmap::Parameters
    • +
  • typeOptimizerRobust() : rtabmap::Parameters
    • +
  • typeOptimizerRobustKernelDelta() : rtabmap::Parameters
    • +
  • typeOptimizerStrategy() : rtabmap::Parameters
    • +
  • typeOptimizerVarianceIgnored() : rtabmap::Parameters
    • +
  • typeORBEdgeThreshold() : rtabmap::Parameters
    • +
  • typeORBFirstLevel() : rtabmap::Parameters
    • +
  • typeORBGpu() : rtabmap::Parameters
    • +
  • typeORBNLevels() : rtabmap::Parameters
    • +
  • typeORBPatchSize() : rtabmap::Parameters
    • +
  • typeORBScaleFactor() : rtabmap::Parameters
    • +
  • typeORBScoreType() : rtabmap::Parameters
    • +
  • typeORBWTA_K() : rtabmap::Parameters
    • +
  • typePyDescriptorDim() : rtabmap::Parameters
    • +
  • typePyDescriptorPath() : rtabmap::Parameters
    • +
  • typePyDetectorCuda() : rtabmap::Parameters
    • +
  • typePyDetectorPath() : rtabmap::Parameters
    • +
  • typePyMatcherCuda() : rtabmap::Parameters
    • +
  • typePyMatcherIterations() : rtabmap::Parameters
    • +
  • typePyMatcherModel() : rtabmap::Parameters
    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
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    • +
    -
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    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    updateOccupancyGrid() : rtabmap::DBDriver
  • UProcessInfo() : UProcessInfo
  • USemaphore() : USemaphore
    • +
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    • +
  • userDataRaw() : rtabmap::Link
  • UThread() : UThread
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    Real-Time Appearance-Based Mapping
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    +
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    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
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    -Generated by doxygen 1.9.8 -
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    +
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    getCode() : UEvent
  • getCompressedData() : rtabmap::CompressionThread
  • getConnectedGraph() : rtabmap::Optimizer
    • +
  • getCreateIntermediateNodes() : rtabmap::RtabmapThread
  • getData() : rtabmap::IMUEvent
  • getDatabaseMemoryUsed() : rtabmap::Memory
  • getDatabaseUrl() : rtabmap::Memory
  • getDatabaseVersion() : rtabmap::DBDriver, rtabmap::Memory
    • +
  • getDataBufferSize() : rtabmap::RtabmapThread
  • getDbSavingTime() : rtabmap::Memory
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  • getDescription() : rtabmap::Parameters
  • getDescriptor() : rtabmap::VisualWord
  • getDetector() : rtabmap::RegistrationVis
    • +
  • getDetectorRate() : rtabmap::RtabmapThread
  • getDir() : UDirectory
  • getDistance() : rtabmap::Transform
  • getDistanceSquared() : rtabmap::Transform
    • @@ -199,7 +223,7 @@ $(function() {
  • getPaths() : rtabmap::Rtabmap
  • getPathStatus() : rtabmap::Rtabmap
  • getPathTransformToGoal() : rtabmap::Rtabmap
    • -
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    • +
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    • @@ -262,6 +286,8 @@ $(function() {
  • globalPoseCovariance() : rtabmap::SensorData
  • GPS() : rtabmap::GPS
  • gps() : rtabmap::SensorData
    • +
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    • +
  • gravityRollError : rtabmap::OdometryInfo
  • gravitySigma() : rtabmap::Optimizer
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  • gridEmptyCellsCompressed() : rtabmap::SensorData
    • @@ -273,11 +299,16 @@ $(function() {
  • gridViewPoint() : rtabmap::SensorData
  • groundCells : rtabmap::LocalGrid
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    • +
  • guess : rtabmap::OdometryInfo
    • +
  • guessVelocity : rtabmap::OdometryInfo
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    Real-Time Appearance-Based Mapping
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    • -
  • IMU() : rtabmap::IMU
    • +
  • IMU() : rtabmap::IMU
  • imu() : rtabmap::SensorData
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  • imus() : rtabmap::Odometry
  • IMUThread() : rtabmap::IMUThread
  • incrementMapId() : rtabmap::Memory
    • -
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  • info() : rtabmap::OdometryEvent, rtabmap::SensorEvent
  • inFrame() : rtabmap::CameraModel
  • init() : rtabmap::CameraDepthAI, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenNI2, rtabmap::CameraOpenni, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraRGBDImages, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, rtabmap::IMUThread, rtabmap::LidarVLP16, rtabmap::Memory, rtabmap::Rtabmap, rtabmap::SensorCapture
  • initRectificationMap() : rtabmap::CameraModel, rtabmap::StereoCameraModel
    • @@ -108,6 +129,7 @@ $(function() {
  • inliersPerCam : rtabmap::RegistrationInfo
  • inliersRatio : rtabmap::RegistrationInfo
  • interpolate() : rtabmap::Transform
    • +
  • interval : rtabmap::OdometryInfo
  • inverse() : rtabmap::Link, rtabmap::Transform
  • is3D() : rtabmap::LocalGrid
  • is3DoF() : rtabmap::Transform
    • @@ -119,6 +141,7 @@ $(function() {
  • isCapturing() : rtabmap::SensorCaptureThread
  • isChar() : UVariant
  • isCharArray() : UVariant
    • +
  • isCompressed() : rtabmap::LaserScan
  • isConnected() : rtabmap::DBDriver
  • isCovarianceIgnored() : rtabmap::Optimizer
  • isCreating() : UThread
    • @@ -182,9 +205,12 @@ $(function() {
  • iterations() : rtabmap::Optimizer, rtabmap::Stereo
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_j.html b/preview/pr-1492/api/latest/functions_j.html index 5b79f787..864ddaf2 100644 --- a/preview/pr-1492/api/latest/functions_j.html +++ b/preview/pr-1492/api/latest/functions_j.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    joinTrashThread() : rtabmap::Memory
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_k.html b/preview/pr-1492/api/latest/functions_k.html index eb56e23b..72408e94 100644 --- a/preview/pr-1492/api/latest/functions_k.html +++ b/preview/pr-1492/api/latest/functions_k.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    kAmbientLight : rtabmap::EnvSensor
  • kAmbientRelativeHumidity : rtabmap::EnvSensor
  • kAmbientTemperature : rtabmap::EnvSensor
    • +
  • kBayesFullPredictionUpdate() : rtabmap::Parameters
    • +
  • kBayesPredictionLC() : rtabmap::Parameters
    • +
  • kBayesVirtualPlacePriorThr() : rtabmap::Parameters
  • kBool : UVariant
    • +
  • kBRIEFBytes() : rtabmap::Parameters
    • +
  • kBRISKOctaves() : rtabmap::Parameters
    • +
  • kBRISKPatternScale() : rtabmap::Parameters
    • +
  • kBRISKThresh() : rtabmap::Parameters
  • kChar : UVariant
  • kCharArray : UVariant
    • +
  • kCmdCancelGoal : rtabmap::RtabmapEventCmd
    • +
  • kCmdCleanDataBuffer : rtabmap::RtabmapEventCmd
    • +
  • kCmdClose : rtabmap::RtabmapEventCmd
    • +
  • kCmdDumpMemory : rtabmap::RtabmapEventCmd
    • +
  • kCmdDumpPrediction : rtabmap::RtabmapEventCmd
    • +
  • kCmdExportPoses : rtabmap::RtabmapEventCmd
    • +
  • kCmdGenerateDOTGraph : rtabmap::RtabmapEventCmd
    • +
  • kCmdGoal : rtabmap::RtabmapEventCmd
    • +
  • kCmdInit : rtabmap::RtabmapEventCmd
    • +
  • kCmdLabel : rtabmap::RtabmapEventCmd
    • +
  • kCmdPause : rtabmap::RtabmapEventCmd
    • +
  • kCmdPublish3DMap : rtabmap::RtabmapEventCmd
    • +
  • kCmdRemoveLabel : rtabmap::RtabmapEventCmd
    • +
  • kCmdRepublishData : rtabmap::RtabmapEventCmd
    • +
  • kCmdResetMemory : rtabmap::RtabmapEventCmd
    • +
  • kCmdResume : rtabmap::RtabmapEventCmd
    • +
  • kCmdTriggerNewMap : rtabmap::RtabmapEventCmd
    • +
  • kCmdUndef : rtabmap::RtabmapEventCmd
    • +
  • kCmdUpdateParams : rtabmap::RtabmapEventCmd
  • kCodeData : rtabmap::SensorEvent
  • kCodeNoMoreImages : rtabmap::SensorEvent
    • +
  • kComplementaryFilter : rtabmap::IMUFilter
  • kCustomSensor1 : rtabmap::EnvSensor
    • +
  • kCustomSensor2 : rtabmap::EnvSensor
    • +
  • kCustomSensor3 : rtabmap::EnvSensor
    • +
  • kCustomSensor4 : rtabmap::EnvSensor
    • +
  • kCustomSensor5 : rtabmap::EnvSensor
    • +
  • kCustomSensor6 : rtabmap::EnvSensor
    • +
  • kCustomSensor7 : rtabmap::EnvSensor
    • +
  • kCustomSensor8 : rtabmap::EnvSensor
    • +
  • kCustomSensor9 : rtabmap::EnvSensor
    • +
  • kDbSqlite3CacheSize() : rtabmap::Parameters
    • +
  • kDbSqlite3InMemory() : rtabmap::Parameters
    • +
  • kDbSqlite3JournalMode() : rtabmap::Parameters
    • +
  • kDbSqlite3Synchronous() : rtabmap::Parameters
    • +
  • kDbSqlite3TempStore() : rtabmap::Parameters
    • +
  • kDbTargetVersion() : rtabmap::Parameters
  • kDefaultLogFileName : ULogger
  • kDouble : UVariant
  • kDoubleArray : UVariant
    • +
  • kEnd : rtabmap::Link
    • +
  • keyFrameAdded : rtabmap::OdometryInfo
  • keypoints() : rtabmap::SensorData
  • keypoints3D() : rtabmap::SensorData
    • +
  • kFASTCV() : rtabmap::Parameters
    • +
  • kFASTGpu() : rtabmap::Parameters
    • +
  • kFASTGpuKeypointsRatio() : rtabmap::Parameters
    • +
  • kFASTGridCols() : rtabmap::Parameters
    • +
  • kFASTGridRows() : rtabmap::Parameters
    • +
  • kFASTMaxThreshold() : rtabmap::Parameters
    • +
  • kFASTMinThreshold() : rtabmap::Parameters
    • +
  • kFASTNonmaxSuppression() : rtabmap::Parameters
    • +
  • kFASTThreshold() : rtabmap::Parameters
  • kFloat : UVariant
  • kFloatArray : UVariant
    • +
  • kFREAKNOctaves() : rtabmap::Parameters
    • +
  • kFREAKOrientationNormalized() : rtabmap::Parameters
    • +
  • kFREAKPatternScale() : rtabmap::Parameters
    • +
  • kFREAKScaleNormalized() : rtabmap::Parameters
    • +
  • kg2oOptimizer() : rtabmap::Parameters
    • +
  • kg2oSolver() : rtabmap::Parameters
    • +
  • kGFTTBlockSize() : rtabmap::Parameters
    • +
  • kGFTTGpu() : rtabmap::Parameters
    • +
  • kGFTTK() : rtabmap::Parameters
    • +
  • kGFTTMinDistance() : rtabmap::Parameters
    • +
  • kGFTTQualityLevel() : rtabmap::Parameters
    • +
  • kGFTTUseHarrisDetector() : rtabmap::Parameters
  • kGlobalClosure : rtabmap::Link
    • +
  • kGMSThresholdFactor() : rtabmap::Parameters
    • +
  • kGMSWithRotation() : rtabmap::Parameters
    • +
  • kGMSWithScale() : rtabmap::Parameters
  • kGravity : rtabmap::Link
    • +
  • kGrid3D() : rtabmap::Parameters
    • +
  • kGridCellSize() : rtabmap::Parameters
    • +
  • kGridClusterRadius() : rtabmap::Parameters
    • +
  • kGridDepthDecimation() : rtabmap::Parameters
    • +
  • kGridDepthRoiRatios() : rtabmap::Parameters
    • +
  • kGridFlatObstacleDetected() : rtabmap::Parameters
    • +
  • kGridFootprintHeight() : rtabmap::Parameters
    • +
  • kGridFootprintLength() : rtabmap::Parameters
    • +
  • kGridFootprintWidth() : rtabmap::Parameters
    • +
  • kGridGlobalAltitudeDelta() : rtabmap::Parameters
    • +
  • kGridGlobalEroded() : rtabmap::Parameters
    • +
  • kGridGlobalFloodFillDepth() : rtabmap::Parameters
    • +
  • kGridGlobalFootprintRadius() : rtabmap::Parameters
    • +
  • kGridGlobalMaxNodes() : rtabmap::Parameters
    • +
  • kGridGlobalMinSize() : rtabmap::Parameters
    • +
  • kGridGlobalOccupancyThr() : rtabmap::Parameters
    • +
  • kGridGlobalProbClampingMax() : rtabmap::Parameters
    • +
  • kGridGlobalProbClampingMin() : rtabmap::Parameters
    • +
  • kGridGlobalProbHit() : rtabmap::Parameters
    • +
  • kGridGlobalProbMiss() : rtabmap::Parameters
    • +
  • kGridGlobalUpdateError() : rtabmap::Parameters
    • +
  • kGridGroundIsObstacle() : rtabmap::Parameters
    • +
  • kGridMapFrameProjection() : rtabmap::Parameters
    • +
  • kGridMaxGroundAngle() : rtabmap::Parameters
    • +
  • kGridMaxGroundHeight() : rtabmap::Parameters
    • +
  • kGridMaxObstacleHeight() : rtabmap::Parameters
    • +
  • kGridMinClusterSize() : rtabmap::Parameters
    • +
  • kGridMinGroundHeight() : rtabmap::Parameters
    • +
  • kGridNoiseFilteringMinNeighbors() : rtabmap::Parameters
    • +
  • kGridNoiseFilteringRadius() : rtabmap::Parameters
    • +
  • kGridNormalK() : rtabmap::Parameters
    • +
  • kGridNormalsSegmentation() : rtabmap::Parameters
    • +
  • kGridPreVoxelFiltering() : rtabmap::Parameters
    • +
  • kGridRangeMax() : rtabmap::Parameters
    • +
  • kGridRangeMin() : rtabmap::Parameters
    • +
  • kGridRayTracing() : rtabmap::Parameters
    • +
  • kGridScan2dUnknownSpaceFilled() : rtabmap::Parameters
    • +
  • kGridScanDecimation() : rtabmap::Parameters
    • +
  • kGridSensor() : rtabmap::Parameters
    • +
  • kGTSAMIncRelinearizeSkip() : rtabmap::Parameters
    • +
  • kGTSAMIncRelinearizeThreshold() : rtabmap::Parameters
    • +
  • kGTSAMIncremental() : rtabmap::Parameters
    • +
  • kGTSAMOptimizer() : rtabmap::Parameters
  • kIcpCCCoreLib : rtabmap::RegistrationIcp
    • +
  • kIcpCCFilterOutFarthestPoints() : rtabmap::Parameters
    • +
  • kIcpCCMaxFinalRMS() : rtabmap::Parameters
    • +
  • kIcpCCSamplingLimit() : rtabmap::Parameters
    • +
  • kIcpCorrespondenceRatio() : rtabmap::Parameters
    • +
  • kIcpDebugExportFormat() : rtabmap::Parameters
    • +
  • kIcpDownsamplingStep() : rtabmap::Parameters
  • kIcpEnd : rtabmap::RegistrationIcp
    • +
  • kIcpEpsilon() : rtabmap::Parameters
    • +
  • kIcpFiltersEnabled() : rtabmap::Parameters
    • +
  • kIcpForce4DoF() : rtabmap::Parameters
    • +
  • kIcpIterations() : rtabmap::Parameters
    • +
  • kIcpMaxCorrespondenceDistance() : rtabmap::Parameters
    • +
  • kIcpMaxRotation() : rtabmap::Parameters
    • +
  • kIcpMaxTranslation() : rtabmap::Parameters
    • +
  • kIcpOutlierRatio() : rtabmap::Parameters
  • kIcpPCL : rtabmap::RegistrationIcp
    • +
  • kIcpPMConfig() : rtabmap::Parameters
    • +
  • kIcpPMMatcherEpsilon() : rtabmap::Parameters
    • +
  • kIcpPMMatcherIntensity() : rtabmap::Parameters
    • +
  • kIcpPMMatcherKnn() : rtabmap::Parameters
  • kIcpPointMatcher : rtabmap::RegistrationIcp
    • +
  • kIcpPointToPlane() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneComplexityCentered() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneGroundNormalsUp() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneK() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneLowComplexityStrategy() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneMinComplexity() : rtabmap::Parameters
    • +
  • kIcpPointToPlaneRadius() : rtabmap::Parameters
    • +
  • kIcpRangeMax() : rtabmap::Parameters
    • +
  • kIcpRangeMin() : rtabmap::Parameters
    • +
  • kIcpReciprocalCorrespondences() : rtabmap::Parameters
    • +
  • kIcpStrategy() : rtabmap::Parameters
  • kIcpUndef : rtabmap::RegistrationIcp
    • +
  • kIcpVoxelSize() : rtabmap::Parameters
  • kIdInvalid : rtabmap::Memory
  • kIdStart : rtabmap::Memory
  • kIdVirtual : rtabmap::Memory
  • kill() : UThread
    • +
  • kImuFilterComplementaryBiasAlpha() : rtabmap::Parameters
    • +
  • kImuFilterComplementaryDoAdpativeGain() : rtabmap::Parameters
    • +
  • kImuFilterComplementaryDoBiasEstimation() : rtabmap::Parameters
    • +
  • kImuFilterComplementaryGainAcc() : rtabmap::Parameters
    • +
  • kImuFilterMadgwickGain() : rtabmap::Parameters
    • +
  • kImuFilterMadgwickZeta() : rtabmap::Parameters
  • kInt : UVariant
  • kIntArray : UVariant
    • +
  • kKAZEDiffusivity() : rtabmap::Parameters
    • +
  • kKAZEExtended() : rtabmap::Parameters
    • +
  • kKAZENOctaveLayers() : rtabmap::Parameters
    • +
  • kKAZENOctaves() : rtabmap::Parameters
    • +
  • kKAZEThreshold() : rtabmap::Parameters
    • +
  • kKAZEUpright() : rtabmap::Parameters
    • +
  • kKpBadSignRatio() : rtabmap::Parameters
    • +
  • kKpByteToFloat() : rtabmap::Parameters
    • +
  • kKpDetectorStrategy() : rtabmap::Parameters
    • +
  • kKpDictionaryPath() : rtabmap::Parameters
    • +
  • kKpFlannIndexSaved() : rtabmap::Parameters
    • +
  • kKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • kKpGridCols() : rtabmap::Parameters
    • +
  • kKpGridRows() : rtabmap::Parameters
    • +
  • kKpIncrementalDictionary() : rtabmap::Parameters
    • +
  • kKpIncrementalFlann() : rtabmap::Parameters
    • +
  • kKpMaxDepth() : rtabmap::Parameters
    • +
  • kKpMaxFeatures() : rtabmap::Parameters
    • +
  • kKpMinDepth() : rtabmap::Parameters
    • +
  • kKpNewWordsComparedTogether() : rtabmap::Parameters
    • +
  • kKpNndrRatio() : rtabmap::Parameters
    • +
  • kKpNNStrategy() : rtabmap::Parameters
    • +
  • kKpParallelized() : rtabmap::Parameters
    • +
  • kKpRoiRatios() : rtabmap::Parameters
    • +
  • kKpSerializeWithChecksum() : rtabmap::Parameters
    • +
  • kKpSSC() : rtabmap::Parameters
    • +
  • kKpSubPixEps() : rtabmap::Parameters
    • +
  • kKpSubPixIterations() : rtabmap::Parameters
    • +
  • kKpSubPixWinSize() : rtabmap::Parameters
    • +
  • kKpTfIdfLikelihoodUsed() : rtabmap::Parameters
  • kLandmark : rtabmap::Link
  • kLocalSpaceClosure : rtabmap::Link
  • kLocalTimeClosure : rtabmap::Link
  • kMadgwick : rtabmap::IMUFilter
    • +
  • kMarkerAprilTagDebug() : rtabmap::Parameters
    • +
  • kMarkerAprilTagDecodeSharpening() : rtabmap::Parameters
    • +
  • kMarkerAprilTagNThreads() : rtabmap::Parameters
    • +
  • kMarkerAprilTagQuadDecimate() : rtabmap::Parameters
    • +
  • kMarkerAprilTagQuadSigma() : rtabmap::Parameters
    • +
  • kMarkerAprilTagRefineEdges() : rtabmap::Parameters
    • +
  • kMarkerDictionary() : rtabmap::Parameters
    • +
  • kMarkerLength() : rtabmap::Parameters
    • +
  • kMarkerLengths() : rtabmap::Parameters
    • +
  • kMarkerMaxDepthError() : rtabmap::Parameters
    • +
  • kMarkerMaxRange() : rtabmap::Parameters
    • +
  • kMarkerMinRange() : rtabmap::Parameters
    • +
  • kMarkerOpenCVCornerRefinementMethod() : rtabmap::Parameters
    • +
  • kMarkerPriors() : rtabmap::Parameters
    • +
  • kMarkerPriorsVarianceAngular() : rtabmap::Parameters
    • +
  • kMarkerPriorsVarianceLinear() : rtabmap::Parameters
    • +
  • kMarkerStrategy() : rtabmap::Parameters
    • +
  • kMarkerVarianceAngular() : rtabmap::Parameters
    • +
  • kMarkerVarianceLinear() : rtabmap::Parameters
    • +
  • kMarkerVarianceOrientationIgnored() : rtabmap::Parameters
    • +
  • kMemBadSignaturesIgnored() : rtabmap::Parameters
    • +
  • kMemBinDataKept() : rtabmap::Parameters
    • +
  • kMemCompressionParallelized() : rtabmap::Parameters
    • +
  • kMemCovOffDiagIgnored() : rtabmap::Parameters
    • +
  • kMemDepthAsMask() : rtabmap::Parameters
    • +
  • kMemDepthCompressionFormat() : rtabmap::Parameters
    • +
  • kMemDepthMaskFloorThr() : rtabmap::Parameters
    • +
  • kMemGenerateIds() : rtabmap::Parameters
    • +
  • kMemGlobalDescriptorStrategy() : rtabmap::Parameters
    • +
  • kMemImageCompressionFormat() : rtabmap::Parameters
    • +
  • kMemImageKept() : rtabmap::Parameters
    • +
  • kMemImagePostDecimation() : rtabmap::Parameters
    • +
  • kMemImagePreDecimation() : rtabmap::Parameters
    • +
  • kMemIncrementalMemory() : rtabmap::Parameters
    • +
  • kMemInitWMWithAllNodes() : rtabmap::Parameters
    • +
  • kMemIntermediateNodeDataKept() : rtabmap::Parameters
    • +
  • kMemLaserScanDownsampleStepSize() : rtabmap::Parameters
    • +
  • kMemLaserScanNormalK() : rtabmap::Parameters
    • +
  • kMemLaserScanNormalRadius() : rtabmap::Parameters
    • +
  • kMemLaserScanVoxelSize() : rtabmap::Parameters
    • +
  • kMemLoadVisualLocalFeaturesOnInit() : rtabmap::Parameters
    • +
  • kMemLocalizationDataSaved() : rtabmap::Parameters
    • +
  • kMemLocalizationReadOnly() : rtabmap::Parameters
    • +
  • kMemMapLabelsAdded() : rtabmap::Parameters
    • +
  • kMemNotLinkedNodesKept() : rtabmap::Parameters
    • +
  • kMemRawDescriptorsKept() : rtabmap::Parameters
    • +
  • kMemRecentWmRatio() : rtabmap::Parameters
    • +
  • kMemReduceGraph() : rtabmap::Parameters
    • +
  • kMemRehearsalIdUpdatedToNewOne() : rtabmap::Parameters
    • +
  • kMemRehearsalSimilarity() : rtabmap::Parameters
    • +
  • kMemRehearsalWeightIgnoredWhileMoving() : rtabmap::Parameters
    • +
  • kMemRotateImagesUpsideUp() : rtabmap::Parameters
    • +
  • kMemSaveDepth16Format() : rtabmap::Parameters
    • +
  • kMemStereoFromMotion() : rtabmap::Parameters
    • +
  • kMemSTMSize() : rtabmap::Parameters
    • +
  • kMemTransferSortingByWeightId() : rtabmap::Parameters
    • +
  • kMemUseOdomFeatures() : rtabmap::Parameters
    • +
  • kMemUseOdomGravity() : rtabmap::Parameters
  • kNeighbor : rtabmap::Link
  • kNeighborMerged : rtabmap::Link
  • kNNBruteForce : rtabmap::VWDictionary
    • @@ -122,12 +377,379 @@ $(function() {
  • kNNFlannLSH : rtabmap::VWDictionary
  • kNNFlannNaive : rtabmap::VWDictionary
  • kNNUndef : rtabmap::VWDictionary
    • +
  • kOdomAlignWithGround() : rtabmap::Parameters
    • +
  • kOdomCuVSLAMMulticamMode() : rtabmap::Parameters
    • +
  • kOdomDeskewing() : rtabmap::Parameters
    • +
  • kOdomF2MBundleAdjustment() : rtabmap::Parameters
    • +
  • kOdomF2MBundleAdjustmentMaxFrames() : rtabmap::Parameters
    • +
  • kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature() : rtabmap::Parameters
    • +
  • kOdomF2MBundleAdjustmentMinMotion() : rtabmap::Parameters
    • +
  • kOdomF2MBundleUpdateFeatureMapOnAllFrames() : rtabmap::Parameters
    • +
  • kOdomF2MFloorThreshold() : rtabmap::Parameters
    • +
  • kOdomF2MInitDepthFactor() : rtabmap::Parameters
    • +
  • kOdomF2MMaxNewFeatures() : rtabmap::Parameters
    • +
  • kOdomF2MMaxSize() : rtabmap::Parameters
    • +
  • kOdomF2MScanMaxSize() : rtabmap::Parameters
    • +
  • kOdomF2MScanRange() : rtabmap::Parameters
    • +
  • kOdomF2MScanSubtractAngle() : rtabmap::Parameters
    • +
  • kOdomF2MScanSubtractRadius() : rtabmap::Parameters
    • +
  • kOdomF2MValidDepthRatio() : rtabmap::Parameters
    • +
  • kOdomFillInfoData() : rtabmap::Parameters
    • +
  • kOdomFilteringStrategy() : rtabmap::Parameters
    • +
  • kOdomFovisBucketHeight() : rtabmap::Parameters
    • +
  • kOdomFovisBucketWidth() : rtabmap::Parameters
    • +
  • kOdomFovisCliqueInlierThreshold() : rtabmap::Parameters
    • +
  • kOdomFovisFastThreshold() : rtabmap::Parameters
    • +
  • kOdomFovisFastThresholdAdaptiveGain() : rtabmap::Parameters
    • +
  • kOdomFovisFeatureSearchWindow() : rtabmap::Parameters
    • +
  • kOdomFovisFeatureWindowSize() : rtabmap::Parameters
    • +
  • kOdomFovisInlierMaxReprojectionError() : rtabmap::Parameters
    • +
  • kOdomFovisMaxKeypointsPerBucket() : rtabmap::Parameters
    • +
  • kOdomFovisMaxMeanReprojectionError() : rtabmap::Parameters
    • +
  • kOdomFovisMaxPyramidLevel() : rtabmap::Parameters
    • +
  • kOdomFovisMinFeaturesForEstimate() : rtabmap::Parameters
    • +
  • kOdomFovisMinPyramidLevel() : rtabmap::Parameters
    • +
  • kOdomFovisStereoMaxDisparity() : rtabmap::Parameters
    • +
  • kOdomFovisStereoMaxDistEpipolarLine() : rtabmap::Parameters
    • +
  • kOdomFovisStereoMaxRefinementDisplacement() : rtabmap::Parameters
    • +
  • kOdomFovisStereoRequireMutualMatch() : rtabmap::Parameters
    • +
  • kOdomFovisTargetPixelsPerFeature() : rtabmap::Parameters
    • +
  • kOdomFovisUpdateTargetFeaturesWithRefined() : rtabmap::Parameters
    • +
  • kOdomFovisUseAdaptiveThreshold() : rtabmap::Parameters
    • +
  • kOdomFovisUseBucketing() : rtabmap::Parameters
    • +
  • kOdomFovisUseHomographyInitialization() : rtabmap::Parameters
    • +
  • kOdomFovisUseImageNormalization() : rtabmap::Parameters
    • +
  • kOdomFovisUseSubpixelRefinement() : rtabmap::Parameters
    • +
  • kOdomGuessMotion() : rtabmap::Parameters
    • +
  • kOdomGuessSmoothingDelay() : rtabmap::Parameters
    • +
  • kOdomHolonomic() : rtabmap::Parameters
    • +
  • kOdomImageBufferSize() : rtabmap::Parameters
    • +
  • kOdomImageDecimation() : rtabmap::Parameters
    • +
  • kOdomKalmanMeasurementNoise() : rtabmap::Parameters
    • +
  • kOdomKalmanProcessNoise() : rtabmap::Parameters
    • +
  • kOdomKeyFrameThr() : rtabmap::Parameters
    • +
  • kOdomLIOSAMAngVar() : rtabmap::Parameters
    • +
  • kOdomLIOSAMConfigPath() : rtabmap::Parameters
    • +
  • kOdomLIOSAMEdgeThreshold() : rtabmap::Parameters
    • +
  • kOdomLIOSAMHorizonScan() : rtabmap::Parameters
    • +
  • kOdomLIOSAMImuAccBiasN() : rtabmap::Parameters
    • +
  • kOdomLIOSAMImuAccNoise() : rtabmap::Parameters
    • +
  • kOdomLIOSAMImuGravity() : rtabmap::Parameters
    • +
  • kOdomLIOSAMImuGyrBiasN() : rtabmap::Parameters
    • +
  • kOdomLIOSAMImuGyrNoise() : rtabmap::Parameters
    • +
  • kOdomLIOSAMLinVar() : rtabmap::Parameters
    • +
  • kOdomLIOSAMNScan() : rtabmap::Parameters
    • +
  • kOdomLIOSAMSensor() : rtabmap::Parameters
    • +
  • kOdomLIOSAMSurfThreshold() : rtabmap::Parameters
    • +
  • kOdomLOAMAngVar() : rtabmap::Parameters
    • +
  • kOdomLOAMLinVar() : rtabmap::Parameters
    • +
  • kOdomLOAMLocalMapping() : rtabmap::Parameters
    • +
  • kOdomLOAMResolution() : rtabmap::Parameters
    • +
  • kOdomLOAMScanPeriod() : rtabmap::Parameters
    • +
  • kOdomLOAMSensor() : rtabmap::Parameters
    • +
  • kOdomMonoInitMinFlow() : rtabmap::Parameters
    • +
  • kOdomMonoInitMinTranslation() : rtabmap::Parameters
    • +
  • kOdomMonoMaxVariance() : rtabmap::Parameters
    • +
  • kOdomMonoMinTranslation() : rtabmap::Parameters
    • +
  • kOdomMSCKFFastThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFGridCol() : rtabmap::Parameters
    • +
  • kOdomMSCKFGridMaxFeatureNum() : rtabmap::Parameters
    • +
  • kOdomMSCKFGridMinFeatureNum() : rtabmap::Parameters
    • +
  • kOdomMSCKFGridRow() : rtabmap::Parameters
    • +
  • kOdomMSCKFInitCovAccBias() : rtabmap::Parameters
    • +
  • kOdomMSCKFInitCovExRot() : rtabmap::Parameters
    • +
  • kOdomMSCKFInitCovExTrans() : rtabmap::Parameters
    • +
  • kOdomMSCKFInitCovGyroBias() : rtabmap::Parameters
    • +
  • kOdomMSCKFInitCovVel() : rtabmap::Parameters
    • +
  • kOdomMSCKFMaxCamStateSize() : rtabmap::Parameters
    • +
  • kOdomMSCKFMaxIteration() : rtabmap::Parameters
    • +
  • kOdomMSCKFNoiseAcc() : rtabmap::Parameters
    • +
  • kOdomMSCKFNoiseAccBias() : rtabmap::Parameters
    • +
  • kOdomMSCKFNoiseFeature() : rtabmap::Parameters
    • +
  • kOdomMSCKFNoiseGyro() : rtabmap::Parameters
    • +
  • kOdomMSCKFNoiseGyroBias() : rtabmap::Parameters
    • +
  • kOdomMSCKFOptTranslationThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFPatchSize() : rtabmap::Parameters
    • +
  • kOdomMSCKFPositionStdThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFPyramidLevels() : rtabmap::Parameters
    • +
  • kOdomMSCKFRansacThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFRotationThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFStereoThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFTrackingRateThreshold() : rtabmap::Parameters
    • +
  • kOdomMSCKFTrackPrecision() : rtabmap::Parameters
    • +
  • kOdomMSCKFTranslationThreshold() : rtabmap::Parameters
    • +
  • kOdomOKVISConfigPath() : rtabmap::Parameters
    • +
  • kOdomOpen3DMaxDepth() : rtabmap::Parameters
    • +
  • kOdomOpen3DMethod() : rtabmap::Parameters
    • +
  • kOdomOpenVINSAccelerometerNoiseDensity() : rtabmap::Parameters
    • +
  • kOdomOpenVINSAccelerometerRandomWalk() : rtabmap::Parameters
    • +
  • kOdomOpenVINSCalibCamExtrinsics() : rtabmap::Parameters
    • +
  • kOdomOpenVINSCalibCamIntrinsics() : rtabmap::Parameters
    • +
  • kOdomOpenVINSCalibCamTimeoffset() : rtabmap::Parameters
    • +
  • kOdomOpenVINSCalibIMUGSensitivity() : rtabmap::Parameters
    • +
  • kOdomOpenVINSCalibIMUIntrinsics() : rtabmap::Parameters
    • +
  • kOdomOpenVINSConfigPath() : rtabmap::Parameters
    • +
  • kOdomOpenVINSDtSLAMDelay() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFeatRepMSCKF() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFeatRepSLAM() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFiMaxBaseline() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFiMaxCondNumber() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFiMaxRuns() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFiRefineFeatures() : rtabmap::Parameters
    • +
  • kOdomOpenVINSFiTriangulate1d() : rtabmap::Parameters
    • +
  • kOdomOpenVINSGravityMag() : rtabmap::Parameters
    • +
  • kOdomOpenVINSGyroscopeNoiseDensity() : rtabmap::Parameters
    • +
  • kOdomOpenVINSGyroscopeRandomWalk() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynInflationBa() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynInflationBg() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynInflationOri() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynInflationVel() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMinDeg() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMinRecCond() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMLEMaxIter() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMLEMaxThreads() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMLEMaxTime() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynMLEOptCalib() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynNumPose() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitDynUse() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitIMUThresh() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitMaxDisparity() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitMaxFeatures() : rtabmap::Parameters
    • +
  • kOdomOpenVINSInitWindowTime() : rtabmap::Parameters
    • +
  • kOdomOpenVINSIntegration() : rtabmap::Parameters
    • +
  • kOdomOpenVINSLeftMaskPath() : rtabmap::Parameters
    • +
  • kOdomOpenVINSMaxClones() : rtabmap::Parameters
    • +
  • kOdomOpenVINSMaxMSCKFInUpdate() : rtabmap::Parameters
    • +
  • kOdomOpenVINSMaxSLAM() : rtabmap::Parameters
    • +
  • kOdomOpenVINSMaxSLAMInUpdate() : rtabmap::Parameters
    • +
  • kOdomOpenVINSMinPxDist() : rtabmap::Parameters
    • +
  • kOdomOpenVINSNumPts() : rtabmap::Parameters
    • +
  • kOdomOpenVINSRightMaskPath() : rtabmap::Parameters
    • +
  • kOdomOpenVINSTryZUPT() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUpMSCKFChi2Multiplier() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUpMSCKFSigmaPx() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUpSLAMChi2Multiplier() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUpSLAMSigmaPx() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUseFEJ() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUseKLT() : rtabmap::Parameters
    • +
  • kOdomOpenVINSUseStereo() : rtabmap::Parameters
    • +
  • kOdomOpenVINSZUPTChi2Multiplier() : rtabmap::Parameters
    • +
  • kOdomOpenVINSZUPTMaxDisparity() : rtabmap::Parameters
    • +
  • kOdomOpenVINSZUPTMaxVelodicy() : rtabmap::Parameters
    • +
  • kOdomOpenVINSZUPTNoiseMultiplier() : rtabmap::Parameters
    • +
  • kOdomOpenVINSZUPTOnlyAtBeginning() : rtabmap::Parameters
    • +
  • kOdomORBSLAMAccNoise() : rtabmap::Parameters
    • +
  • kOdomORBSLAMAccWalk() : rtabmap::Parameters
    • +
  • kOdomORBSLAMBf() : rtabmap::Parameters
    • +
  • kOdomORBSLAMFps() : rtabmap::Parameters
    • +
  • kOdomORBSLAMGyroNoise() : rtabmap::Parameters
    • +
  • kOdomORBSLAMGyroWalk() : rtabmap::Parameters
    • +
  • kOdomORBSLAMInertial() : rtabmap::Parameters
    • +
  • kOdomORBSLAMMapSize() : rtabmap::Parameters
    • +
  • kOdomORBSLAMMaxFeatures() : rtabmap::Parameters
    • +
  • kOdomORBSLAMSamplingRate() : rtabmap::Parameters
    • +
  • kOdomORBSLAMThDepth() : rtabmap::Parameters
    • +
  • kOdomORBSLAMVocPath() : rtabmap::Parameters
    • +
  • kOdomParticleLambdaR() : rtabmap::Parameters
    • +
  • kOdomParticleLambdaT() : rtabmap::Parameters
    • +
  • kOdomParticleNoiseR() : rtabmap::Parameters
    • +
  • kOdomParticleNoiseT() : rtabmap::Parameters
    • +
  • kOdomParticleSize() : rtabmap::Parameters
    • +
  • kOdomResetCountdown() : rtabmap::Parameters
    • +
  • kOdomScanKeyFrameThr() : rtabmap::Parameters
    • +
  • kOdomStrategy() : rtabmap::Parameters
    • +
  • kOdomVINSFusionConfigPath() : rtabmap::Parameters
    • +
  • kOdomVisKeyFrameThr() : rtabmap::Parameters
    • +
  • kOdomViso2BucketHeight() : rtabmap::Parameters
    • +
  • kOdomViso2BucketMaxFeatures() : rtabmap::Parameters
    • +
  • kOdomViso2BucketWidth() : rtabmap::Parameters
    • +
  • kOdomViso2InlierThreshold() : rtabmap::Parameters
    • +
  • kOdomViso2MatchBinsize() : rtabmap::Parameters
    • +
  • kOdomViso2MatchDispTolerance() : rtabmap::Parameters
    • +
  • kOdomViso2MatchHalfResolution() : rtabmap::Parameters
    • +
  • kOdomViso2MatchMultiStage() : rtabmap::Parameters
    • +
  • kOdomViso2MatchNmsN() : rtabmap::Parameters
    • +
  • kOdomViso2MatchNmsTau() : rtabmap::Parameters
    • +
  • kOdomViso2MatchOutlierDispTolerance() : rtabmap::Parameters
    • +
  • kOdomViso2MatchOutlierFlowTolerance() : rtabmap::Parameters
    • +
  • kOdomViso2MatchRadius() : rtabmap::Parameters
    • +
  • kOdomViso2MatchRefinement() : rtabmap::Parameters
    • +
  • kOdomViso2RansacIters() : rtabmap::Parameters
    • +
  • kOdomViso2Reweighting() : rtabmap::Parameters
    • +
  • kOptimizerBaseline() : rtabmap::Parameters
    • +
  • kOptimizerDisparityVariance() : rtabmap::Parameters
    • +
  • kOptimizerEpsilon() : rtabmap::Parameters
    • +
  • kOptimizerGravitySigma() : rtabmap::Parameters
    • +
  • kOptimizerIterations() : rtabmap::Parameters
    • +
  • kOptimizerLandmarksIgnored() : rtabmap::Parameters
    • +
  • kOptimizerPixelVariance() : rtabmap::Parameters
    • +
  • kOptimizerPriorsIgnored() : rtabmap::Parameters
    • +
  • kOptimizerRobust() : rtabmap::Parameters
    • +
  • kOptimizerRobustKernelDelta() : rtabmap::Parameters
    • +
  • kOptimizerStrategy() : rtabmap::Parameters
    • +
  • kOptimizerVarianceIgnored() : rtabmap::Parameters
    • +
  • kORBEdgeThreshold() : rtabmap::Parameters
    • +
  • kORBFirstLevel() : rtabmap::Parameters
    • +
  • kORBGpu() : rtabmap::Parameters
    • +
  • kORBNLevels() : rtabmap::Parameters
    • +
  • kORBPatchSize() : rtabmap::Parameters
    • +
  • kORBScaleFactor() : rtabmap::Parameters
    • +
  • kORBScoreType() : rtabmap::Parameters
    • +
  • kORBWTA_K() : rtabmap::Parameters
  • kPosePrior : rtabmap::Link
  • kpt : rtabmap::FeatureBA
    • +
  • kPyDescriptorDim() : rtabmap::Parameters
    • +
  • kPyDescriptorPath() : rtabmap::Parameters
    • +
  • kPyDetectorCuda() : rtabmap::Parameters
    • +
  • kPyDetectorPath() : rtabmap::Parameters
    • +
  • kPyMatcherCuda() : rtabmap::Parameters
    • +
  • kPyMatcherIterations() : rtabmap::Parameters
    • +
  • kPyMatcherModel() : rtabmap::Parameters
    • +
  • kPyMatcherPath() : rtabmap::Parameters
    • +
  • kPyMatcherThreshold() : rtabmap::Parameters
    • +
  • kRegForce3DoF() : rtabmap::Parameters
    • +
  • kRegRepeatOnce() : rtabmap::Parameters
    • +
  • kRegStrategy() : rtabmap::Parameters
    • +
  • kRGBDAggressiveLoopThr() : rtabmap::Parameters
    • +
  • kRGBDAngularSpeedUpdate() : rtabmap::Parameters
    • +
  • kRGBDAngularUpdate() : rtabmap::Parameters
    • +
  • kRGBDCreateOccupancyGrid() : rtabmap::Parameters
    • +
  • kRGBDEnabled() : rtabmap::Parameters
    • +
  • kRGBDForceOdom3DoF() : rtabmap::Parameters
    • +
  • kRGBDGoalReachedRadius() : rtabmap::Parameters
    • +
  • kRGBDGoalsSavedInUserData() : rtabmap::Parameters
    • +
  • kRGBDInvertedReg() : rtabmap::Parameters
    • +
  • kRGBDLinearSpeedUpdate() : rtabmap::Parameters
    • +
  • kRGBDLinearUpdate() : rtabmap::Parameters
    • +
  • kRGBDLocalBundleOnLoopClosure() : rtabmap::Parameters
    • +
  • kRGBDLocalImmunizationRatio() : rtabmap::Parameters
    • +
  • kRGBDLocalizationPriorError() : rtabmap::Parameters
    • +
  • kRGBDLocalizationSecondTryWithoutProximityLinks() : rtabmap::Parameters
    • +
  • kRGBDLocalizationSmoothing() : rtabmap::Parameters
    • +
  • kRGBDLocalRadius() : rtabmap::Parameters
    • +
  • kRGBDLoopClosureIdentityGuess() : rtabmap::Parameters
    • +
  • kRGBDLoopClosureReextractFeatures() : rtabmap::Parameters
    • +
  • kRGBDLoopCovLimited() : rtabmap::Parameters
    • +
  • kRGBDMarkerDetection() : rtabmap::Parameters
    • +
  • kRGBDMaxLocalRetrieved() : rtabmap::Parameters
    • +
  • kRGBDMaxLoopClosureDistance() : rtabmap::Parameters
    • +
  • kRGBDMaxOdomCacheSize() : rtabmap::Parameters
    • +
  • kRGBDNeighborLinkRefining() : rtabmap::Parameters
    • +
  • kRGBDNewMapOdomChangeDistance() : rtabmap::Parameters
    • +
  • kRGBDOptimizeFromGraphEnd() : rtabmap::Parameters
    • +
  • kRGBDOptimizeMaxError() : rtabmap::Parameters
    • +
  • kRGBDOptimizeMaxErrorRepairRadius() : rtabmap::Parameters
    • +
  • kRGBDPlanAngularVelocity() : rtabmap::Parameters
    • +
  • kRGBDPlanLinearVelocity() : rtabmap::Parameters
    • +
  • kRGBDPlanStuckIterations() : rtabmap::Parameters
    • +
  • kRGBDProximityAngle() : rtabmap::Parameters
    • +
  • kRGBDProximityBySpace() : rtabmap::Parameters
    • +
  • kRGBDProximityByTime() : rtabmap::Parameters
    • +
  • kRGBDProximityGlobalScanMap() : rtabmap::Parameters
    • +
  • kRGBDProximityMaxGraphDepth() : rtabmap::Parameters
    • +
  • kRGBDProximityMaxPaths() : rtabmap::Parameters
    • +
  • kRGBDProximityMergedScanCovFactor() : rtabmap::Parameters
    • +
  • kRGBDProximityOdomGuess() : rtabmap::Parameters
    • +
  • kRGBDProximityPathFilteringRadius() : rtabmap::Parameters
    • +
  • kRGBDProximityPathMaxNeighbors() : rtabmap::Parameters
    • +
  • kRGBDProximityPathRawPosesUsed() : rtabmap::Parameters
    • +
  • kRGBDScanMatchingIdsSavedInLinks() : rtabmap::Parameters
    • +
  • kRGBDStartAtOrigin() : rtabmap::Parameters
    • +
  • kRtabmapComputeRMSE() : rtabmap::Parameters
    • +
  • kRtabmapCreateIntermediateNodes() : rtabmap::Parameters
    • +
  • kRtabmapDetectionRate() : rtabmap::Parameters
    • +
  • kRtabmapImageBufferSize() : rtabmap::Parameters
    • +
  • kRtabmapImagesAlreadyRectified() : rtabmap::Parameters
    • +
  • kRtabmapLoopGPS() : rtabmap::Parameters
    • +
  • kRtabmapLoopRatio() : rtabmap::Parameters
    • +
  • kRtabmapLoopThr() : rtabmap::Parameters
    • +
  • kRtabmapMaxRepublished() : rtabmap::Parameters
    • +
  • kRtabmapMaxRetrieved() : rtabmap::Parameters
    • +
  • kRtabmapMemoryThr() : rtabmap::Parameters
    • +
  • kRtabmapPublishLastSignature() : rtabmap::Parameters
    • +
  • kRtabmapPublishLikelihood() : rtabmap::Parameters
    • +
  • kRtabmapPublishPdf() : rtabmap::Parameters
    • +
  • kRtabmapPublishRAMUsage() : rtabmap::Parameters
    • +
  • kRtabmapPublishStats() : rtabmap::Parameters
    • +
  • kRtabmapRectifyOnlyFeatures() : rtabmap::Parameters
    • +
  • kRtabmapSaveWMState() : rtabmap::Parameters
    • +
  • kRtabmapStartNewMapOnGoodSignature() : rtabmap::Parameters
    • +
  • kRtabmapStartNewMapOnLoopClosure() : rtabmap::Parameters
    • +
  • kRtabmapStatisticLogged() : rtabmap::Parameters
    • +
  • kRtabmapStatisticLoggedHeaders() : rtabmap::Parameters
    • +
  • kRtabmapStatisticLogsBufferedInRAM() : rtabmap::Parameters
    • +
  • kRtabmapTimeThr() : rtabmap::Parameters
    • +
  • kRtabmapVirtualPlaceLikelihoodRatio() : rtabmap::Parameters
    • +
  • kRtabmapWorkingDirectory() : rtabmap::Parameters
  • kSelfRefLink : rtabmap::Link
  • kShort : UVariant
  • kShortArray : UVariant
    • +
  • kSIFTContrastThreshold() : rtabmap::Parameters
    • +
  • kSIFTEdgeThreshold() : rtabmap::Parameters
    • +
  • kSIFTGaussianThreshold() : rtabmap::Parameters
    • +
  • kSIFTGpu() : rtabmap::Parameters
    • +
  • kSIFTMaxGaussianThreshold() : rtabmap::Parameters
    • +
  • kSIFTNOctaveLayers() : rtabmap::Parameters
    • +
  • kSIFTPreciseUpscale() : rtabmap::Parameters
    • +
  • kSIFTRootSIFT() : rtabmap::Parameters
    • +
  • kSIFTSigma() : rtabmap::Parameters
    • +
  • kSIFTUpscale() : rtabmap::Parameters
    • +
  • kStateDetecting : rtabmap::RtabmapThread
    • +
  • kStateProcessCommand : rtabmap::RtabmapThread
    • +
  • kStereoBMBlockSize() : rtabmap::Parameters
    • +
  • kStereoBMDisp12MaxDiff() : rtabmap::Parameters
    • +
  • kStereoBMMinDisparity() : rtabmap::Parameters
    • +
  • kStereoBMNumDisparities() : rtabmap::Parameters
    • +
  • kStereoBMPreFilterCap() : rtabmap::Parameters
    • +
  • kStereoBMPreFilterSize() : rtabmap::Parameters
    • +
  • kStereoBMSpeckleRange() : rtabmap::Parameters
    • +
  • kStereoBMSpeckleWindowSize() : rtabmap::Parameters
    • +
  • kStereoBMTextureThreshold() : rtabmap::Parameters
    • +
  • kStereoBMUniquenessRatio() : rtabmap::Parameters
    • +
  • kStereoDenseStrategy() : rtabmap::Parameters
    • +
  • kStereoEps() : rtabmap::Parameters
    • +
  • kStereoErrorThreshold() : rtabmap::Parameters
    • +
  • kStereoGpu() : rtabmap::Parameters
    • +
  • kStereoIterations() : rtabmap::Parameters
    • +
  • kStereoMaxDisparity() : rtabmap::Parameters
    • +
  • kStereoMaxLevel() : rtabmap::Parameters
    • +
  • kStereoMinDisparity() : rtabmap::Parameters
    • +
  • kStereoMinEigThreshold() : rtabmap::Parameters
    • +
  • kStereoOpticalFlow() : rtabmap::Parameters
    • +
  • kStereoSGBMBlockSize() : rtabmap::Parameters
    • +
  • kStereoSGBMDisp12MaxDiff() : rtabmap::Parameters
    • +
  • kStereoSGBMMinDisparity() : rtabmap::Parameters
    • +
  • kStereoSGBMMode() : rtabmap::Parameters
    • +
  • kStereoSGBMNumDisparities() : rtabmap::Parameters
    • +
  • kStereoSGBMP1() : rtabmap::Parameters
    • +
  • kStereoSGBMP2() : rtabmap::Parameters
    • +
  • kStereoSGBMPreFilterCap() : rtabmap::Parameters
    • +
  • kStereoSGBMSpeckleRange() : rtabmap::Parameters
    • +
  • kStereoSGBMSpeckleWindowSize() : rtabmap::Parameters
    • +
  • kStereoSGBMUniquenessRatio() : rtabmap::Parameters
    • +
  • kStereoSSD() : rtabmap::Parameters
    • +
  • kStereoUseMinEigenVals() : rtabmap::Parameters
    • +
  • kStereoWinHeight() : rtabmap::Parameters
    • +
  • kStereoWinWidth() : rtabmap::Parameters
  • kStr : UVariant
    • +
  • kSuperPointCuda() : rtabmap::Parameters
    • +
  • kSuperPointModelPath() : rtabmap::Parameters
    • +
  • kSuperPointNMS() : rtabmap::Parameters
    • +
  • kSuperPointNMSRadius() : rtabmap::Parameters
    • +
  • kSuperPointRpautratCuda() : rtabmap::Parameters
    • +
  • kSuperPointRpautratModelPath() : rtabmap::Parameters
    • +
  • kSuperPointRpautratNMS() : rtabmap::Parameters
    • +
  • kSuperPointRpautratNMSRadius() : rtabmap::Parameters
    • +
  • kSuperPointRpautratThreshold() : rtabmap::Parameters
    • +
  • kSuperPointRpautratWeightsPath() : rtabmap::Parameters
    • +
  • kSuperPointThreshold() : rtabmap::Parameters
    • +
  • kSURFExtended() : rtabmap::Parameters
    • +
  • kSURFGpuKeypointsRatio() : rtabmap::Parameters
    • +
  • kSURFGpuVersion() : rtabmap::Parameters
    • +
  • kSURFHessianThreshold() : rtabmap::Parameters
    • +
  • kSURFOctaveLayers() : rtabmap::Parameters
    • +
  • kSURFOctaves() : rtabmap::Parameters
    • +
  • kSURFUpright() : rtabmap::Parameters
  • kTypeBM : rtabmap::StereoDense
  • kTypeCeres : rtabmap::Optimizer
  • kTypeCuVSLAM : rtabmap::Odometry
    • @@ -139,6 +761,7 @@ $(function() {
  • kTypeFovis : rtabmap::Odometry
  • kTypeG2O : rtabmap::Optimizer
  • kTypeGTSAM : rtabmap::Optimizer
    • +
  • kTypeIcp : rtabmap::Registration
  • kTypeLIOSAM : rtabmap::Odometry
  • kTypeLOAM : rtabmap::Odometry
  • kTypeMSCKF : rtabmap::Odometry
    • @@ -148,23 +771,71 @@ $(function() {
  • kTypeORBSLAM : rtabmap::Odometry
  • kTypeSGBM : rtabmap::StereoDense
  • kTypeTORO : rtabmap::Optimizer
    • -
  • kTypeUndef : rtabmap::Odometry, rtabmap::Optimizer
    • +
  • kTypeUndef : rtabmap::Odometry, rtabmap::Optimizer, rtabmap::Registration
  • kTypeVINSFusion : rtabmap::Odometry
    • +
  • kTypeVis : rtabmap::Registration
    • +
  • kTypeVisIcp : rtabmap::Registration
  • kTypeViso2 : rtabmap::Odometry
  • kUChar : UVariant
  • kUCharArray : UVariant
  • kUInt : UVariant
  • kUIntArray : UVariant
    • -
  • kUndef : UVariant
    • +
  • kUndef : rtabmap::Link, UVariant
  • kUndefined : rtabmap::EnvSensor
  • kUnknown : rtabmap::LaserScan
  • kUserClosure : rtabmap::Link
  • kUShort : UVariant
  • kUShortArray : UVariant
    • +
  • kVhEpEnabled() : rtabmap::Parameters
  • kVhEpipolar : rtabmap::Rtabmap
    • +
  • kVhEpMatchCountMin() : rtabmap::Parameters
    • +
  • kVhEpRansacParam1() : rtabmap::Parameters
    • +
  • kVhEpRansacParam2() : rtabmap::Parameters
  • kVhNone : rtabmap::Rtabmap
  • kVhUndef : rtabmap::Rtabmap
  • kVirtualClosure : rtabmap::Link
    • +
  • kVisBundleAdjustment() : rtabmap::Parameters
    • +
  • kVisCorFlowEps() : rtabmap::Parameters
    • +
  • kVisCorFlowErrorThreshold() : rtabmap::Parameters
    • +
  • kVisCorFlowGpu() : rtabmap::Parameters
    • +
  • kVisCorFlowIterations() : rtabmap::Parameters
    • +
  • kVisCorFlowMaxLevel() : rtabmap::Parameters
    • +
  • kVisCorFlowMinEigThreshold() : rtabmap::Parameters
    • +
  • kVisCorFlowUseMinEigenVals() : rtabmap::Parameters
    • +
  • kVisCorFlowWinSize() : rtabmap::Parameters
    • +
  • kVisCorGuessMatchToProjection() : rtabmap::Parameters
    • +
  • kVisCorGuessWinSize() : rtabmap::Parameters
    • +
  • kVisCorNNDR() : rtabmap::Parameters
    • +
  • kVisCorNNType() : rtabmap::Parameters
    • +
  • kVisCorType() : rtabmap::Parameters
    • +
  • kVisDepthAsMask() : rtabmap::Parameters
    • +
  • kVisDepthMaskFloorThr() : rtabmap::Parameters
    • +
  • kVisEpipolarGeometryVar() : rtabmap::Parameters
    • +
  • kVisEstimationType() : rtabmap::Parameters
    • +
  • kVisFeatureType() : rtabmap::Parameters
    • +
  • kVisGridCols() : rtabmap::Parameters
    • +
  • kVisGridRows() : rtabmap::Parameters
    • +
  • kVisInlierDistance() : rtabmap::Parameters
    • +
  • kVisIterations() : rtabmap::Parameters
    • +
  • kVisMaxDepth() : rtabmap::Parameters
    • +
  • kVisMaxFeatures() : rtabmap::Parameters
    • +
  • kVisMeanInliersDistance() : rtabmap::Parameters
    • +
  • kVisMinDepth() : rtabmap::Parameters
    • +
  • kVisMinInliers() : rtabmap::Parameters
    • +
  • kVisMinInliersDistribution() : rtabmap::Parameters
    • +
  • kVisPnPFlags() : rtabmap::Parameters
    • +
  • kVisPnPMaxVariance() : rtabmap::Parameters
    • +
  • kVisPnPRefineIterations() : rtabmap::Parameters
    • +
  • kVisPnPReprojError() : rtabmap::Parameters
    • +
  • kVisPnPSamplingPolicy() : rtabmap::Parameters
    • +
  • kVisPnPSplitLinearCovComponents() : rtabmap::Parameters
    • +
  • kVisPnPVarianceMedianRatio() : rtabmap::Parameters
    • +
  • kVisRefineIterations() : rtabmap::Parameters
    • +
  • kVisRoiRatios() : rtabmap::Parameters
    • +
  • kVisSSC() : rtabmap::Parameters
    • +
  • kVisSubPixEps() : rtabmap::Parameters
    • +
  • kVisSubPixIterations() : rtabmap::Parameters
    • +
  • kVisSubPixWinSize() : rtabmap::Parameters
  • kWifiSignalStrength : rtabmap::EnvSensor
  • kXY : rtabmap::LaserScan
  • kXYI : rtabmap::LaserScan
    • @@ -180,9 +851,12 @@ $(function() {
  • kXYZRGBNormal : rtabmap::LaserScan
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_l.html b/preview/pr-1492/api/latest/functions_l.html index 2d0fad25..8bfa27e4 100644 --- a/preview/pr-1492/api/latest/functions_l.html +++ b/preview/pr-1492/api/latest/functions_l.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    linearAccelerationCovariance() : rtabmap::IMU
  • linearLink : rtabmap::graph::MaxGraphErrors
  • linearRatio : rtabmap::graph::MaxGraphErrors
    • -
  • Link() : rtabmap::Link
    • +
  • Link() : rtabmap::Link
  • load() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • load2DMap() : rtabmap::DBDriver, rtabmap::Memory
  • loadLinks() : rtabmap::DBDriver
    • @@ -106,10 +127,23 @@ $(function() {
  • loadOptimizedPoses() : rtabmap::DBDriver, rtabmap::Memory
  • loadPreviewImage() : rtabmap::DBDriver, rtabmap::Memory
  • loadSignature() : rtabmap::DBDriver
    • +
  • localBundleAvgInlierDistance : rtabmap::OdometryInfo
    • +
  • localBundleConstraints : rtabmap::OdometryInfo
    • +
  • localBundleMaxKeyFramesForInlier : rtabmap::OdometryInfo
    • +
  • localBundleModels : rtabmap::OdometryInfo
    • +
  • localBundleOutliers : rtabmap::OdometryInfo
    • +
  • localBundleOutliersPerCam : rtabmap::OdometryInfo
    • +
  • localBundlePoses : rtabmap::OdometryInfo
    • +
  • localBundleTime : rtabmap::OdometryInfo
  • LocalGrid() : rtabmap::LocalGrid
  • LocalGridMaker() : rtabmap::LocalGridMaker
  • localizationCovariance() : rtabmap::Statistics
    • +
  • localKeyFrames : rtabmap::OdometryInfo
    • +
  • localMap : rtabmap::OdometryInfo
    • +
  • localMapSize : rtabmap::OdometryInfo
  • localPath() : rtabmap::Statistics
    • +
  • localScanMap : rtabmap::OdometryInfo
    • +
  • localScanMapSize : rtabmap::OdometryInfo
  • localTransform() : rtabmap::CameraModel, rtabmap::IMU, rtabmap::StereoCameraModel
  • lock() : UMutex
  • lockTry() : UMutex
    • @@ -118,11 +152,15 @@ $(function() {
  • loopClosureId() : rtabmap::Statistics
  • loopClosureMapId() : rtabmap::Statistics
  • loopClosureTransform() : rtabmap::Statistics
    • +
  • lost : rtabmap::OdometryInfo
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_m.html b/preview/pr-1492/api/latest/functions_m.html index e1b42eff..7c5ef887 100644 --- a/preview/pr-1492/api/latest/functions_m.html +++ b/preview/pr-1492/api/latest/functions_m.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    maxLevel() : rtabmap::Stereo
  • Memory() : rtabmap::Memory
  • memoryChanged() : rtabmap::Memory
    • +
  • memoryUsage : rtabmap::OdometryInfo
  • merge() : rtabmap::Link
  • minDisparity() : rtabmap::Stereo
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_n.html b/preview/pr-1492/api/latest/functions_n.html index f10f9803..bca4a549 100644 --- a/preview/pr-1492/api/latest/functions_n.html +++ b/preview/pr-1492/api/latest/functions_n.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    - n -
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_o.html b/preview/pr-1492/api/latest/functions_o.html index b954d80d..ca419457 100644 --- a/preview/pr-1492/api/latest/functions_o.html +++ b/preview/pr-1492/api/latest/functions_o.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_p.html b/preview/pr-1492/api/latest/functions_p.html index c6fb9dd5..af71e450 100644 --- a/preview/pr-1492/api/latest/functions_p.html +++ b/preview/pr-1492/api/latest/functions_p.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_r.html b/preview/pr-1492/api/latest/functions_r.html index eee45621..0232bc47 100644 --- a/preview/pr-1492/api/latest/functions_r.html +++ b/preview/pr-1492/api/latest/functions_r.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_rela.html b/preview/pr-1492/api/latest/functions_rela.html index e0cbbec8..5bac44f4 100644 --- a/preview/pr-1492/api/latest/functions_rela.html +++ b/preview/pr-1492/api/latest/functions_rela.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    UEventsManager : UEventsHandler
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_s.html b/preview/pr-1492/api/latest/functions_s.html index c303e6c2..7b967848 100644 --- a/preview/pr-1492/api/latest/functions_s.html +++ b/preview/pr-1492/api/latest/functions_s.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    SensorCaptureInfo() : rtabmap::SensorCaptureInfo
  • SensorCaptureThread() : rtabmap::SensorCaptureThread
  • SensorData() : rtabmap::SensorData
    • -
  • sensorData() : rtabmap::Signature
    • -
  • SensorEvent() : rtabmap::SensorEvent
    • +
  • sensorData() : rtabmap::Signature
    • +
  • SensorEvent() : rtabmap::SensorEvent
  • separator() : UDirectory
  • serialize() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • serializeData() : rtabmap::Statistics
    • @@ -108,7 +129,9 @@ $(function() {
  • setColorOnly() : rtabmap::SensorCaptureThread
  • setConstraints() : rtabmap::Statistics
  • setCurrentGoalId() : rtabmap::Statistics
    • +
  • setDataBufferSize() : rtabmap::RtabmapThread
  • setDbInMemory() : rtabmap::DBDriverSqlite3
    • +
  • setDetectorRate() : rtabmap::RtabmapThread
  • setDistortionModel() : rtabmap::SensorCaptureThread
  • setDoomed() : UDestroyer< T >
  • setDualMode() : rtabmap::CameraRealSense2
    • @@ -211,13 +234,15 @@ $(function() {
  • shareTo() : rtabmap::LocalGridCache
  • Signature() : rtabmap::Signature
  • size() : rtabmap::Landmark, rtabmap::Transform
    • -
  • stamp() : rtabmap::EnvSensor, rtabmap::GPS, rtabmap::SensorCaptureInfo, rtabmap::SensorData, rtabmap::Statistics
    • +
  • stamp() : rtabmap::EnvSensor, rtabmap::GPS, rtabmap::OdometryInfo, rtabmap::SensorCaptureInfo, rtabmap::SensorData, rtabmap::Statistics
  • start() : UThread, UTimer
  • startDeletion() : UObjDeletionThread< T >
    • +
  • State : rtabmap::RtabmapThread
    • +
  • statistics() : rtabmap::OdometryInfo
  • Statistics() : rtabmap::Statistics
  • Stereo() : rtabmap::Stereo
    • -
  • StereoBM() : rtabmap::StereoBM
    • -
  • StereoCameraModel() : rtabmap::StereoCameraModel
    • +
  • StereoBM() : rtabmap::StereoBM
    • +
  • StereoCameraModel() : rtabmap::StereoCameraModel
  • stereoCameraModels() : rtabmap::SensorData
  • StereoDense() : rtabmap::StereoDense
  • StereoOpticalFlow() : rtabmap::StereoOpticalFlow
    • @@ -227,9 +252,12 @@ $(function() {
  • strategyName() : rtabmap::RegistrationIcp
    • +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/functions_t.html b/preview/pr-1492/api/latest/functions_t.html index cd5aca57..7f7c9076 100644 --- a/preview/pr-1492/api/latest/functions_t.html +++ b/preview/pr-1492/api/latest/functions_t.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    theta() : rtabmap::Transform
  • timeBilateralFiltering : rtabmap::SensorCaptureInfo
  • timeCapture : rtabmap::SensorCaptureInfo
    • -
  • timeDeskewing : rtabmap::SensorCaptureInfo
    • +
  • timeDeskewing : rtabmap::OdometryInfo, rtabmap::SensorCaptureInfo
  • timeDisparity : rtabmap::SensorCaptureInfo
    • +
  • timeEstimation : rtabmap::OdometryInfo
  • timeHistogramEqualization : rtabmap::SensorCaptureInfo
  • timeImageDecimation : rtabmap::SensorCaptureInfo
  • timeMirroring : rtabmap::SensorCaptureInfo
    • +
  • timeParticleFiltering : rtabmap::OdometryInfo
  • timeScanFromDepth : rtabmap::SensorCaptureInfo
  • timeStereoExposureCompensation : rtabmap::SensorCaptureInfo
  • timeTotal : rtabmap::SensorCaptureInfo
  • timeUndistortDepth : rtabmap::SensorCaptureInfo
    • +
  • to() : rtabmap::Link
  • to3DoF() : rtabmap::Transform
  • to4DoF() : rtabmap::Transform
  • toBool() : UVariant
    • @@ -114,26 +138,651 @@ $(function() {
  • toUIntArray() : UVariant
  • toUShort() : UVariant
  • toUShortArray() : UVariant
    • -
  • Transform() : rtabmap::Transform
    • +
  • transform() : rtabmap::Link, rtabmap::OdometryInfo
    • +
  • Transform() : rtabmap::Transform
    • +
  • transformFiltered : rtabmap::OdometryInfo
    • +
  • transformGroundTruth : rtabmap::OdometryInfo
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
  • triggerNewMap() : rtabmap::Rtabmap
  • Tx() : rtabmap::CameraModel
    • -
  • Type : rtabmap::EnvSensor
  • type() : rtabmap::EnvSensor
    • -
  • Type : rtabmap::Feature2D, rtabmap::IMUFilter
    • +
  • Type : rtabmap::EnvSensor, rtabmap::Feature2D
  • type() : rtabmap::IMUFilter
    • -
  • Type : rtabmap::Link, rtabmap::Odometry, rtabmap::Optimizer
    • -
  • type() : rtabmap::Optimizer, rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO
    • -
  • Type : rtabmap::Registration, rtabmap::StereoDense, ULogger, UVariant
    • +
  • Type : rtabmap::IMUFilter, rtabmap::Link
    • +
  • type() : rtabmap::Link
    • +
  • Type : rtabmap::Odometry
    • +
  • type : rtabmap::OdometryInfo, rtabmap::Optimizer
    • +
  • Type : rtabmap::Optimizer
    • +
  • type() : rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, rtabmap::OptimizerTORO
    • +
  • Type : rtabmap::Registration, rtabmap::StereoDense, ULogger
  • type() : UVariant
    • +
  • Type : UVariant
    • +
  • typeBayesFullPredictionUpdate() : rtabmap::Parameters
    • +
  • typeBayesPredictionLC() : rtabmap::Parameters
    • +
  • typeBayesVirtualPlacePriorThr() : rtabmap::Parameters
    • +
  • typeBRIEFBytes() : rtabmap::Parameters
    • +
  • typeBRISKOctaves() : rtabmap::Parameters
    • +
  • typeBRISKPatternScale() : rtabmap::Parameters
    • +
  • typeBRISKThresh() : rtabmap::Parameters
    • +
  • typeDbSqlite3CacheSize() : rtabmap::Parameters
    • +
  • typeDbSqlite3InMemory() : rtabmap::Parameters
    • +
  • typeDbSqlite3JournalMode() : rtabmap::Parameters
    • +
  • typeDbSqlite3Synchronous() : rtabmap::Parameters
    • +
  • typeDbSqlite3TempStore() : rtabmap::Parameters
    • +
  • typeDbTargetVersion() : rtabmap::Parameters
    • +
  • typeFASTCV() : rtabmap::Parameters
    • +
  • typeFASTGpu() : rtabmap::Parameters
    • +
  • typeFASTGpuKeypointsRatio() : rtabmap::Parameters
    • +
  • typeFASTGridCols() : rtabmap::Parameters
    • +
  • typeFASTGridRows() : rtabmap::Parameters
    • +
  • typeFASTMaxThreshold() : rtabmap::Parameters
    • +
  • typeFASTMinThreshold() : rtabmap::Parameters
    • +
  • typeFASTNonmaxSuppression() : rtabmap::Parameters
    • +
  • typeFASTThreshold() : rtabmap::Parameters
    • +
  • typeFREAKNOctaves() : rtabmap::Parameters
    • +
  • typeFREAKOrientationNormalized() : rtabmap::Parameters
    • +
  • typeFREAKPatternScale() : rtabmap::Parameters
    • +
  • typeFREAKScaleNormalized() : rtabmap::Parameters
    • +
  • typeg2oOptimizer() : rtabmap::Parameters
    • +
  • typeg2oSolver() : rtabmap::Parameters
    • +
  • typeGFTTBlockSize() : rtabmap::Parameters
    • +
  • typeGFTTGpu() : rtabmap::Parameters
    • +
  • typeGFTTK() : rtabmap::Parameters
    • +
  • typeGFTTMinDistance() : rtabmap::Parameters
    • +
  • typeGFTTQualityLevel() : rtabmap::Parameters
    • +
  • typeGFTTUseHarrisDetector() : rtabmap::Parameters
    • +
  • typeGMSThresholdFactor() : rtabmap::Parameters
    • +
  • typeGMSWithRotation() : rtabmap::Parameters
    • +
  • typeGMSWithScale() : rtabmap::Parameters
    • +
  • typeGrid3D() : rtabmap::Parameters
    • +
  • typeGridCellSize() : rtabmap::Parameters
    • +
  • typeGridClusterRadius() : rtabmap::Parameters
    • +
  • typeGridDepthDecimation() : rtabmap::Parameters
    • +
  • typeGridDepthRoiRatios() : rtabmap::Parameters
    • +
  • typeGridFlatObstacleDetected() : rtabmap::Parameters
    • +
  • typeGridFootprintHeight() : rtabmap::Parameters
    • +
  • typeGridFootprintLength() : rtabmap::Parameters
    • +
  • typeGridFootprintWidth() : rtabmap::Parameters
    • +
  • typeGridGlobalAltitudeDelta() : rtabmap::Parameters
    • +
  • typeGridGlobalEroded() : rtabmap::Parameters
    • +
  • typeGridGlobalFloodFillDepth() : rtabmap::Parameters
    • +
  • typeGridGlobalFootprintRadius() : rtabmap::Parameters
    • +
  • typeGridGlobalMaxNodes() : rtabmap::Parameters
    • +
  • typeGridGlobalMinSize() : rtabmap::Parameters
    • +
  • typeGridGlobalOccupancyThr() : rtabmap::Parameters
    • +
  • typeGridGlobalProbClampingMax() : rtabmap::Parameters
    • +
  • typeGridGlobalProbClampingMin() : rtabmap::Parameters
    • +
  • typeGridGlobalProbHit() : rtabmap::Parameters
    • +
  • typeGridGlobalProbMiss() : rtabmap::Parameters
    • +
  • typeGridGlobalUpdateError() : rtabmap::Parameters
    • +
  • typeGridGroundIsObstacle() : rtabmap::Parameters
    • +
  • typeGridMapFrameProjection() : rtabmap::Parameters
    • +
  • typeGridMaxGroundAngle() : rtabmap::Parameters
    • +
  • typeGridMaxGroundHeight() : rtabmap::Parameters
    • +
  • typeGridMaxObstacleHeight() : rtabmap::Parameters
    • +
  • typeGridMinClusterSize() : rtabmap::Parameters
    • +
  • typeGridMinGroundHeight() : rtabmap::Parameters
    • +
  • typeGridNoiseFilteringMinNeighbors() : rtabmap::Parameters
    • +
  • typeGridNoiseFilteringRadius() : rtabmap::Parameters
    • +
  • typeGridNormalK() : rtabmap::Parameters
    • +
  • typeGridNormalsSegmentation() : rtabmap::Parameters
    • +
  • typeGridPreVoxelFiltering() : rtabmap::Parameters
    • +
  • typeGridRangeMax() : rtabmap::Parameters
    • +
  • typeGridRangeMin() : rtabmap::Parameters
    • +
  • typeGridRayTracing() : rtabmap::Parameters
    • +
  • typeGridScan2dUnknownSpaceFilled() : rtabmap::Parameters
    • +
  • typeGridScanDecimation() : rtabmap::Parameters
    • +
  • typeGridSensor() : rtabmap::Parameters
    • +
  • typeGTSAMIncRelinearizeSkip() : rtabmap::Parameters
    • +
  • typeGTSAMIncRelinearizeThreshold() : rtabmap::Parameters
    • +
  • typeGTSAMIncremental() : rtabmap::Parameters
    • +
  • typeGTSAMOptimizer() : rtabmap::Parameters
    • +
  • typeIcpCCFilterOutFarthestPoints() : rtabmap::Parameters
    • +
  • typeIcpCCMaxFinalRMS() : rtabmap::Parameters
    • +
  • typeIcpCCSamplingLimit() : rtabmap::Parameters
    • +
  • typeIcpCorrespondenceRatio() : rtabmap::Parameters
    • +
  • typeIcpDebugExportFormat() : rtabmap::Parameters
    • +
  • typeIcpDownsamplingStep() : rtabmap::Parameters
    • +
  • typeIcpEpsilon() : rtabmap::Parameters
    • +
  • typeIcpFiltersEnabled() : rtabmap::Parameters
    • +
  • typeIcpForce4DoF() : rtabmap::Parameters
    • +
  • typeIcpIterations() : rtabmap::Parameters
    • +
  • typeIcpMaxCorrespondenceDistance() : rtabmap::Parameters
    • +
  • typeIcpMaxRotation() : rtabmap::Parameters
    • +
  • typeIcpMaxTranslation() : rtabmap::Parameters
    • +
  • typeIcpOutlierRatio() : rtabmap::Parameters
    • +
  • typeIcpPMConfig() : rtabmap::Parameters
    • +
  • typeIcpPMMatcherEpsilon() : rtabmap::Parameters
    • +
  • typeIcpPMMatcherIntensity() : rtabmap::Parameters
    • +
  • typeIcpPMMatcherKnn() : rtabmap::Parameters
    • +
  • typeIcpPointToPlane() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneComplexityCentered() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneGroundNormalsUp() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneK() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneLowComplexityStrategy() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneMinComplexity() : rtabmap::Parameters
    • +
  • typeIcpPointToPlaneRadius() : rtabmap::Parameters
    • +
  • typeIcpRangeMax() : rtabmap::Parameters
    • +
  • typeIcpRangeMin() : rtabmap::Parameters
    • +
  • typeIcpReciprocalCorrespondences() : rtabmap::Parameters
    • +
  • typeIcpStrategy() : rtabmap::Parameters
    • +
  • typeIcpVoxelSize() : rtabmap::Parameters
    • +
  • typeImuFilterComplementaryBiasAlpha() : rtabmap::Parameters
    • +
  • typeImuFilterComplementaryDoAdpativeGain() : rtabmap::Parameters
    • +
  • typeImuFilterComplementaryDoBiasEstimation() : rtabmap::Parameters
    • +
  • typeImuFilterComplementaryGainAcc() : rtabmap::Parameters
    • +
  • typeImuFilterMadgwickGain() : rtabmap::Parameters
    • +
  • typeImuFilterMadgwickZeta() : rtabmap::Parameters
    • +
  • typeKAZEDiffusivity() : rtabmap::Parameters
    • +
  • typeKAZEExtended() : rtabmap::Parameters
    • +
  • typeKAZENOctaveLayers() : rtabmap::Parameters
    • +
  • typeKAZENOctaves() : rtabmap::Parameters
    • +
  • typeKAZEThreshold() : rtabmap::Parameters
    • +
  • typeKAZEUpright() : rtabmap::Parameters
    • +
  • typeKpBadSignRatio() : rtabmap::Parameters
    • +
  • typeKpByteToFloat() : rtabmap::Parameters
    • +
  • typeKpDetectorStrategy() : rtabmap::Parameters
    • +
  • typeKpDictionaryPath() : rtabmap::Parameters
    • +
  • typeKpFlannIndexSaved() : rtabmap::Parameters
    • +
  • typeKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • typeKpGridCols() : rtabmap::Parameters
    • +
  • typeKpGridRows() : rtabmap::Parameters
    • +
  • typeKpIncrementalDictionary() : rtabmap::Parameters
    • +
  • typeKpIncrementalFlann() : rtabmap::Parameters
    • +
  • typeKpMaxDepth() : rtabmap::Parameters
    • +
  • typeKpMaxFeatures() : rtabmap::Parameters
    • +
  • typeKpMinDepth() : rtabmap::Parameters
    • +
  • typeKpNewWordsComparedTogether() : rtabmap::Parameters
    • +
  • typeKpNndrRatio() : rtabmap::Parameters
    • +
  • typeKpNNStrategy() : rtabmap::Parameters
    • +
  • typeKpParallelized() : rtabmap::Parameters
    • +
  • typeKpRoiRatios() : rtabmap::Parameters
    • +
  • typeKpSerializeWithChecksum() : rtabmap::Parameters
    • +
  • typeKpSSC() : rtabmap::Parameters
    • +
  • typeKpSubPixEps() : rtabmap::Parameters
    • +
  • typeKpSubPixIterations() : rtabmap::Parameters
    • +
  • typeKpSubPixWinSize() : rtabmap::Parameters
    • +
  • typeKpTfIdfLikelihoodUsed() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagDebug() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagDecodeSharpening() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagNThreads() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagQuadDecimate() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagQuadSigma() : rtabmap::Parameters
    • +
  • typeMarkerAprilTagRefineEdges() : rtabmap::Parameters
    • +
  • typeMarkerDictionary() : rtabmap::Parameters
    • +
  • typeMarkerLength() : rtabmap::Parameters
    • +
  • typeMarkerLengths() : rtabmap::Parameters
    • +
  • typeMarkerMaxDepthError() : rtabmap::Parameters
    • +
  • typeMarkerMaxRange() : rtabmap::Parameters
    • +
  • typeMarkerMinRange() : rtabmap::Parameters
    • +
  • typeMarkerOpenCVCornerRefinementMethod() : rtabmap::Parameters
    • +
  • typeMarkerPriors() : rtabmap::Parameters
    • +
  • typeMarkerPriorsVarianceAngular() : rtabmap::Parameters
    • +
  • typeMarkerPriorsVarianceLinear() : rtabmap::Parameters
    • +
  • typeMarkerStrategy() : rtabmap::Parameters
    • +
  • typeMarkerVarianceAngular() : rtabmap::Parameters
    • +
  • typeMarkerVarianceLinear() : rtabmap::Parameters
    • +
  • typeMarkerVarianceOrientationIgnored() : rtabmap::Parameters
    • +
  • typeMemBadSignaturesIgnored() : rtabmap::Parameters
    • +
  • typeMemBinDataKept() : rtabmap::Parameters
    • +
  • typeMemCompressionParallelized() : rtabmap::Parameters
    • +
  • typeMemCovOffDiagIgnored() : rtabmap::Parameters
    • +
  • typeMemDepthAsMask() : rtabmap::Parameters
    • +
  • typeMemDepthCompressionFormat() : rtabmap::Parameters
    • +
  • typeMemDepthMaskFloorThr() : rtabmap::Parameters
    • +
  • typeMemGenerateIds() : rtabmap::Parameters
    • +
  • typeMemGlobalDescriptorStrategy() : rtabmap::Parameters
    • +
  • typeMemImageCompressionFormat() : rtabmap::Parameters
    • +
  • typeMemImageKept() : rtabmap::Parameters
    • +
  • typeMemImagePostDecimation() : rtabmap::Parameters
    • +
  • typeMemImagePreDecimation() : rtabmap::Parameters
    • +
  • typeMemIncrementalMemory() : rtabmap::Parameters
    • +
  • typeMemInitWMWithAllNodes() : rtabmap::Parameters
    • +
  • typeMemIntermediateNodeDataKept() : rtabmap::Parameters
    • +
  • typeMemLaserScanDownsampleStepSize() : rtabmap::Parameters
    • +
  • typeMemLaserScanNormalK() : rtabmap::Parameters
    • +
  • typeMemLaserScanNormalRadius() : rtabmap::Parameters
    • +
  • typeMemLaserScanVoxelSize() : rtabmap::Parameters
    • +
  • typeMemLoadVisualLocalFeaturesOnInit() : rtabmap::Parameters
    • +
  • typeMemLocalizationDataSaved() : rtabmap::Parameters
    • +
  • typeMemLocalizationReadOnly() : rtabmap::Parameters
    • +
  • typeMemMapLabelsAdded() : rtabmap::Parameters
    • +
  • typeMemNotLinkedNodesKept() : rtabmap::Parameters
    • +
  • typeMemRawDescriptorsKept() : rtabmap::Parameters
    • +
  • typeMemRecentWmRatio() : rtabmap::Parameters
    • +
  • typeMemReduceGraph() : rtabmap::Parameters
    • +
  • typeMemRehearsalIdUpdatedToNewOne() : rtabmap::Parameters
    • +
  • typeMemRehearsalSimilarity() : rtabmap::Parameters
    • +
  • typeMemRehearsalWeightIgnoredWhileMoving() : rtabmap::Parameters
    • +
  • typeMemRotateImagesUpsideUp() : rtabmap::Parameters
    • +
  • typeMemSaveDepth16Format() : rtabmap::Parameters
    • +
  • typeMemStereoFromMotion() : rtabmap::Parameters
    • +
  • typeMemSTMSize() : rtabmap::Parameters
    • +
  • typeMemTransferSortingByWeightId() : rtabmap::Parameters
    • +
  • typeMemUseOdomFeatures() : rtabmap::Parameters
    • +
  • typeMemUseOdomGravity() : rtabmap::Parameters
  • typeName() : rtabmap::Feature2D, rtabmap::Link
    • +
  • typeOdomAlignWithGround() : rtabmap::Parameters
    • +
  • typeOdomCuVSLAMMulticamMode() : rtabmap::Parameters
    • +
  • typeOdomDeskewing() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustment() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMaxFrames() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleAdjustmentMinMotion() : rtabmap::Parameters
    • +
  • typeOdomF2MBundleUpdateFeatureMapOnAllFrames() : rtabmap::Parameters
    • +
  • typeOdomF2MFloorThreshold() : rtabmap::Parameters
    • +
  • typeOdomF2MInitDepthFactor() : rtabmap::Parameters
    • +
  • typeOdomF2MMaxNewFeatures() : rtabmap::Parameters
    • +
  • typeOdomF2MMaxSize() : rtabmap::Parameters
    • +
  • typeOdomF2MScanMaxSize() : rtabmap::Parameters
    • +
  • typeOdomF2MScanRange() : rtabmap::Parameters
    • +
  • typeOdomF2MScanSubtractAngle() : rtabmap::Parameters
    • +
  • typeOdomF2MScanSubtractRadius() : rtabmap::Parameters
    • +
  • typeOdomF2MValidDepthRatio() : rtabmap::Parameters
    • +
  • typeOdomFillInfoData() : rtabmap::Parameters
    • +
  • typeOdomFilteringStrategy() : rtabmap::Parameters
    • +
  • typeOdomFovisBucketHeight() : rtabmap::Parameters
    • +
  • typeOdomFovisBucketWidth() : rtabmap::Parameters
    • +
  • typeOdomFovisCliqueInlierThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisFastThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisFastThresholdAdaptiveGain() : rtabmap::Parameters
    • +
  • typeOdomFovisFeatureSearchWindow() : rtabmap::Parameters
    • +
  • typeOdomFovisFeatureWindowSize() : rtabmap::Parameters
    • +
  • typeOdomFovisInlierMaxReprojectionError() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxKeypointsPerBucket() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxMeanReprojectionError() : rtabmap::Parameters
    • +
  • typeOdomFovisMaxPyramidLevel() : rtabmap::Parameters
    • +
  • typeOdomFovisMinFeaturesForEstimate() : rtabmap::Parameters
    • +
  • typeOdomFovisMinPyramidLevel() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxDistEpipolarLine() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoMaxRefinementDisplacement() : rtabmap::Parameters
    • +
  • typeOdomFovisStereoRequireMutualMatch() : rtabmap::Parameters
    • +
  • typeOdomFovisTargetPixelsPerFeature() : rtabmap::Parameters
    • +
  • typeOdomFovisUpdateTargetFeaturesWithRefined() : rtabmap::Parameters
    • +
  • typeOdomFovisUseAdaptiveThreshold() : rtabmap::Parameters
    • +
  • typeOdomFovisUseBucketing() : rtabmap::Parameters
    • +
  • typeOdomFovisUseHomographyInitialization() : rtabmap::Parameters
    • +
  • typeOdomFovisUseImageNormalization() : rtabmap::Parameters
    • +
  • typeOdomFovisUseSubpixelRefinement() : rtabmap::Parameters
    • +
  • typeOdomGuessMotion() : rtabmap::Parameters
    • +
  • typeOdomGuessSmoothingDelay() : rtabmap::Parameters
    • +
  • typeOdomHolonomic() : rtabmap::Parameters
    • +
  • typeOdomImageBufferSize() : rtabmap::Parameters
    • +
  • typeOdomImageDecimation() : rtabmap::Parameters
    • +
  • typeOdomKalmanMeasurementNoise() : rtabmap::Parameters
    • +
  • typeOdomKalmanProcessNoise() : rtabmap::Parameters
    • +
  • typeOdomKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMAngVar() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMConfigPath() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMEdgeThreshold() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMHorizonScan() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuAccBiasN() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuAccNoise() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGravity() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGyrBiasN() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMImuGyrNoise() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMLinVar() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMNScan() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMSensor() : rtabmap::Parameters
    • +
  • typeOdomLIOSAMSurfThreshold() : rtabmap::Parameters
    • +
  • typeOdomLOAMAngVar() : rtabmap::Parameters
    • +
  • typeOdomLOAMLinVar() : rtabmap::Parameters
    • +
  • typeOdomLOAMLocalMapping() : rtabmap::Parameters
    • +
  • typeOdomLOAMResolution() : rtabmap::Parameters
    • +
  • typeOdomLOAMScanPeriod() : rtabmap::Parameters
    • +
  • typeOdomLOAMSensor() : rtabmap::Parameters
    • +
  • typeOdomMonoInitMinFlow() : rtabmap::Parameters
    • +
  • typeOdomMonoInitMinTranslation() : rtabmap::Parameters
    • +
  • typeOdomMonoMaxVariance() : rtabmap::Parameters
    • +
  • typeOdomMonoMinTranslation() : rtabmap::Parameters
    • +
  • typeOdomMSCKFFastThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridCol() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridMaxFeatureNum() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridMinFeatureNum() : rtabmap::Parameters
    • +
  • typeOdomMSCKFGridRow() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovAccBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovExRot() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovExTrans() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovGyroBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFInitCovVel() : rtabmap::Parameters
    • +
  • typeOdomMSCKFMaxCamStateSize() : rtabmap::Parameters
    • +
  • typeOdomMSCKFMaxIteration() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseAcc() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseAccBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseFeature() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseGyro() : rtabmap::Parameters
    • +
  • typeOdomMSCKFNoiseGyroBias() : rtabmap::Parameters
    • +
  • typeOdomMSCKFOptTranslationThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPatchSize() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPositionStdThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFPyramidLevels() : rtabmap::Parameters
    • +
  • typeOdomMSCKFRansacThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFRotationThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFStereoThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTrackingRateThreshold() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTrackPrecision() : rtabmap::Parameters
    • +
  • typeOdomMSCKFTranslationThreshold() : rtabmap::Parameters
    • +
  • typeOdomOKVISConfigPath() : rtabmap::Parameters
    • +
  • typeOdomOpen3DMaxDepth() : rtabmap::Parameters
    • +
  • typeOdomOpen3DMethod() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSAccelerometerNoiseDensity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSAccelerometerRandomWalk() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamExtrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamIntrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibCamTimeoffset() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibIMUGSensitivity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSCalibIMUIntrinsics() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSConfigPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSDtSLAMDelay() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFeatRepMSCKF() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFeatRepSLAM() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxBaseline() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxCondNumber() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiMaxRuns() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiRefineFeatures() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSFiTriangulate1d() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGravityMag() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGyroscopeNoiseDensity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSGyroscopeRandomWalk() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationBa() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationBg() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationOri() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynInflationVel() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMinDeg() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMinRecCond() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxIter() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxThreads() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEMaxTime() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynMLEOptCalib() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynNumPose() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitDynUse() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitIMUThresh() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSInitWindowTime() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSIntegration() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSLeftMaskPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxClones() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxMSCKFInUpdate() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxSLAM() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMaxSLAMInUpdate() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSMinPxDist() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSNumPts() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSRightMaskPath() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSTryZUPT() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpMSCKFChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpMSCKFSigmaPx() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpSLAMChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUpSLAMSigmaPx() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseFEJ() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseKLT() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSUseStereo() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTChi2Multiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTMaxDisparity() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTMaxVelodicy() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTNoiseMultiplier() : rtabmap::Parameters
    • +
  • typeOdomOpenVINSZUPTOnlyAtBeginning() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMAccNoise() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMAccWalk() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMBf() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMFps() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMGyroNoise() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMGyroWalk() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMInertial() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMMapSize() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMSamplingRate() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMThDepth() : rtabmap::Parameters
    • +
  • typeOdomORBSLAMVocPath() : rtabmap::Parameters
    • +
  • typeOdomParticleLambdaR() : rtabmap::Parameters
    • +
  • typeOdomParticleLambdaT() : rtabmap::Parameters
    • +
  • typeOdomParticleNoiseR() : rtabmap::Parameters
    • +
  • typeOdomParticleNoiseT() : rtabmap::Parameters
    • +
  • typeOdomParticleSize() : rtabmap::Parameters
    • +
  • typeOdomResetCountdown() : rtabmap::Parameters
    • +
  • typeOdomScanKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomStrategy() : rtabmap::Parameters
    • +
  • typeOdomVINSFusionConfigPath() : rtabmap::Parameters
    • +
  • typeOdomVisKeyFrameThr() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketHeight() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketMaxFeatures() : rtabmap::Parameters
    • +
  • typeOdomViso2BucketWidth() : rtabmap::Parameters
    • +
  • typeOdomViso2InlierThreshold() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchBinsize() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchDispTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchHalfResolution() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchMultiStage() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchNmsN() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchNmsTau() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchOutlierDispTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchOutlierFlowTolerance() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchRadius() : rtabmap::Parameters
    • +
  • typeOdomViso2MatchRefinement() : rtabmap::Parameters
    • +
  • typeOdomViso2RansacIters() : rtabmap::Parameters
    • +
  • typeOdomViso2Reweighting() : rtabmap::Parameters
    • +
  • typeOptimizerBaseline() : rtabmap::Parameters
    • +
  • typeOptimizerDisparityVariance() : rtabmap::Parameters
    • +
  • typeOptimizerEpsilon() : rtabmap::Parameters
    • +
  • typeOptimizerGravitySigma() : rtabmap::Parameters
    • +
  • typeOptimizerIterations() : rtabmap::Parameters
    • +
  • typeOptimizerLandmarksIgnored() : rtabmap::Parameters
    • +
  • typeOptimizerPixelVariance() : rtabmap::Parameters
    • +
  • typeOptimizerPriorsIgnored() : rtabmap::Parameters
    • +
  • typeOptimizerRobust() : rtabmap::Parameters
    • +
  • typeOptimizerRobustKernelDelta() : rtabmap::Parameters
    • +
  • typeOptimizerStrategy() : rtabmap::Parameters
    • +
  • typeOptimizerVarianceIgnored() : rtabmap::Parameters
    • +
  • typeORBEdgeThreshold() : rtabmap::Parameters
    • +
  • typeORBFirstLevel() : rtabmap::Parameters
    • +
  • typeORBGpu() : rtabmap::Parameters
    • +
  • typeORBNLevels() : rtabmap::Parameters
    • +
  • typeORBPatchSize() : rtabmap::Parameters
    • +
  • typeORBScaleFactor() : rtabmap::Parameters
    • +
  • typeORBScoreType() : rtabmap::Parameters
    • +
  • typeORBWTA_K() : rtabmap::Parameters
    • +
  • typePyDescriptorDim() : rtabmap::Parameters
    • +
  • typePyDescriptorPath() : rtabmap::Parameters
    • +
  • typePyDetectorCuda() : rtabmap::Parameters
    • +
  • typePyDetectorPath() : rtabmap::Parameters
    • +
  • typePyMatcherCuda() : rtabmap::Parameters
    • +
  • typePyMatcherIterations() : rtabmap::Parameters
    • +
  • typePyMatcherModel() : rtabmap::Parameters
    • +
  • typePyMatcherPath() : rtabmap::Parameters
    • +
  • typePyMatcherThreshold() : rtabmap::Parameters
    • +
  • typeRegForce3DoF() : rtabmap::Parameters
    • +
  • typeRegRepeatOnce() : rtabmap::Parameters
    • +
  • typeRegStrategy() : rtabmap::Parameters
    • +
  • typeRGBDAggressiveLoopThr() : rtabmap::Parameters
    • +
  • typeRGBDAngularSpeedUpdate() : rtabmap::Parameters
    • +
  • typeRGBDAngularUpdate() : rtabmap::Parameters
    • +
  • typeRGBDCreateOccupancyGrid() : rtabmap::Parameters
    • +
  • typeRGBDEnabled() : rtabmap::Parameters
    • +
  • typeRGBDForceOdom3DoF() : rtabmap::Parameters
    • +
  • typeRGBDGoalReachedRadius() : rtabmap::Parameters
    • +
  • typeRGBDGoalsSavedInUserData() : rtabmap::Parameters
    • +
  • typeRGBDInvertedReg() : rtabmap::Parameters
    • +
  • typeRGBDLinearSpeedUpdate() : rtabmap::Parameters
    • +
  • typeRGBDLinearUpdate() : rtabmap::Parameters
    • +
  • typeRGBDLocalBundleOnLoopClosure() : rtabmap::Parameters
    • +
  • typeRGBDLocalImmunizationRatio() : rtabmap::Parameters
    • +
  • typeRGBDLocalizationPriorError() : rtabmap::Parameters
    • +
  • typeRGBDLocalizationSecondTryWithoutProximityLinks() : rtabmap::Parameters
    • +
  • typeRGBDLocalizationSmoothing() : rtabmap::Parameters
    • +
  • typeRGBDLocalRadius() : rtabmap::Parameters
    • +
  • typeRGBDLoopClosureIdentityGuess() : rtabmap::Parameters
    • +
  • typeRGBDLoopClosureReextractFeatures() : rtabmap::Parameters
    • +
  • typeRGBDLoopCovLimited() : rtabmap::Parameters
    • +
  • typeRGBDMarkerDetection() : rtabmap::Parameters
    • +
  • typeRGBDMaxLocalRetrieved() : rtabmap::Parameters
    • +
  • typeRGBDMaxLoopClosureDistance() : rtabmap::Parameters
    • +
  • typeRGBDMaxOdomCacheSize() : rtabmap::Parameters
    • +
  • typeRGBDNeighborLinkRefining() : rtabmap::Parameters
    • +
  • typeRGBDNewMapOdomChangeDistance() : rtabmap::Parameters
    • +
  • typeRGBDOptimizeFromGraphEnd() : rtabmap::Parameters
    • +
  • typeRGBDOptimizeMaxError() : rtabmap::Parameters
    • +
  • typeRGBDOptimizeMaxErrorRepairRadius() : rtabmap::Parameters
    • +
  • typeRGBDPlanAngularVelocity() : rtabmap::Parameters
    • +
  • typeRGBDPlanLinearVelocity() : rtabmap::Parameters
    • +
  • typeRGBDPlanStuckIterations() : rtabmap::Parameters
    • +
  • typeRGBDProximityAngle() : rtabmap::Parameters
    • +
  • typeRGBDProximityBySpace() : rtabmap::Parameters
    • +
  • typeRGBDProximityByTime() : rtabmap::Parameters
    • +
  • typeRGBDProximityGlobalScanMap() : rtabmap::Parameters
    • +
  • typeRGBDProximityMaxGraphDepth() : rtabmap::Parameters
    • +
  • typeRGBDProximityMaxPaths() : rtabmap::Parameters
    • +
  • typeRGBDProximityMergedScanCovFactor() : rtabmap::Parameters
    • +
  • typeRGBDProximityOdomGuess() : rtabmap::Parameters
    • +
  • typeRGBDProximityPathFilteringRadius() : rtabmap::Parameters
    • +
  • typeRGBDProximityPathMaxNeighbors() : rtabmap::Parameters
    • +
  • typeRGBDProximityPathRawPosesUsed() : rtabmap::Parameters
    • +
  • typeRGBDScanMatchingIdsSavedInLinks() : rtabmap::Parameters
    • +
  • typeRGBDStartAtOrigin() : rtabmap::Parameters
    • +
  • typeRtabmapComputeRMSE() : rtabmap::Parameters
    • +
  • typeRtabmapCreateIntermediateNodes() : rtabmap::Parameters
    • +
  • typeRtabmapDetectionRate() : rtabmap::Parameters
    • +
  • typeRtabmapImageBufferSize() : rtabmap::Parameters
    • +
  • typeRtabmapImagesAlreadyRectified() : rtabmap::Parameters
    • +
  • typeRtabmapLoopGPS() : rtabmap::Parameters
    • +
  • typeRtabmapLoopRatio() : rtabmap::Parameters
    • +
  • typeRtabmapLoopThr() : rtabmap::Parameters
    • +
  • typeRtabmapMaxRepublished() : rtabmap::Parameters
    • +
  • typeRtabmapMaxRetrieved() : rtabmap::Parameters
    • +
  • typeRtabmapMemoryThr() : rtabmap::Parameters
    • +
  • typeRtabmapPublishLastSignature() : rtabmap::Parameters
    • +
  • typeRtabmapPublishLikelihood() : rtabmap::Parameters
    • +
  • typeRtabmapPublishPdf() : rtabmap::Parameters
    • +
  • typeRtabmapPublishRAMUsage() : rtabmap::Parameters
    • +
  • typeRtabmapPublishStats() : rtabmap::Parameters
    • +
  • typeRtabmapRectifyOnlyFeatures() : rtabmap::Parameters
    • +
  • typeRtabmapSaveWMState() : rtabmap::Parameters
    • +
  • typeRtabmapStartNewMapOnGoodSignature() : rtabmap::Parameters
    • +
  • typeRtabmapStartNewMapOnLoopClosure() : rtabmap::Parameters
    • +
  • typeRtabmapStatisticLogged() : rtabmap::Parameters
    • +
  • typeRtabmapStatisticLoggedHeaders() : rtabmap::Parameters
    • +
  • typeRtabmapStatisticLogsBufferedInRAM() : rtabmap::Parameters
    • +
  • typeRtabmapTimeThr() : rtabmap::Parameters
    • +
  • typeRtabmapVirtualPlaceLikelihoodRatio() : rtabmap::Parameters
    • +
  • typeRtabmapWorkingDirectory() : rtabmap::Parameters
    • +
  • typeSIFTContrastThreshold() : rtabmap::Parameters
    • +
  • typeSIFTEdgeThreshold() : rtabmap::Parameters
    • +
  • typeSIFTGaussianThreshold() : rtabmap::Parameters
    • +
  • typeSIFTGpu() : rtabmap::Parameters
    • +
  • typeSIFTMaxGaussianThreshold() : rtabmap::Parameters
    • +
  • typeSIFTNOctaveLayers() : rtabmap::Parameters
    • +
  • typeSIFTPreciseUpscale() : rtabmap::Parameters
    • +
  • typeSIFTRootSIFT() : rtabmap::Parameters
    • +
  • typeSIFTSigma() : rtabmap::Parameters
    • +
  • typeSIFTUpscale() : rtabmap::Parameters
    • +
  • typeStereoBMBlockSize() : rtabmap::Parameters
    • +
  • typeStereoBMDisp12MaxDiff() : rtabmap::Parameters
    • +
  • typeStereoBMMinDisparity() : rtabmap::Parameters
    • +
  • typeStereoBMNumDisparities() : rtabmap::Parameters
    • +
  • typeStereoBMPreFilterCap() : rtabmap::Parameters
    • +
  • typeStereoBMPreFilterSize() : rtabmap::Parameters
    • +
  • typeStereoBMSpeckleRange() : rtabmap::Parameters
    • +
  • typeStereoBMSpeckleWindowSize() : rtabmap::Parameters
    • +
  • typeStereoBMTextureThreshold() : rtabmap::Parameters
    • +
  • typeStereoBMUniquenessRatio() : rtabmap::Parameters
    • +
  • typeStereoDenseStrategy() : rtabmap::Parameters
    • +
  • typeStereoEps() : rtabmap::Parameters
    • +
  • typeStereoErrorThreshold() : rtabmap::Parameters
    • +
  • typeStereoGpu() : rtabmap::Parameters
    • +
  • typeStereoIterations() : rtabmap::Parameters
    • +
  • typeStereoMaxDisparity() : rtabmap::Parameters
    • +
  • typeStereoMaxLevel() : rtabmap::Parameters
    • +
  • typeStereoMinDisparity() : rtabmap::Parameters
    • +
  • typeStereoMinEigThreshold() : rtabmap::Parameters
    • +
  • typeStereoOpticalFlow() : rtabmap::Parameters
    • +
  • typeStereoSGBMBlockSize() : rtabmap::Parameters
    • +
  • typeStereoSGBMDisp12MaxDiff() : rtabmap::Parameters
    • +
  • typeStereoSGBMMinDisparity() : rtabmap::Parameters
    • +
  • typeStereoSGBMMode() : rtabmap::Parameters
    • +
  • typeStereoSGBMNumDisparities() : rtabmap::Parameters
    • +
  • typeStereoSGBMP1() : rtabmap::Parameters
    • +
  • typeStereoSGBMP2() : rtabmap::Parameters
    • +
  • typeStereoSGBMPreFilterCap() : rtabmap::Parameters
    • +
  • typeStereoSGBMSpeckleRange() : rtabmap::Parameters
    • +
  • typeStereoSGBMSpeckleWindowSize() : rtabmap::Parameters
    • +
  • typeStereoSGBMUniquenessRatio() : rtabmap::Parameters
    • +
  • typeStereoSSD() : rtabmap::Parameters
    • +
  • typeStereoUseMinEigenVals() : rtabmap::Parameters
    • +
  • typeStereoWinHeight() : rtabmap::Parameters
    • +
  • typeStereoWinWidth() : rtabmap::Parameters
    • +
  • typeSuperPointCuda() : rtabmap::Parameters
    • +
  • typeSuperPointModelPath() : rtabmap::Parameters
    • +
  • typeSuperPointNMS() : rtabmap::Parameters
    • +
  • typeSuperPointNMSRadius() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratCuda() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratModelPath() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratNMS() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratNMSRadius() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratThreshold() : rtabmap::Parameters
    • +
  • typeSuperPointRpautratWeightsPath() : rtabmap::Parameters
    • +
  • typeSuperPointThreshold() : rtabmap::Parameters
    • +
  • typeSURFExtended() : rtabmap::Parameters
    • +
  • typeSURFGpuKeypointsRatio() : rtabmap::Parameters
    • +
  • typeSURFGpuVersion() : rtabmap::Parameters
    • +
  • typeSURFHessianThreshold() : rtabmap::Parameters
    • +
  • typeSURFOctaveLayers() : rtabmap::Parameters
    • +
  • typeSURFOctaves() : rtabmap::Parameters
    • +
  • typeSURFUpright() : rtabmap::Parameters
    • +
  • typeVhEpEnabled() : rtabmap::Parameters
    • +
  • typeVhEpMatchCountMin() : rtabmap::Parameters
    • +
  • typeVhEpRansacParam1() : rtabmap::Parameters
    • +
  • typeVhEpRansacParam2() : rtabmap::Parameters
    • +
  • typeVisBundleAdjustment() : rtabmap::Parameters
    • +
  • typeVisCorFlowEps() : rtabmap::Parameters
    • +
  • typeVisCorFlowErrorThreshold() : rtabmap::Parameters
    • +
  • typeVisCorFlowGpu() : rtabmap::Parameters
    • +
  • typeVisCorFlowIterations() : rtabmap::Parameters
    • +
  • typeVisCorFlowMaxLevel() : rtabmap::Parameters
    • +
  • typeVisCorFlowMinEigThreshold() : rtabmap::Parameters
    • +
  • typeVisCorFlowUseMinEigenVals() : rtabmap::Parameters
    • +
  • typeVisCorFlowWinSize() : rtabmap::Parameters
    • +
  • typeVisCorGuessMatchToProjection() : rtabmap::Parameters
    • +
  • typeVisCorGuessWinSize() : rtabmap::Parameters
    • +
  • typeVisCorNNDR() : rtabmap::Parameters
    • +
  • typeVisCorNNType() : rtabmap::Parameters
    • +
  • typeVisCorType() : rtabmap::Parameters
    • +
  • typeVisDepthAsMask() : rtabmap::Parameters
    • +
  • typeVisDepthMaskFloorThr() : rtabmap::Parameters
    • +
  • typeVisEpipolarGeometryVar() : rtabmap::Parameters
    • +
  • typeVisEstimationType() : rtabmap::Parameters
    • +
  • typeVisFeatureType() : rtabmap::Parameters
    • +
  • typeVisGridCols() : rtabmap::Parameters
    • +
  • typeVisGridRows() : rtabmap::Parameters
    • +
  • typeVisInlierDistance() : rtabmap::Parameters
    • +
  • typeVisIterations() : rtabmap::Parameters
    • +
  • typeVisMaxDepth() : rtabmap::Parameters
    • +
  • typeVisMaxFeatures() : rtabmap::Parameters
    • +
  • typeVisMeanInliersDistance() : rtabmap::Parameters
    • +
  • typeVisMinDepth() : rtabmap::Parameters
    • +
  • typeVisMinInliers() : rtabmap::Parameters
    • +
  • typeVisMinInliersDistribution() : rtabmap::Parameters
    • +
  • typeVisPnPFlags() : rtabmap::Parameters
    • +
  • typeVisPnPMaxVariance() : rtabmap::Parameters
    • +
  • typeVisPnPRefineIterations() : rtabmap::Parameters
    • +
  • typeVisPnPReprojError() : rtabmap::Parameters
    • +
  • typeVisPnPSamplingPolicy() : rtabmap::Parameters
    • +
  • typeVisPnPSplitLinearCovComponents() : rtabmap::Parameters
    • +
  • typeVisPnPVarianceMedianRatio() : rtabmap::Parameters
    • +
  • typeVisRefineIterations() : rtabmap::Parameters
    • +
  • typeVisRoiRatios() : rtabmap::Parameters
    • +
  • typeVisSSC() : rtabmap::Parameters
    • +
  • typeVisSubPixEps() : rtabmap::Parameters
    • +
  • typeVisSubPixIterations() : rtabmap::Parameters
    • +
  • typeVisSubPixWinSize() : rtabmap::Parameters
    • +
    -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    updateOccupancyGrid() : rtabmap::DBDriver
  • UProcessInfo() : UProcessInfo
  • USemaphore() : USemaphore
    • +
  • userDataCompressed() : rtabmap::Link
    • +
  • userDataRaw() : rtabmap::Link
  • UThread() : UThread
  • UVariant() : UVariant
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    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
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    + +
    - v -
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    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    cameraIndex : rtabmap::FeatureBA
  • cameraName : rtabmap::SensorCaptureInfo
  • cellSize : rtabmap::LocalGrid
    • +
  • cornerInliers : rtabmap::OdometryInfo
  • covariance : rtabmap::RegistrationInfo
  • COVARIANCE_ANGULAR_EPSILON : rtabmap::Registration
  • COVARIANCE_LINEAR_EPSILON : rtabmap::Registration
    • @@ -111,6 +133,7 @@ $(function() {

    - d -

    @@ -120,12 +143,17 @@ $(function() {

    - f -

    - g -

    @@ -152,11 +180,13 @@ $(function() {
  • inliersMeanDistance : rtabmap::RegistrationInfo
  • inliersPerCam : rtabmap::RegistrationInfo
  • inliersRatio : rtabmap::RegistrationInfo
    • +
  • interval : rtabmap::OdometryInfo

    • - k -

    @@ -175,6 +219,12 @@ $(function() {
  • matches : rtabmap::RegistrationInfo
  • matchesIDs : rtabmap::RegistrationInfo
  • matchesPerCam : rtabmap::RegistrationInfo
    • +
  • memoryUsage : rtabmap::OdometryInfo
    • + + + +

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    winSize() : rtabmap::Stereo
  • winSSD() : rtabmap::Stereo
  • wmState() : rtabmap::Statistics
    • +
  • words : rtabmap::OdometryInfo
    • +
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    ~VWDictionary() : rtabmap::VWDictionary
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    -
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    40class RTABMAP_CORE_EXPORT OccupancyGrid : public GlobalMap
    41{
    42public:
    -
    43 OccupancyGrid(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
    +
    43 OccupancyGrid(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
    44 void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
    45 float getMinMapSize() const {return minMapSize_;}
    46
    @@ -162,10 +179,15 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::OccupancyGrid::assemble
    virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
    Subclass hook: merge newPoses into the global map; call addAssembledNode().
    rtabmap::OccupancyGrid::clear
    virtual void clear()
    Clears assembled nodes and grid bounds; does not clear LocalGridCache.
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
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    OctoMap.h
    @@ -246,7 +263,7 @@ $(document).ready(function() { init_codefold(0); });
    175class RTABMAP_CORE_EXPORT OctoMap : public GlobalMap {
    176public:
    -
    177 OctoMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
    +
    177 OctoMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
    178
    179 const RtabmapColorOcTree * octree() const {return octree_;}
    180
    @@ -313,10 +330,15 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::RtabmapColorOcTree::create
    RtabmapColorOcTree * create() const
    Definition OctoMap.h:96
    rtabmap::RtabmapColorOcTree::pruneNode
    virtual bool pruneNode(RtabmapColorOcTreeNode *node)
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    + -
    -Generated by doxygen 1.9.8 -
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  • uHamming() : UMath.h
  • uHex2Ascii() : UConversion.h
    • -
  • uHex2Bytes() : UConversion.h
    • +
  • uHex2Bytes() : UConversion.h
  • uHex2Str() : UConversion.h
  • uIndexOf() : UStl.h
  • UINFO : ULogger.h
    • @@ -100,26 +121,26 @@ $(function() {
  • uIsInteger() : UStl.h
  • uIsNan() : UMath.h
  • uIsNumber() : UStl.h
    • -
  • uIteratorAt() : UStl.h
    • +
  • uIteratorAt() : UStl.h
  • uJoin() : UStl.h
  • uKeys() : UStl.h
  • uKeysList() : UStl.h
  • uKeysSet() : UStl.h
  • uListToVector() : UStl.h
  • uLocalMaxima() : UMath.h
    • -
  • uMax() : UMath.h
    • +
  • uMax() : UMath.h
  • uMax3() : UMath.h
  • uMean() : UMath.h
  • uMeanSquaredError() : UMath.h
  • uMin() : UMath.h
  • uMin3() : UMath.h
    • -
  • uMinMax() : UMath.h
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  • uMinMax() : UMath.h
  • uMultimapToMap() : UStl.h
  • uMultimapToMapUnique() : UStl.h
  • uNorm() : UMath.h
  • uNormalize() : UMath.h
  • uNormSquared() : UMath.h
    • -
  • uNumber2Str() : UConversion.h
    • +
  • uNumber2Str() : UConversion.h
  • uReplaceChar() : UConversion.h
  • uSign() : UMath.h
  • uSplit() : UStl.h
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  • uStrContains() : UStl.h
  • uStrNumCmp() : UStl.h
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  • uSum() : UMath.h
  • uSumSquared() : UMath.h
  • uTake() : UStl.h
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  • uToLowerCase() : UConversion.h
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  • uUniqueKeys() : UStl.h
    • @@ -148,9 +170,12 @@ $(function() {
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    +
    No Matches
    +
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    Here is a list of all documented typedefs with links to the documentation:
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    Returns
    A float value between 0 and 1 representing the complexity of the normal distribution. Returns 0 if not enough valid normals are available.
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    Returns
    A vector of indices of points that passed the filtering criteria.
    Note
    Uses a KdTree for efficient neighbor search. The +1 in minNeighborsInRadius + 1 accounts for the point itself being included in the neighbor list.
    +
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    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() {
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    + +
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    Returns
    A new dense point cloud with NaN points removed.
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.js b/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.js new file mode 100644 index 00000000..98b46d8b --- /dev/null +++ b/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.js @@ -0,0 +1,7 @@ +var group__RemoveNaNFromPointCloud = +[ + [ "rtabmap::util3d::removeNaNFromPointCloud", "group__RemoveNaNFromPointCloud.html#ga307cddc4476370cc25e5f67fd13af865", null ], + [ "rtabmap::util3d::removeNaNFromPointCloud", "group__RemoveNaNFromPointCloud.html#ga2c98d8e54fff76606352c87edc378c31", null ], + [ "rtabmap::util3d::removeNaNFromPointCloud", "group__RemoveNaNFromPointCloud.html#ga30ecdbed3fd26b750dcb0e63ea8c68b1", null ], + [ "rtabmap::util3d::removeNaNFromPointCloud", "group__RemoveNaNFromPointCloud.html#gab8b441e9acbafb0f36a0f4567e9535d6", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html index fc4f8395..3693e9c0 100644 --- a/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html +++ b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Returns
    A new point cloud with all NaN normals removed.
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.js b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.js new file mode 100644 index 00000000..bf3b5fa2 --- /dev/null +++ b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.js @@ -0,0 +1,6 @@ +var group__RemoveNaNNormalsFromPointCloud = +[ + [ "rtabmap::util3d::removeNaNNormalsFromPointCloud", "group__RemoveNaNNormalsFromPointCloud.html#ga3813dba7a0841937f37d9ecdaf526748", null ], + [ "rtabmap::util3d::removeNaNNormalsFromPointCloud", "group__RemoveNaNNormalsFromPointCloud.html#gafeeebb45de9c3cb8ac353f3cf867bc41", null ], + [ "rtabmap::util3d::removeNaNNormalsFromPointCloud", "group__RemoveNaNNormalsFromPointCloud.html#ga42b9cf0558f56e1b00bd9ab1e2f1d0e6", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/group__RoiComputation.html b/preview/pr-1492/api/latest/group__RoiComputation.html index 14b17b6a..788b3712 100644 --- a/preview/pr-1492/api/latest/group__RoiComputation.html +++ b/preview/pr-1492/api/latest/group__RoiComputation.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
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    + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Returns
    The indices of points from cloud that passed the filter, or the new filtered point cloud otherwise.
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__SubtractFiltering.js b/preview/pr-1492/api/latest/group__SubtractFiltering.js new file mode 100644 index 00000000..4ee218aa --- /dev/null +++ b/preview/pr-1492/api/latest/group__SubtractFiltering.js @@ -0,0 +1,13 @@ +var group__SubtractFiltering = +[ + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#ga69fb3ae457d192fd2c12631b0b5adf60", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#ga74d28899131bcb449b4d243a556c53aa", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#gad92c79e9320d8eae62053d01bb8ba9df", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#ga49d4f22e20984d271bb4c3240018eeed", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#ga1879c56f82037789aed799c484fb883a", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#gae14131d7ab09a650fb1411a8252e5526", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#gad2840d4057963b7cb29c02ee15fca895", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#ga68cd453fcda96d2dba733650879f5d54", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#gaafd6fae4cac4f182d79e4507226165ef", null ], + [ "rtabmap::util3d::subtractFiltering", "group__SubtractFiltering.html#gaf2bca73b4dc564bb6b2b7b779c718373", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/group__TransformPoint.html b/preview/pr-1492/api/latest/group__TransformPoint.html index 5f3f9d58..f29acbcb 100644 --- a/preview/pr-1492/api/latest/group__TransformPoint.html +++ b/preview/pr-1492/api/latest/group__TransformPoint.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Returns
    A new point with the transform applied.
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__TransformPoint.js b/preview/pr-1492/api/latest/group__TransformPoint.js new file mode 100644 index 00000000..56618ff9 --- /dev/null +++ b/preview/pr-1492/api/latest/group__TransformPoint.js @@ -0,0 +1,11 @@ +var group__TransformPoint = +[ + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga88b4f827a105254bf08bdae73cebdbe9", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga4910f2b937d405bd529772c33d477ca4", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga2ad96e68847f315e6d5df18d3219f308", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga7bfb9d7e10b81cd3b5e3f164081388be", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga90e6ffecb159bdff5afc75e16ab1fe19", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#gad98c1e7ba04edb9a57c5557d88360afd", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#ga8cf51597b74c589365d2e0e2272bea70", null ], + [ "rtabmap::util3d::transformPoint", "group__TransformPoint.html#gae272348c0353fe96683680b981a6b0fa", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/group__TransformPointcloud.html b/preview/pr-1492/api/latest/group__TransformPointcloud.html index e0f32c84..8d8e4f08 100644 --- a/preview/pr-1492/api/latest/group__TransformPointcloud.html +++ b/preview/pr-1492/api/latest/group__TransformPointcloud.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Returns
    A new point cloud with the transform applied.
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__TransformPointcloud.js b/preview/pr-1492/api/latest/group__TransformPointcloud.js new file mode 100644 index 00000000..7b0c4842 --- /dev/null +++ b/preview/pr-1492/api/latest/group__TransformPointcloud.js @@ -0,0 +1,15 @@ +var group__TransformPointcloud = +[ + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga7a573f91887b29ec4ff2ef6355df4473", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga18eb2c9ec062b5453bf7c97128d89018", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga310e525344813377f2d470d47b7c4d51", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga1387b7a1d5280ed3596331f93fc56484", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#gac60701fa37d61f3cbe6f462da7576e73", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga59e54f906ba844eb8780946e57b0e271", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga2a621fc8ab625cd4003b4f26e0ce3b52", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga797f466a165622e08dda14cdaccb5df6", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga00514f671b8dbcc343ff481aa7c36367", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#gac7c95eba604afe62ab897df62d862220", null ], + [ "rtabmap::util3d::transformPointCloud", "group__TransformPointcloud.html#ga47713c64205eb83460cfeec9a7bb6659", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/group__UtiLite.html b/preview/pr-1492/api/latest/group__UtiLite.html index 37f1807d..ddf447c4 100644 --- a/preview/pr-1492/api/latest/group__UtiLite.html +++ b/preview/pr-1492/api/latest/group__UtiLite.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Introduction

    UtiLite is a simple library to create small cross-platform applications using threads, events-based communication and a powerful logger. The first three sections show the core classes of the library, then last sections show some useful functions added through time.

    -

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ ./uresourcegenerator DatabaseSchema.sql
    +

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ rtabmap-res_tool DatabaseSchema.sql
    +

    This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

    #include "DatabaseSchema_sql.h"
    ...
    std::string hex = DATABASESCHEMA_SQL;
    @@ -89,8 +111,7 @@ Introduction
    std::vector<char> bytes = uHex2Bytes(hex);
    uHex2Str
    std::string UTILITE_EXPORT uHex2Str(const std::string &hex)
    uHex2Bytes
    std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)
    -

    A generated FindUtiLite.cmake is also provided for easy linking with the library.

    -

    +

    ULogger

    The ULogger can be used anywhere in the application to log messages (formated like a printf). The logger can be set (ULogger::setType()) to print in a file or in the console (with colors depending on the severity). Convenient macros are given, working like a printf(), as UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL(), UASSERT(). Small example:

    ...
    UINFO("A simple message with number %d", 42);
    @@ -190,44 +211,14 @@ Conversion

    UProcessInfo

    -

    This class can be used to get the process memory usage: UProcessInfo::getMemoryUsage().

    -

    -Qt Widgets (libutilite_qt.so : OPTIONAL)

    -

    If Qt is found on the system, the UtiLite Qt library (libutilite_qt.so, libutilite_qt.dll) with useful widgets is built. Use class UPlot to create a plot like MATLAB, and incrementally add new values like a scope. USpectrogram is used to show audio frequency frames.

      -
    • UPlot,
      • -
    • USpectrogram,
      • -
    • UImageView.
      - -
      -
      - -
      -
      • -
    -

    -Audio stuff (libutilite_audio.so : OPTIONAL)

    -

    If FMOD is found on the system, the UtiLite audio library is built (libutilite_audio.so, libutilite_audio.dll). It is a wrapper of FMOD methods with a convenient interface to extract audio frames.

      -
    • UAudioCapture,
      • -
    • UAudioCaptureFile,
      • -
    • UAudioCaptureMic,
      • -
    • UAudioCaptureFFT,
      • -
    • UAudioPlayer,
      • -
    • UAudioPlayerTone,
      • -
    • UWav,
      • -
    • UMp3Encoder (only if Lame is also found on the system).
      • -
    -

    -OpenCV stuff (libutilite_cv.so : OPTIONAL)

    -

    If OpenCV is found on the system, the UtiLite cv library is built (libutilite_cv.so, libutilite_cv.dll). It provides image capture classes used to read from a webcam, a video file or a directory of images. If UtiLite is also built with Qt, a convenient function uCvMat2QImage() can be used to convert a cv::Mat image to a QImage.

      -
    • UVideoCapture,
      • -
    • UImageFolderCapture,
      • -
    • UColorTable,
      • -
    • uCvMat2QImage() (only if Qt is also found on the system).
      • -
    +

    This class can be used to get the process memory usage: UProcessInfo::getMemoryUsage().

    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/group__VoxelFiltering.html b/preview/pr-1492/api/latest/group__VoxelFiltering.html index b6289521..7076fb73 100644 --- a/preview/pr-1492/api/latest/group__VoxelFiltering.html +++ b/preview/pr-1492/api/latest/group__VoxelFiltering.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
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    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() {
    +
    + +
    +
    +
    + +
    See also
    pcl::VoxelGrid, util3d::cropBox
    +
    -
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    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
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    -Generated by doxygen 1.9.8 -
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"classrtabmap_1_1DBDriverSqlite3.html", null ] + ] ], + [ "rtabmap::IMUThread", "classrtabmap_1_1IMUThread.html", null ], + [ "rtabmap::OdometryThread", "classrtabmap_1_1OdometryThread.html", null ], + [ "rtabmap::RtabmapThread", "classrtabmap_1_1RtabmapThread.html", null ], + [ "rtabmap::SensorCaptureThread", "classrtabmap_1_1SensorCaptureThread.html", null ] + ] ] + ] ], + [ "UTimer", "classUTimer.html", null ], + [ "UVariant", "classUVariant.html", null ], + [ "rtabmap::VisualWord", "classrtabmap_1_1VisualWord.html", null ], + [ "pcl::VLPGrabber", null, [ + [ "rtabmap::LidarVLP16", "classrtabmap_1_1LidarVLP16.html", null ] + ] ], + [ "rtabmap::VWDictionary", "classrtabmap_1_1VWDictionary.html", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/index.html b/preview/pr-1492/api/latest/index.html index 93e494fb..149e9a68 100644 --- a/preview/pr-1492/api/latest/index.html +++ b/preview/pr-1492/api/latest/index.html @@ -6,10 +6,14 @@ -RTAB-Map: Main Page +RTAB-Map: RTAB-Map C++ API + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    -
    -
    RTAB-Map Documentation
    +
    +
    RTAB-Map C++ API
    +

    +

    RTAB-Map (Real-Time Appearance-Based Mapping) is a RGB-D, stereo and lidar graph-based SLAM library built around an incremental appearance-based loop closure detector, with memory management that keeps the online constraints satisfiable on large-scale, long-term maps.

    +

    These pages document the public C++ API of the rtabmap_core and rtabmap_utilite libraries. For installation, tutorials and the ROS packages, see the project website and the wiki.

    +

    +Start here

    +

    rtabmap::Rtabmap is the entry point: it owns the map and runs one full SLAM iteration per call to rtabmap::Rtabmap::process(). A minimal loop feeds it a rtabmap::SensorData and the odometry pose that goes with it:

    +
    #include <rtabmap/core/Rtabmap.h>
    +
    #include <rtabmap/core/Odometry.h>
    +
    +
    rtabmap::Odometry * odometry = rtabmap::Odometry::create();
    +
    rtabmap::Rtabmap rtabmap;
    +
    rtabmap.init(); // optionally: init(parameters, databasePath)
    +
    +
    const double mapUpdateRate = 1.0; // Hz, i.e. Rtabmap/DetectionRate
    +
    double lastProcessStamp = -1.0;
    +
    rtabmap::Transform mapToOdom = rtabmap::Transform::getIdentity();
    +
    +
    while(/* frames available */)
    +
    {
    +
    rtabmap::SensorData data = camera.takeImage();
    +
    +
    // Odometry sees every frame: dropping any would break the motion tracking.
    +
    rtabmap::Transform odomPose = odometry->process(data);
    +
    +
    // The map is updated at a lower rate. The frames skipped here are not lost
    +
    // work: the motion they carry is already integrated in the pose above, so
    +
    // the next accepted frame arrives with an up-to-date odometry pose.
    +
    if(lastProcessStamp < 0.0 ||
    +
    data.stamp() - lastProcessStamp >= 1.0/mapUpdateRate)
    +
    {
    +
    lastProcessStamp = data.stamp();
    +
    +
    if(rtabmap.process(data, odomPose)) // true when a new node was added
    +
    {
    +
    const rtabmap::Statistics & stats = rtabmap.getStatistics();
    +
    +
    // A loop closure or a proximity detection re-optimizes the graph,
    +
    // which shifts the map frame under the odometry frame.
    +
    if(!stats.mapCorrection().isNull())
    +
    {
    +
    mapToOdom = stats.mapCorrection();
    +
    }
    +
    +
    if(rtabmap.getLoopClosureId() > 0)
    +
    {
    +
    // a loop closure was accepted on this iteration
    +
    }
    +
    }
    +
    }
    +
    +
    // Robot pose in the map frame, on every frame and always with the matching
    +
    // correction: composed after the block above, so an iteration that just
    +
    // re-optimized the graph uses its new correction rather than the previous
    +
    // one. In ROS terms: (/map -> /odom) * (/odom -> /base_link).
    +
    rtabmap::Transform mapPose = mapToOdom * odomPose;
    +
    }
    +
    rtabmap::Odometry
    Abstract base class for visual, lidar and visual-inertial odometry backends.
    Definition Odometry.h:57
    +
    rtabmap::Odometry::process
    Transform process(SensorData &data, OdometryInfo *info=0)
    Processes a sensor frame and updates the integrated pose.
    +
    rtabmap::Odometry::create
    static Odometry * create(const ParametersMap &parameters=ParametersMap())
    Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
    +
    rtabmap::Rtabmap
    Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
    Definition Rtabmap.h:194
    +
    rtabmap::SensorData
    Container class for all sensor data captured at a specific time.
    Definition SensorData.h:97
    +
    rtabmap::SensorData::stamp
    double stamp() const
    Returns the timestamp.
    Definition SensorData.h:527
    +
    rtabmap::Statistics
    Collects and manages runtime statistics for RTAB-Map.
    Definition Statistics.h:108
    +
    rtabmap::Statistics::mapCorrection
    const Transform & mapCorrection() const
    Returns the map correction transform.
    Definition Statistics.h:657
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::Transform::isNull
    bool isNull() const
    Checks whether the transform is null (all zeros).
    +
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    + +

    Throttling is the caller's job here: rtabmap::Rtabmap::process() maps every frame it is given. rtabmap::RtabmapThread does this same stamp comparison internally, from Rtabmap/DetectionRate, so the threaded pipeline only needs the parameter to be set.

    +

    Odometry drifts and the graph gets re-optimized, so the odometry pose is not a map pose. rtabmap::Statistics::mapCorrection() is what reconciles the two, and since it only changes on a map update it can be applied to every incoming frame – which is how the pose stays available at full rate while the map is built at 1 Hz. This is the transform published as /map → /odom by the ROS wrapper, and what the MapBuilder of each example composes with the live odometry pose to place the clouds. It is also readable outside the statistics, as rtabmap::Rtabmap::getMapCorrection().

    +

    Complete programs live under examples/ in the source tree:

    + + + + + + + + + + + +
    Example What it shows
    BOWMapping The smallest useful loop: images from disk into rtabmap::Rtabmap, appearance-only loop closure detection (no odometry, no GUI)
    NoEventsExample Driving the pipeline by direct calls – camera, rtabmap::Odometry and rtabmap::Rtabmap in one explicit loop, without the event system
    RGBDMapping The threaded event-based pipeline (rtabmap::SensorCaptureThread → rtabmap::OdometryThread → rtabmap::RtabmapThread) with any supported RGB-D or stereo camera
    LidarMapping The same threaded pipeline driven by a 3D lidar (rtabmap::LidarVLP16) instead of a camera
    +

    What each iteration does, and which parameters influence it, is documented on rtabmap::Rtabmap itself – memory update, loop-closure hypothesis, hypothesis selection, retrieval, proximity detection and transfer to long-term memory.

    +

    +Occupancy grid

    +

    With RGBD/CreateOccupancyGrid enabled, every node carries a local occupancy grid computed from its depth images or laser scan (rtabmap::LocalGridMaker). Assembling those into a global grid is left to the caller, so that the result always follows the optimized poses:

    +
    #include <rtabmap/core/global_map/OccupancyGrid.h>
    +
    +
    rtabmap::LocalGridCache localGrids;
    +
    rtabmap::OccupancyGrid grid(&localGrids, parameters); // reads the Grid/... parameters
    +
    +
    // ... inside the "if(rtabmap.process(data, odomPose))" block of the loop above:
    +
    const rtabmap::Signature & node = stats.getLastSignatureData();
    +
    if(node.sensorData().gridCellSize() > 0.0f &&
    +
    grid.addedNodes().find(node.id()) == grid.addedNodes().end())
    +
    {
    +
    // Local grid of the new node, as stored in the database (compressed).
    +
    cv::Mat ground, obstacles, empty;
    +
    node.sensorData().uncompressDataConst(0, 0, 0, 0, &ground, &obstacles, &empty);
    +
    localGrids.add(node.id(), ground, obstacles, empty,
    +
    node.sensorData().gridCellSize(),
    +
    node.sensorData().gridViewPoint());
    +
    }
    +
    +
    // Draws the nodes that are not assembled yet. If the last optimization moved
    +
    // poses by more than GridGlobal/UpdateError, the grid is cleared first and
    +
    // redrawn entirely from the cache -- which is why the cache is kept around.
    +
    grid.update(stats.poses());
    +
    +
    float xMin, yMin; // grid origin (m), in the map frame
    +
    cv::Mat map = grid.getMap(xMin, yMin); // CV_8S: -1 unknown, 0 free, 100 occupied
    +
    rtabmap::LocalGridCache
    Cache of LocalGrid entries keyed by map node id.
    Definition LocalGrid.h:98
    +
    rtabmap::LocalGridCache::add
    void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
    Inserts or replaces the grid for nodeId (from separate cell mats).
    + +
    rtabmap::SensorData::uncompressDataConst
    void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const
    Uncompresses compressed data into provided output buffers (const version)
    +
    rtabmap::SensorData::gridViewPoint
    const cv::Point3f & gridViewPoint() const
    Returns the occupancy grid viewpoint.
    Definition SensorData.h:812
    +
    rtabmap::SensorData::gridCellSize
    float gridCellSize() const
    Returns the occupancy grid cell size.
    Definition SensorData.h:806
    +
    rtabmap::Signature
    Represents a node in RTAB-Map's pose graph.
    Definition Signature.h:84
    +
    rtabmap::Signature::sensorData
    SensorData & sensorData()
    Returns mutable access to the sensor data.
    Definition Signature.h:597
    +
    rtabmap::Signature::id
    int id() const
    Returns the signature ID.
    Definition Signature.h:168
    +
    rtabmap::Statistics::getLastSignatureData
    const Signature & getLastSignatureData() const
    Returns the last signature data.
    Definition Statistics.h:630
    +
    rtabmap::Statistics::poses
    const std::map< int, Transform > & poses() const
    Returns the pose graph.
    Definition Statistics.h:642
    +

    For the node that was just added, the cells are already there uncompressed, and rtabmap::SensorData::uncompressDataConst() returns them as they are – it only decompresses what comes back empty, which is what makes the same code work for a node retrieved from the database. The occupancy grid is kept on the published copy even with Rtabmap/PublishLastSignature disabled (only images, scans and user data are dropped), precisely so that the global grid can still be assembled; statistics themselves must be published (Rtabmap/PublishStats, on by default). rtabmap::OccupancyGrid is one of the rtabmap::GlobalMap back-ends: rtabmap::OctoMap, rtabmap::CloudMap and rtabmap::GridMap consume the same cache the same way. Each example's MapBuilder does exactly this, then hands the result to the viewer.

    +

    For a 3D map, rtabmap::CloudMap assembles the very same cells into PCL clouds instead of a 2D grid. It shares the cache, so both can be kept up to date from one set of local grids:

    +
    #include <rtabmap/core/global_map/CloudMap.h>
    +
    #include <pcl/io/pcd_io.h>
    +
    +
    rtabmap::CloudMap cloudMap(&localGrids, parameters); // same cache as above
    +
    +
    // ... right after the localGrids.add() of the block above:
    +
    cloudMap.update(stats.poses());
    +
    +
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr ground = cloudMap.getMapGround();
    +
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr obstacles = cloudMap.getMapObstacles();
    +
    pcl::PointCloud<pcl::PointXYZ>::Ptr emptySpace = cloudMap.getMapEmptyCells();
    +
    +
    pcl::io::savePCDFileBinary("obstacles.pcd", *obstacles);
    + +

    The clouds are in the map frame and voxelized at Grid/CellSize. Points keep the colour of the local grid when it has one, otherwise ground is green and obstacles red. Note that this assembles the cells, not the raw sensor clouds: with Grid/3D disabled they are flattened onto the xy plane, so it must stay enabled for a 3D result.

    +

    For a full-resolution cloud, assemble the nodes themselves rather than their cells. Ask rtabmap::Rtabmap::getGraph() for the optimized poses along with the node data, then rebuild a cloud per node and transform it to its pose:

    +
    #include <rtabmap/core/util3d.h>
    +
    #include <rtabmap/core/util3d_filtering.h>
    +
    #include <rtabmap/core/util3d_transforms.h>
    +
    +
    std::map<int, rtabmap::Transform> poses;
    +
    std::multimap<int, rtabmap::Link> links;
    +
    std::map<int, rtabmap::Signature> nodes;
    +
    rtabmap.getGraph(poses, links, true, true, &nodes, true); // optimized, global, with images
    +
    +
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembled(new pcl::PointCloud<pcl::PointXYZRGB>);
    +
    for(std::map<int, rtabmap::Transform>::const_iterator iter=poses.begin(); iter!=poses.end(); ++iter)
    +
    {
    +
    rtabmap::SensorData data = nodes.at(iter->first).sensorData();
    +
    data.uncompressData();
    +
    +
    pcl::IndicesPtr indices(new std::vector<int>);
    +
    pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud = rtabmap::util3d::cloudRGBFromSensorData(
    +
    data,
    +
    4, // image decimation
    +
    4.0f, // max depth (m), 0 = no limit
    +
    0.0f, // min depth (m)
    +
    indices.get());
    +
    cloud = rtabmap::util3d::voxelize(cloud, indices, 0.01f); // 1 cm
    +
    *assembled += *rtabmap::util3d::transformPointCloud(cloud, iter->second);
    +
    }
    +
    assembled = rtabmap::util3d::voxelize(assembled, 0.01f); // one last pass over the overlaps
    +
    pcl::io::savePCDFileBinary("cloud.pcd", *assembled);
    +
    rtabmap::SensorData::uncompressData
    void uncompressData()
    Uncompresses all compressed data in-place.
    +
    rtabmap::util3d::transformPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
    Transforms pcl::PointXYZ point cloud type.
    +
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    +
    rtabmap::util3d::cloudRGBFromSensorData
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a point cloud of type pcl::PointXYZRGB from sensor data.
    +
    Note
    Do this once the session is over, not on every iteration. It decompresses and re-projects every node, so the cost grows with the whole map, and the poses are only worth exporting once the graph has been optimized – the same cloud assembled mid-session would carry the drift that later loop closures correct. This is what rtabmap-export does, with more filtering options.
    +

    +Memory management

    +

    RTAB-Map keeps the map in three tiers (rtabmap::Memory): a short-term memory of the last Mem/STMSize nodes, where neighbours are too similar to be loop closure candidates; a working memory holding everything loop closure detection compares against; and a long-term memory, the part of the map that stays in the database and is not searched.

    +

    By default nothing leaves the working memory, so the iteration time grows with the map. Memory management caps it, and is enabled by setting a budget – either one, or both:

    +
    rtabmap::ParametersMap parameters;
    +
    // Keep each update under 700 ms...
    +
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapTimeThr(), "700"));
    +
    // ... and/or keep at most 500 nodes in the working memory.
    +
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kRtabmapMemoryThr(), "500"));
    +
    rtabmap.init(parameters, "map.db");
    +
    rtabmap::Parameters::kRtabmapMemoryThr
    static std::string kRtabmapMemoryThr()
    Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity)....
    Definition Parameters.h:193
    +
    rtabmap::Parameters::kRtabmapTimeThr
    static std::string kRtabmapTimeThr()
    Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity)....
    Definition Parameters.h:192
    +
    rtabmap::ParametersPair
    std::pair< std::string, std::string > ParametersPair
    A single parameter key/value pair, the entry type of ParametersMap.
    Definition Parameters.h:46
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    +

    When an iteration goes over budget, the nodes of lowest weight are moved to the long-term memory at the end of it – 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 (Mem/RehearsalSimilarity) is merged into it and raises its weight – 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 Rtabmap/MaxRetrieved nodes (plus RGBD/MaxLocalRetrieved 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.

    +

    Which nodes go first is tunable: Mem/RecentWmRatio protects the most recent part of the working memory, RGBD/LocalImmunizationRatio protects the nodes around the current pose, and Mem/TransferSortingByWeightId selects the ordering. The step-by-step behaviour is documented on rtabmap::Rtabmap (steps 4 and 6), and the Memory/Working_memory_size and Memory/Signatures_retrieved entries of rtabmap::Statistics report what happens at runtime.

    +

    +Configuration

    +

    Every tunable is a string key/value pair in a rtabmap::ParametersMap, declared with its default and description in Parameters.h (for example Parameters::kMemSTMSize(), Parameters::kRGBDLinearUpdate()). The same keys are used by the applications, the ROS wrappers and the --Param value command-line arguments of the tools, so a setting found here applies everywhere.

    +

    The Parameter reference lists all of them, grouped, with their type, default value and description.

    +
    rtabmap::ParametersMap parameters;
    +
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "20"));
    +
    rtabmap.init(parameters, "map.db");
    +
    rtabmap::Parameters::kMemSTMSize
    static std::string kMemSTMSize()
    Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
    Definition Parameters.h:226
    +

    +The main classes

    +

    Doxygen lists the classes alphabetically; this is the same set arranged by the role they play, as a starting point into the API.

    +

    +The map structure

    + + + + + + + + + + + + + + + +
    Class Role
    rtabmap::Rtabmap The entry point: one SLAM iteration per call, owning everything below
    rtabmap::Memory Three-tiered memory (STM / WM / LTM) holding the map and deciding what stays online
    rtabmap::Signature One node: sensor data, visual words, pose and links
    rtabmap::Link One edge: neighbour, loop closure, landmark or prior constraint
    rtabmap::DBDriver Persistence of the map to the database (see rtabmap::DBDriverSqlite3)
    rtabmap::Statistics Everything the pipeline reports about an iteration
    +

    +Inputs

    + + + + + + + + + + + + + +
    Class Role
    rtabmap::SensorData An observation: images, depth, laser scan, IMU, GPS, landmarks
    rtabmap::CameraModel, rtabmap::StereoCameraModel Intrinsics, extrinsics and rectification
    rtabmap::LaserScan Point cloud / laser scan container and its formats
    rtabmap::Transform The 3D rigid transform used everywhere in the API
    rtabmap::SensorCapture, rtabmap::SensorCaptureThread Drivers and the thread that pumps them
    +

    +Building blocks

    + + + + + + + + + + + + + + + +
    Class Role
    rtabmap::Odometry Visual / lidar odometry front-ends
    rtabmap::Registration, rtabmap::RegistrationVis, rtabmap::RegistrationIcp Relative transform between two nodes
    rtabmap::Optimizer Graph optimization back-ends (g2o, GTSAM, Ceres, TORO)
    rtabmap::Feature2D, rtabmap::VWDictionary Keypoint detectors/descriptors and the bag-of-words dictionary
    rtabmap::BayesFilter Loop-closure hypothesis estimation
    rtabmap::LocalGridMaker, rtabmap::GlobalMap Occupancy grid generation and assembly
    +

    Free functions for point cloud, image and geometry processing are grouped in util2d.h, util3d.h, util3d_filtering.h, util3d_registration.h, util3d_surface.h, util3d_transforms.h and util3d_mapping.h.

    +
    +
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() {
    +
    + +
    +
    +
    + +
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    + diff --git a/preview/pr-1492/api/latest/namespacertabmap.html b/preview/pr-1492/api/latest/namespacertabmap.html index dbe6bc61..d367709b 100644 --- a/preview/pr-1492/api/latest/namespacertabmap.html +++ b/preview/pr-1492/api/latest/namespacertabmap.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    -
    Namespaces | @@ -85,9 +106,15 @@ $(function() { + + + + + +

    Namespaces

    namespace  graph
     Pose-graph I/O, trajectory metrics, link utilities, and path planning.
     
    namespace  util2d
     This namespace contains 2D image processing utilities.
     
    namespace  util3d
     3D utilities: point cloud conversion and filtering, projection, registration, surface reconstruction, mapping and transforms.
     
    @@ -272,6 +299,7 @@ Classes + @@ -282,6 +310,7 @@ Classes + @@ -302,8 +331,10 @@ Classes + + @@ -366,6 +397,7 @@ Classes + @@ -376,6 +408,7 @@ Classes + @@ -460,8 +493,10 @@ Typedefs + +

    Classes

    class  OdometryDVO
     
    class  OdometryEvent
     One processed frame with the pose the odometry integrated for it. More...
     
    class  OdometryF2F
     
    class  OdometryFovis
     
    class  OdometryInfo
     What one Odometry iteration produced, beyond the pose. More...
     
    class  OdometryLIOSAM
     
    class  OdometryORBSLAM3
     
    class  OdometryResetEvent
     Asks OdometryThread to restart the odometry from a given pose. More...
     
    class  OdometryThread
     Runs an Odometry front-end in its own thread, driven by events. More...
     
    class  OdometryVINSFusion
     
    class  RtabmapEvent3DMap
     
    class  RtabmapEventCmd
     Command sent to RtabmapThread, with its parameters. More...
     
    class  RtabmapEventInit
     
    class  RtabmapLabelErrorEvent
     
    class  RtabmapThread
     Runs a Rtabmap instance in its own thread, driven by events. More...
     
    class  RvlCodec
     
     Map of landmark id → Landmark (typically positive keys).
     
    typedef std::map< std::string, std::string > ParametersMap
     Parameter keys mapped to their values, as used by every configurable class (see Parameters).
     
    typedef std::pair< std::string, std::string > ParametersPair
     A single parameter key/value pair, the entry type of ParametersMap.
     

    @@ -631,12 +666,14 @@ Variables

    - +
    typedef std::map<std::string, std::string> rtabmap::ParametersMaptypedef std::map<std::string, std::string> rtabmap::ParametersMap
    -

    Definition at line 43 of file Parameters.h.

    +

    Parameter keys mapped to their values, as used by every configurable class (see Parameters).

    + +

    Definition at line 44 of file Parameters.h.

    @@ -647,12 +684,14 @@ Variables
    - +
    typedef std::pair<std::string, std::string> rtabmap::ParametersPairtypedef std::pair<std::string, std::string> rtabmap::ParametersPair
    -

    Definition at line 44 of file Parameters.h.

    +

    A single parameter key/value pair, the entry type of ParametersMap.

    + +

    Definition at line 46 of file Parameters.h.

    @@ -1356,7 +1395,7 @@ Variables

    Backward compatibility typedef.

    -
    Deprecated:
    Use SensorCaptureInfo instead
    +
    Deprecated:
    Use SensorCaptureInfo instead

    CameraInfo is deprecated. Use SensorCaptureInfo instead.

    Definition at line 133 of file SensorCaptureInfo.h.

    @@ -1376,7 +1415,7 @@ Variables

    Backward compatibility typedef.

    -
    Deprecated:
    Use SensorCaptureThread instead
    +
    Deprecated:
    Use SensorCaptureThread instead

    CameraThread is deprecated. Use SensorCaptureThread instead.

    Definition at line 565 of file SensorCaptureThread.h.

    @@ -1396,7 +1435,7 @@ Variables

    Backward compatibility typedef.

    -
    Deprecated:
    Use SensorEvent instead
    +
    Deprecated:
    Use SensorEvent instead

    CameraEvent is deprecated. Use SensorEvent instead.

    Definition at line 207 of file SensorEvent.h.

    @@ -1404,9 +1443,13 @@ Variables
    + -
    -Generated by doxygen 1.9.8 -
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    +Classes | +Functions
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    rtabmap::graph Namespace Reference
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    Pose-graph I/O, trajectory metrics, link utilities, and path planning. +More...

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    +Classes

    struct  MaxGraphErrors
     Largest pose-graph constraint violations after optimization. More...
     
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    +Functions

    bool RTABMAP_CORE_EXPORT exportPoses (const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())
     Writes poses (and optional constraints) to disk.
     
    bool RTABMAP_CORE_EXPORT importPoses (const std::string &filePath, int format, std::map< int, Transform > &poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)
     Loads poses (and optional constraints) from disk.
     
    bool RTABMAP_CORE_EXPORT exportGPS (const std::string &filePath, const std::map< int, GPS > &gpsValues, unsigned int rgba=0xFFFFFFFF)
     Exports GPS samples to a PLY point cloud.
     
    void RTABMAP_CORE_EXPORT calcKittiSequenceErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
     KITTI odometry benchmark error over fixed trajectory segments.
     
    void RTABMAP_CORE_EXPORT calcRelativeErrors (const std::vector< Transform > &poses_gt, const std::vector< Transform > &poses_result, float &t_err, float &r_err)
     Mean frame-to-frame relative pose error (RPE-style, one step).
     
    Transform RTABMAP_CORE_EXPORT calcRMSE (const std::map< int, Transform > &groundTruth, const std::map< int, Transform > &poses, float &translational_rmse, float &translational_mean, float &translational_median, float &translational_std, float &translational_min, float &translational_max, float &rotational_rmse, float &rotational_mean, float &rotational_median, float &rotational_std, float &rotational_min, float &rotational_max, bool align2D=false)
     Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).
     
    MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, bool for3DoF=false)
     Finds the worst pose-graph constraint residuals after optimization.
     
    std::vector< double > RTABMAP_CORE_EXPORT getMaxOdomInf (const std::multimap< int, Link > &links)
     Maximum information-matrix diagonal over odometry neighbor links.
     
    std::multimap< int, Link >::iterator RTABMAP_CORE_EXPORT findLink (std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
     Finds the first link from from to to in a multimap keyed by source id.
     
    std::multimap< int, std::pair< int, Link::Type > >::iterator RTABMAP_CORE_EXPORT findLink (std::multimap< int, std::pair< int, Link::Type > > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
     
    std::multimap< int, int >::iterator RTABMAP_CORE_EXPORT findLink (std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
     
    std::multimap< int, Link >::const_iterator RTABMAP_CORE_EXPORT findLink (const std::multimap< int, Link > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
     
    std::multimap< int, std::pair< int, Link::Type > >::const_iterator RTABMAP_CORE_EXPORT findLink (const std::multimap< int, std::pair< int, Link::Type > > &links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)
     
    std::multimap< int, int >::const_iterator RTABMAP_CORE_EXPORT findLink (const std::multimap< int, int > &links, int from, int to, bool checkBothWays=true)
     
    std::list< Link > RTABMAP_CORE_EXPORT findLinks (const std::multimap< int, Link > &links, int from)
     Lists all links incident on node from.
     
    std::multimap< int, Link > RTABMAP_CORE_EXPORT filterDuplicateLinks (const std::multimap< int, Link > &links)
     Removes duplicate undirected links.
     
    std::multimap< int, Link > RTABMAP_CORE_EXPORT filterLinks (const std::multimap< int, Link > &links, Link::Type filteredType, bool inverted=false)
     Filters links by type or self-reference.
     
    std::map< int, Link > RTABMAP_CORE_EXPORT filterLinks (const std::map< int, Link > &links, Link::Type filteredType, bool inverted=false)
     
    std::map< int, Transform > RTABMAP_CORE_EXPORT frustumPosesFiltering (const std::map< int, Transform > &poses, const Transform &cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)
     Keeps poses inside (or outside) a camera frustum.
     
    std::map< int, Transform > RTABMAP_CORE_EXPORT radiusPosesFiltering (const std::map< int, Transform > &poses, float radius, float angle, bool keepLatest=true)
     Subsamples poses that are spatially (and optionally angularly) redundant.
     
    std::multimap< int, int > RTABMAP_CORE_EXPORT radiusPosesClustering (const std::map< int, Transform > &poses, float radius, float angle)
     Radius-neighbor clustering of poses.
     
    void reduceGraph (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, std::multimap< int, int > &hyperNodes, std::multimap< int, Link > &hyperLinks)
     Reduces a pose graph into hyper-nodes and hyper-links.
     
    std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT computePath (const std::map< int, rtabmap::Transform > &poses, const std::multimap< int, int > &links, int from, int to, bool updateNewCosts=false)
     A* shortest path on a pose graph with Euclidean edge costs.
     
    std::list< int > RTABMAP_CORE_EXPORT computePath (const std::multimap< int, Link > &links, int from, int to, bool updateNewCosts=false, bool useSameCostForAllLinks=false)
     Dijkstra shortest path on link constraints.
     
    std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT computePath (int fromId, int toId, const Memory *memory, bool lookInDatabase=true, bool updateNewCosts=false, float linearVelocity=0.0f, float angularVelocity=0.0f, bool ignoreDirectLinks=false)
     Dijkstra path through the live Memory pose graph.
     
    int RTABMAP_CORE_EXPORT findNearestNode (const std::map< int, rtabmap::Transform > &poses, const rtabmap::Transform &targetPose, float *distance=0)
     Id of the nearest pose to targetPose.
     
    std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes (int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
     Spatial neighbors of a node (KD-tree radius or k-NN search).
     
    std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes (const Transform &targetPose, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
     Spatial neighbors of a pose (KD-tree radius or k-NN search).
     
    +std::map< int, Transform > RTABMAP_CORE_EXPORT findNearestPoses (int nodeId, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
     Like findNearestNodes(int,const std::map<int,Transform>&,float,float,int) but returns full Transform values.
     
    std::map< int, Transform > RTABMAP_CORE_EXPORT findNearestPoses (const Transform &targetPose, const std::map< int, Transform > &poses, float radius, float angle=0.0f, int k=0)
     
    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes (const std::map< int, rtabmap::Transform > &nodes, const rtabmap::Transform &targetPose, int k)
     
    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius)
     
    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius)
     
    RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
     
    RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius (const Transform &targetPose, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
     
    float RTABMAP_CORE_EXPORT computePathLength (const std::vector< std::pair< int, Transform > > &path)
     Path length along an ordered list of poses.
     
    float RTABMAP_CORE_EXPORT computePathLength (const std::map< int, Transform > &path)
     Path length in map iteration order.
     
    std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT getPaths (std::map< int, Transform > poses, const std::multimap< int, Link > &links)
     Splits poses into chains connected only by neighbor links.
     
    void RTABMAP_CORE_EXPORT computeMinMax (const std::map< int, Transform > &poses, cv::Vec3f &min, cv::Vec3f &max)
     Axis-aligned bounding box of pose positions.
     
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    Detailed Description

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    Pose-graph I/O, trajectory metrics, link utilities, and path planning.

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    Functions operate on maps of signature ids to Transform poses and Link constraints (typically stored as std::multimap<int, Link> keyed by the source node id).

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    Main groups:

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    Function Documentation

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    ◆ exportPoses()

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    bool RTABMAP_CORE_EXPORT rtabmap::graph::exportPoses (const std::string & filePath,
    int format,
    const std::map< int, Transform > & poses,
    const std::multimap< int, Link > & constraints = std::multimap< int, Link >(),
    const std::map< int, double > & stamps = std::map< int, double >(),
    const ParametersMap & parameters = ParametersMap() 
    )
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    Writes poses (and optional constraints) to disk.

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    Parameters
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    filePathOutput path; extension may be appended from format.
    formatExport format:
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    • 0 Raw text (.txt): r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
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    • 1 RGBD-SLAM format, in motion capture frame like the ground truth of RGB-D SLAM Dataset (requires stamps) : stamp x y z qx qy qz qw
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    • 10 Like 1 without coordinate-frame change (i.e., in base frame) : stamp x y z qx qy qz qw
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    • 11 Like 10 with landmark ids after positive ids : stamp x y z qx qy qz qw id
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    • 2 KITTI odometry format : r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz
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    • 3 TORO graph (requires constraints; uses parameters)
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    • 4 g2o (requires constraints; uses parameters)
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    posesNode id → pose.
    constraintsRequired for formats 3 and 4.
    stampsRequired for formats 1, 10, and 11 (same size as poses).
    parametersOptional optimizer parameters for formats 3 and 4.
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    Returns
    False on I/O or validation error.
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    ◆ importPoses()

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    bool RTABMAP_CORE_EXPORT rtabmap::graph::importPoses (const std::string & filePath,
    int format,
    std::map< int, Transform > & poses,
    std::multimap< int, Link > * constraints = 0,
    std::map< int, double > * stamps = 0 
    )
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    Loads poses (and optional constraints) from disk.

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    Parameters
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    filePathInput path.
    formatImport format:
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    • 0 Raw text: 3×4 matrix per line (Transform::fromString())
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    • 1 RGBD-SLAM motion capture: stamp x y z qw qx qy qz (applies optical-frame conversion)
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    • 2 KITTI odometry: 3×4 matrix per line (applies optical-frame conversion)
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    • 3 TORO graph (fills constraints)
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    • 4 g2o (not supported yet)
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    • 5 NewCollege: stamp x y (2D; first pose is origin)
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    • 6 Malaga Urban GPS: 25-field *_GPS.txt line (local X/Y/Z)
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    • 7 St Lucia INS: 12-field log (GPS → local ENU + roll/pitch/yaw)
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    • 8 Karlsruhe: timestamp lat lon alt x y z roll pitch yaw (first pose is origin)
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    • 9 EuRoC MAV: stamp x y z qw qx qy qz vx vy vz vr vp vy ax ay az (17 CSV fields)
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    • 10 RGBD-SLAM like 1 without coordinate-frame change
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    • 11 RGBD-SLAM like 10 with node id as 9th field: stamp x y z qw qx qy qz id
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    • 12 RGBD Bonn dynamic dataset format (stamp + pose; Bonn-specific frame conversion)
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    posesOutput node id → pose.
    constraintsOptional output links (format 3 only).
    stampsOptional output timestamps (formats 1, 5–9, 10–12 when present in file).
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    Returns
    False on I/O or parse error.
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    ◆ exportGPS()

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    bool RTABMAP_CORE_EXPORT rtabmap::graph::exportGPS (const std::string & filePath,
    const std::map< int, GPS > & gpsValues,
    unsigned int rgba = 0xFFFFFFFF 
    )
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    Exports GPS samples to a PLY point cloud.

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    filePathOutput .ply path.
    gpsValuesNode id → GPS fix.
    rgbaPoint color (default opaque white).
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    ◆ calcKittiSequenceErrors()

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    void RTABMAP_CORE_EXPORT rtabmap::graph::calcKittiSequenceErrors (const std::vector< Transform > & poses_gt,
    const std::vector< Transform > & poses_result,
    float & t_err,
    float & r_err 
    )
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    KITTI odometry benchmark error over fixed trajectory segments.

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    For each start pose (every 10 frames) and segment length in {100, 200, …, 800} m along poses_gt, compares the relative transform GT vs estimate and accumulates normalized errors. The returned values are the mean over all valid segments.

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    poses_gtGround-truth poses in temporal order (one per frame).
    poses_resultEstimated poses (same length and ordering as poses_gt).
    t_errOutput mean translation error (%): segment translation error (m) divided by segment length, averaged, then × 100.
    r_errOutput mean rotation error (deg/m): segment rotation error (rad) divided by segment length, averaged, then converted to deg/m.
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    See also
    http://www.cvlibs.net/datasets/kitti/eval_odometry.php
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    ◆ calcRelativeErrors()

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    void RTABMAP_CORE_EXPORT rtabmap::graph::calcRelativeErrors (const std::vector< Transform > & poses_gt,
    const std::vector< Transform > & poses_result,
    float & t_err,
    float & r_err 
    )
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    Mean frame-to-frame relative pose error (RPE-style, one step).

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    For each consecutive pair (i, i+1), builds the relative motion in ground truth and in the estimate, then measures how much they differ:

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    • translation: Euclidean distance between the two relative transforms (m)
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    • rotation: angle between the two relative transforms (rad → deg)
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    Returns the arithmetic mean over all N-1 pairs (N = trajectory length). Unlike calcKittiSequenceErrors(), there is no fixed segment length and no path-length normalization.

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    Parameters
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    poses_gtGround-truth poses in temporal order (one per frame).
    poses_resultEstimated poses (same length and ordering as poses_gt).
    t_errOutput mean translation error over consecutive pairs (m).
    r_errOutput mean rotation error over consecutive pairs (deg).
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    ◆ calcRMSE()

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    Transform RTABMAP_CORE_EXPORT rtabmap::graph::calcRMSE (const std::map< int, Transform > & groundTruth,
    const std::map< int, Transform > & poses,
    float & translational_rmse,
    float & translational_mean,
    float & translational_median,
    float & translational_std,
    float & translational_min,
    float & translational_max,
    float & rotational_rmse,
    float & rotational_mean,
    float & rotational_median,
    float & rotational_std,
    float & rotational_min,
    float & rotational_max,
    bool align2D = false 
    )
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    Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).

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    Only poses whose id exists in both groundTruth and poses are compared. An alignment transform t is estimated so that per-pose error is measured after bringing the estimate into the reference frame:

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    • If more than five poses match: t from SVD on position correspondences (estimate positions → ground-truth positions; z ignored when align2D is true).
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    • Otherwise: t = groundTruth[firstId] * poses[firstId]⁻¹ using the first matched id.
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    For each matched pose, after aligned = t * poses[id]:

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    • Translational error: Euclidean distance between aligned and groundTruth[id] (m).
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    • Rotational error: Angle between the poses' +X axes (deg).
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    The eight @p translational_* and @p rotational_* outputs are statistics over those per-pose errors (all matched poses). They are set to 0 when no id matches.

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    Parameters
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    groundTruthReference trajectory (node id → pose).
    posesEstimated trajectory; ids not in groundTruth are skipped.
    translational_rmseRoot mean square of translational errors (m).
    translational_meanArithmetic mean of translational errors (m).
    translational_medianMiddle sample in matched-pose iteration order (m).
    translational_stdStandard deviation of translational errors (m).
    translational_minMinimum translational error (m).
    translational_maxMaximum translational error (m).
    rotational_rmseRoot mean square of rotational errors (deg).
    rotational_meanArithmetic mean of rotational errors (deg).
    rotational_medianMiddle sample in matched-pose iteration order (deg).
    rotational_stdStandard deviation of rotational errors (deg).
    rotational_minMinimum rotational error (deg).
    rotational_maxMaximum rotational error (deg).
    align2DIf true, alignment uses x/y only (z set to 0 for correspondence); 3D if false.
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    Returns
    Alignment transform t applied as t * poses[id] before error computation.
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    See also
    https://vision.in.tum.de/data/datasets/rgbd-dataset
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    ◆ computeMaxGraphErrors()

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    MaxGraphErrors RTABMAP_CORE_EXPORT rtabmap::graph::computeMaxGraphErrors (const std::map< int, Transform > & poses,
    const std::multimap< int, Link > & links,
    bool for3DoF = false 
    )
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    Finds the worst pose-graph constraint residuals after optimization.

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    Iterates over links and, for each non-self-referenced edge (from != to):

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    1. Looks up T_from and T_to in poses (returns default MaxGraphErrors if any endpoint pose is missing, null, or not invertible).
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    2. Builds the relative pose implied by the optimized poses:
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      • Normal link: t = T_from⁻¹ · T_to
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      • Landmark (from < 0): t = T_to⁻¹ · T_from, link measurement inverted
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      3. +
    3. Compares t to the link transform:
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      • Linear error: max |Δx|, |Δy|, and |Δz| (z ignored when for3DoF is true).
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      • Angular error: full 3D angle between t and the link, or yaw-only if for3DoF; skipped for Link::kLandmark when the information matrix does not constrain yaw.
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    4. Normalizes by link uncertainty: error / sqrt(variance) using the link information matrix (largest diagonal variance for translation/rotation).
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    The returned MaxGraphErrors holds the link with the highest linear and angular ratios (not necessarily the largest absolute error).

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    Parameters
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    posesOptimized node poses (must contain every from and to id used).
    linksGraph constraints (typically std::multimap<int, Link> keyed by from).
    for3DoFIf true, linear error uses x/y only and angular error compares yaw only.
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    Returns
    MaxGraphErrors; fields stay -1 when no valid link was checked or on early abort.
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    ◆ getMaxOdomInf()

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    std::vector< double > RTABMAP_CORE_EXPORT rtabmap::graph::getMaxOdomInf (const std::multimap< int, Link > & links)
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    Maximum information-matrix diagonal over odometry neighbor links.

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    Scans links of type Link::kNeighbor or Link::kNeighborMerged and, for each dof (x, y, z, roll, pitch, yaw), keeps the largest diagonal entry of the 6×6 information matrix.

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    Parameters
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    linksGraph constraints (multimap keyed by source id).
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    Returns
    Six maximum information values, or an empty vector if no neighbor links exist.
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    ◆ findLink() [1/6]

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    std::multimap< int, Link >::iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (std::multimap< int, Link > & links,
    int from,
    int to,
    bool checkBothWays = true,
    Link::Type type = Link::kUndef 
    )
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    Finds the first link from from to to in a multimap keyed by source id.

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    Iterates all entries with key from and matches the destination (and optionally type). When checkBothWays is true, also searches key to for a link back to from.

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    Parameters
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    linksLink multimap (key = source node id).
    fromSource node id.
    toDestination node id.
    checkBothWaysIf true, also match to → from.
    typeRequired link type, or Link::kUndef to accept any type.
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    Iterator to the link, or links.end() if not found.
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    ◆ findLink() [2/6]

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    std::multimap< int, std::pair< int, Link::Type > >::iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (std::multimap< int, std::pair< int, Link::Type > > & links,
    int from,
    int to,
    bool checkBothWays = true,
    Link::Type type = Link::kUndef 
    )
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    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. std::multimap<int, std::pair<int, Link::Type>>.

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    ◆ findLink() [3/6]

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    std::multimap< int, int >::iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (std::multimap< int, int > & links,
    int from,
    int to,
    bool checkBothWays = true 
    )
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    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. std::multimap<int, int>.

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    ◆ findLink() [4/6]

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    std::multimap< int, Link >::const_iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (const std::multimap< int, Link > & links,
    int from,
    int to,
    bool checkBothWays = true,
    Link::Type type = Link::kUndef 
    )
    +
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    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Const std::multimap<int, Link>.

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    ◆ findLink() [5/6]

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    std::multimap< int, std::pair< int, Link::Type > >::const_iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (const std::multimap< int, std::pair< int, Link::Type > > & links,
    int from,
    int to,
    bool checkBothWays = true,
    Link::Type type = Link::kUndef 
    )
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Const std::multimap<int, std::pair<int, Link::Type>>.

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    ◆ findLink() [6/6]

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    std::multimap< int, int >::const_iterator RTABMAP_CORE_EXPORT rtabmap::graph::findLink (const std::multimap< int, int > & links,
    int from,
    int to,
    bool checkBothWays = true 
    )
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Const std::multimap<int, int>.

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    ◆ findLinks()

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    std::list< Link > RTABMAP_CORE_EXPORT rtabmap::graph::findLinks (const std::multimap< int, Link > & links,
    int from 
    )
    +
    + +

    Lists all links incident on node from.

    +

    Outgoing links (link.from() == from) are returned as stored; for incoming links (link.to() == from), the inverse link is returned so the pose of from is always the source frame.

    +
    Parameters
    + + + +
    linksGraph constraints.
    fromNode id to query.
    +
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    Returns
    Incident links (may be empty).
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    ◆ filterDuplicateLinks()

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    std::multimap< int, Link > RTABMAP_CORE_EXPORT rtabmap::graph::filterDuplicateLinks (const std::multimap< int, Link > & links)
    +
    + +

    Removes duplicate undirected links.

    +

    Keeps the first occurrence of each (from, to) or (to, from) pair with the same Link::Type (see findLink() with checkBothWays).

    +
    Parameters
    + + +
    linksInput link multimap.
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    Returns
    Copy without duplicates.
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    ◆ filterLinks() [1/2]

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    std::multimap< int, Link > RTABMAP_CORE_EXPORT rtabmap::graph::filterLinks (const std::multimap< int, Link > & links,
    Link::Type filteredType,
    bool inverted = false 
    )
    +
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    Filters links by type or self-reference.

    +
      +
    • If filteredType is kSelfRefLink: exclude self-references (from == to), or include only them when inverted is true.
      • +
    • Otherwise: exclude links of filteredType, or keep only that type when inverted is true.
      • +
    +
    Parameters
    + + + + +
    linksInput links.
    filteredTypeType to filter, or Link::kSelfRefLink for self-reference filtering.
    invertedIf true, keep the filtered set instead of removing it.
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    Returns
    Filtered link container (same structure as input).
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    ◆ filterLinks() [2/2]

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    std::map< int, Link > RTABMAP_CORE_EXPORT rtabmap::graph::filterLinks (const std::map< int, Link > & links,
    Link::Type filteredType,
    bool inverted = false 
    )
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. For std::map<int, Link>.

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    ◆ frustumPosesFiltering()

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    std::map< int, Transform > RTABMAP_CORE_EXPORT rtabmap::graph::frustumPosesFiltering (const std::map< int, Transform > & poses,
    const Transform & cameraPose,
    float horizontalFOV = 45.0f,
    float verticalFOV = 45.0f,
    float nearClipPlaneDistance = 0.1f,
    float farClipPlaneDistance = 100.0f,
    bool negative = false 
    )
    +
    + +

    Keeps poses inside (or outside) a camera frustum.

    +

    Transforms each pose position into the frustum defined by cameraPose using util3d::frustumFiltering() (this assumes the cameraPose includes the optical rotation of the camera (X right, Y down, Z forward).

    +
    Parameters
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    posesInput poses (null poses are skipped) in base frame (X forward, Y left, Z up),
    cameraPoseFrustum origin and orientation including the optical rotation of the camera (X right, Y down, Z forward).
    horizontalFOVHorizontal field of view (deg); see CameraModel::horizontalFOV().
    verticalFOVVertical field of view (deg); see CameraModel::verticalFOV().
    nearClipPlaneDistanceNear clipping distance (m).
    farClipPlaneDistanceFar clipping distance (m).
    negativeIf false, keep poses inside the frustum; if true, keep poses outside.
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    Returns
    Subset of poses passing the filter.
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    ◆ radiusPosesFiltering()

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    std::map< int, Transform > RTABMAP_CORE_EXPORT rtabmap::graph::radiusPosesFiltering (const std::map< int, Transform > & poses,
    float radius,
    float angle,
    bool keepLatest = true 
    )
    +
    + +

    Subsamples poses that are spatially (and optionally angularly) redundant.

    +

    For each pose not yet processed, finds all poses within radius (KD-tree). When angle > 0, only poses whose +X axis differs by at most angle (rad) are grouped. From each group, keeps one pose: the latest in map order if keepLatest, otherwise the earliest. The first and last poses of the input map are always kept.

    +
    Parameters
    + + + + + +
    posesInput trajectory (map iteration order defines “latest/oldest”).
    radiusClustering radius (m); if ≤ 0 or fewer than three poses, returns poses unchanged.
    angleMax heading difference within a cluster (rad); 0 ignores orientation.
    keepLatestIf true, keep the latest pose per cluster; otherwise the earliest.
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    Returns
    Subsampled poses.
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    ◆ radiusPosesClustering()

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    std::multimap< int, int > RTABMAP_CORE_EXPORT rtabmap::graph::radiusPosesClustering (const std::map< int, Transform > & poses,
    float radius,
    float angle 
    )
    +
    + +

    Radius-neighbor clustering of poses.

    +

    For each pose, inserts (queryId, neighborId) into the output for every other pose within radius (and within angle of the query heading when angle > 0).

    +
    Parameters
    + + + + +
    posesInput poses.
    radiusSearch radius (m); no pairs if ≤ 0 or fewer than two poses.
    angleMax heading difference (rad); 0 ignores orientation.
    +
    +
    +
    Returns
    Multimap of pose id → neighbor id (both ids from poses).
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    ◆ reduceGraph()

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    void rtabmap::graph::reduceGraph (const std::map< int, Transform > & poses,
    const std::multimap< int, Link > & links,
    std::multimap< int, int > & hyperNodes,
    std::multimap< int, Link > & hyperLinks 
    )
    +
    + +

    Reduces a pose graph into hyper-nodes and hyper-links.

    +

    Hyper-nodes: clusters poses connected by non-neighbor loop-closure links. Clustering starts from the largest id downward; each cluster is keyed by its parent (hyper-node) id.

    +

    Hyper-links: for each Link::kNeighbor or Link::kNeighborMerged link between different clusters, builds one merged Link along the shortest path through intra-cluster closure links (Dijkstra with unit cost).

    +
    Parameters
    + + + + + +
    posesInput optimized poses.
    linksInput constraints (should be unique per directed edge for closure links).
    hyperNodesOutput hyperNodeId → childPoseId membership.
    hyperLinksOutput links between hyper-nodes (one per hyper-edge, most recent kept).
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    ◆ computePath() [1/3]

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    std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT rtabmap::graph::computePath (const std::map< int, rtabmap::Transform > & poses,
    const std::multimap< int, int > & links,
    int from,
    int to,
    bool updateNewCosts = false 
    )
    +
    + +

    A* shortest path on a pose graph with Euclidean edge costs.

    +

    Edge cost between adjacent nodes is the Euclidean distance between their poses in poses. Uses costSoFar + distToEnd where distToEnd is the distance to the goal pose.

    +
    Parameters
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    posesNode id → pose (must contain every node reached by links).
    linksDirected edges (from → to) keyed by source id.
    fromStart node id.
    toGoal node id.
    updateNewCostsIf true, use a multimap queue that can decrease keys when a shorter path is found.
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    Returns
    Ordered path from from to to (inclusive) with poses; empty if unreachable.
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    ◆ computePath() [2/3]

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    std::list< int > RTABMAP_CORE_EXPORT rtabmap::graph::computePath (const std::multimap< int, Link > & links,
    int from,
    int to,
    bool updateNewCosts = false,
    bool useSameCostForAllLinks = false 
    )
    +
    + +

    Dijkstra shortest path on link constraints.

    +

    Explores outgoing links keyed by link.from(). Edge cost is 1 when useSameCostForAllLinks is true, otherwise the translation norm of the link transform.

    +
    Parameters
    + + + + + + +
    linksConstraints keyed by source node id.
    fromStart node id.
    toGoal node id.
    updateNewCostsIf true, allow cost improvements on open nodes.
    useSameCostForAllLinksIf true, unit edge cost; else use link.transform().getNorm().
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    Returns
    Node ids from from to to (inclusive); empty if unreachable.
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    ◆ computePath() [3/3]

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    std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT rtabmap::graph::computePath (int fromId,
    int toId,
    const Memory * memory,
    bool lookInDatabase = true,
    bool updateNewCosts = false,
    float linearVelocity = 0.0f,
    float angularVelocity = 0.0f,
    bool ignoreDirectLinks = false 
    )
    +
    + +

    Dijkstra path through the live Memory pose graph.

    +

    Loads links from Memory (optionally from the database), chains transforms along the chosen path, and returns the accumulated poses. Self-referenced links are skipped.

    +

    By default (linearVelocity and angularVelocity ≤ 0), edge cost is translation distance (m) only. When set > 0, costs are expressed in seconds of motion:

      +
    • linearVelocity adds linkTranslation / linearVelocity (time to drive the edge at that speed). Used alone it scales every edge by the same factor, so the shortest path is unchanged; set it to your robot’s typical forward speed (e.g. 0.5 m/s) when you also use angularVelocity so translation and rotation costs are comparable.
      • +
    • angularVelocity adds headingMismatch / angularVelocity, where heading mismatch is the angle between the displacement to the next node and that node’s forward (+X) axis. This is what changes which path is chosen: a chain followed mostly forward (small mismatch) can beat a shorter route through loop closures that require large reorientations (e.g. angularVelocity = 1.0 rad/s with linearVelocity = 0.5 m/s). With angularVelocity > 0 and linearVelocity ≤ 0, translation is ignored and the path minimizes heading mismatch only (forward-following paths, regardless of distance). This can help loop-closure detection when the map was built with a forward-facing camera: the path stays aligned with how places were observed while driving forward.
      • +
    +
    Parameters
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    fromIdStart signature id (≥ 0).
    toIdGoal signature id (≠ 0).
    memoryGraph memory (must not be null).
    lookInDatabaseIf true, load links from the database when not already in RAM.
    updateNewCostsIf true, allow cost improvements on open nodes.
    linearVelocityIf > 0, add translationNorm / linearVelocity to edge cost (m/s).
    angularVelocityIf > 0, add rotation time from motion direction change (rad/s).
    ignoreDirectLinksIf true, skip the direct edge between fromId and toId.
    +
    +
    +
    Returns
    Path as (nodeId, pose) pairs; first pose is identity at fromId. Empty if unreachable.
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    ◆ findNearestNode()

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    int RTABMAP_CORE_EXPORT rtabmap::graph::findNearestNode (const std::map< int, rtabmap::Transform > & poses,
    const rtabmap::Transform & targetPose,
    float * distance = 0 
    )
    +
    + +

    Id of the nearest pose to targetPose.

    +

    Wrapper around findNearestNodes() with radius=0, k=1 (1-NN in 3D).

    +
    Parameters
    + + + + +
    posesNodes to search.
    targetPoseQuery position (x, y, z only; orientation is not used).
    distanceIf not null, set to the squared Euclidean distance of the match.
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    +
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    Returns
    Closest node id, or 0 if poses is empty.
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    ◆ findNearestNodes() [1/3]

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    std::map< int, float > RTABMAP_CORE_EXPORT rtabmap::graph::findNearestNodes (int nodeId,
    const std::map< int, Transform > & poses,
    float radius,
    float angle = 0.0f,
    int k = 0 
    )
    +
    + +

    Spatial neighbors of a node (KD-tree radius or k-NN search).

    +

    nodeId is removed from the search set. Requires radius &gt; 0 or k &gt; 0. When radius &gt; 0, returns all poses within radius (up to k if k &gt; 0). When radius == 0, returns the k nearest neighbors.

    +
    Parameters
    + + + + + + +
    nodeIdQuery node (must exist in poses); excluded from results.
    posesCandidate poses.
    radiusSearch radius (m).
    angleMax +X axis angle difference (rad); 0 ignores heading.
    kMax neighbors (0 = all within radius).
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    Returns
    Neighbor id → squared Euclidean distance.
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    ◆ findNearestNodes() [2/3]

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    std::map< int, float > RTABMAP_CORE_EXPORT rtabmap::graph::findNearestNodes (const Transform & targetPose,
    const std::map< int, Transform > & poses,
    float radius,
    float angle = 0.0f,
    int k = 0 
    )
    +
    + +

    Spatial neighbors of a pose (KD-tree radius or k-NN search).

    +
    Parameters
    + + + + + + +
    targetPoseQuery pose (position used; orientation used when angle > 0).
    posesCandidate poses (not modified).
    radiusSearch radius (m).
    angleMax +X axis angle difference (rad); 0 ignores heading.
    kMax neighbors (0 = all within radius).
    +
    +
    +
    Returns
    Neighbor id → squared Euclidean distance.
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    ◆ findNearestPoses()

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    std::map< int, Transform > RTABMAP_CORE_EXPORT rtabmap::graph::findNearestPoses (const Transform & targetPose,
    const std::map< int, Transform > & poses,
    float radius,
    float angle = 0.0f,
    int k = 0 
    )
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. Query by Transform instead of node id.

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    ◆ findNearestNodes() [3/3]

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    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT rtabmap::graph::findNearestNodes (const std::map< int, rtabmap::Transform > & nodes,
    const rtabmap::Transform & targetPose,
    int k 
    )
    +
    +
    Deprecated:
    Use findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int) with radius=0, k set.
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    ◆ getNodesInRadius() [1/2]

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    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT rtabmap::graph::getNodesInRadius (int nodeId,
    const std::map< int, Transform > & nodes,
    float radius 
    )
    +
    +
    Deprecated:
    Use findNearestNodes(int,const std::map<int,Transform>&,float,float,int).
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    ◆ getNodesInRadius() [2/2]

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    RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT rtabmap::graph::getNodesInRadius (const Transform & targetPose,
    const std::map< int, Transform > & nodes,
    float radius 
    )
    +
    +
    Deprecated:
    Use findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int).
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    ◆ getPosesInRadius() [1/2]

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    RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT rtabmap::graph::getPosesInRadius (int nodeId,
    const std::map< int, Transform > & nodes,
    float radius,
    float angle = 0.0f 
    )
    +
    +
    Deprecated:
    Use findNearestPoses(int,const std::map<int,Transform>&,float,float,int).
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    ◆ getPosesInRadius() [2/2]

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    RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT rtabmap::graph::getPosesInRadius (const Transform & targetPose,
    const std::map< int, Transform > & nodes,
    float radius,
    float angle = 0.0f 
    )
    +
    +
    Deprecated:
    Use findNearestPoses(const Transform&,const std::map<int,Transform>&,float,float,int).
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    ◆ computePathLength() [1/2]

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    float RTABMAP_CORE_EXPORT rtabmap::graph::computePathLength (const std::vector< std::pair< int, Transform > > & path)
    +
    + +

    Path length along an ordered list of poses.

    +

    Sums path[i].second.getDistance(path[i+1].second) for consecutive entries.

    +
    Parameters
    + + +
    pathOrdered (nodeId, pose) pairs.
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    Returns
    Total length (m), or 0 if fewer than two poses.
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    ◆ computePathLength() [2/2]

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    float RTABMAP_CORE_EXPORT rtabmap::graph::computePathLength (const std::map< int, Transform > & path)
    +
    + +

    Path length in map iteration order.

    +

    Sums distances between consecutive poses in ascending map key order (does not verify that entries form a connected path in the graph).

    +
    Parameters
    + + +
    pathPoses keyed by node id (sorted by key).
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    Returns
    Total length (m), or 0 if fewer than two poses.
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    ◆ getPaths()

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    std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT rtabmap::graph::getPaths (std::map< int, Transform > poses,
    const std::multimap< int, Link > & links 
    )
    +
    + +

    Splits poses into chains connected only by neighbor links.

    +

    Repeatedly builds a path starting from the lowest remaining id: adds the next pose in map order only if a Link::kNeighbor or Link::kNeighborMerged link exists from the previous pose to it. Stops at the first gap, pushes the chain, and continues until poses is empty.

    +
    Parameters
    + + + +
    posesInput poses (cleared as segments are extracted).
    linksGraph constraints keyed by source id.
    +
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    Returns
    List of pose maps, each a contiguous neighbor chain.
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    ◆ computeMinMax()

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    void RTABMAP_CORE_EXPORT rtabmap::graph::computeMinMax (const std::map< int, Transform > & poses,
    cv::Vec3f & min,
    cv::Vec3f & max 
    )
    +
    + +

    Axis-aligned bounding box of pose positions.

    +
    Parameters
    + + + + +
    posesInput poses (no effect if empty).
    minOutput minimum (x, y, z) in meters.
    maxOutput maximum (x, y, z) in meters.
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    +
    +
    + + + + diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1graph.js b/preview/pr-1492/api/latest/namespacertabmap_1_1graph.js new file mode 100644 index 00000000..c83d4e45 --- /dev/null +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1graph.js @@ -0,0 +1,43 @@ +var namespacertabmap_1_1graph = +[ + [ "MaxGraphErrors", "structrtabmap_1_1graph_1_1MaxGraphErrors.html", "structrtabmap_1_1graph_1_1MaxGraphErrors" ], + [ "exportPoses", "namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46", null ], + [ "importPoses", "namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e", null ], + [ "exportGPS", "namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2", null ], + [ "calcKittiSequenceErrors", "namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67", null ], + [ "calcRelativeErrors", "namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215", null ], + [ "calcRMSE", "namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88", null ], + [ "computeMaxGraphErrors", "namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e", null ], + [ "getMaxOdomInf", "namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b", null ], + [ "findLink", "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec", null ], + [ "findLink", "namespacertabmap_1_1graph.html#ad91079c9cdd934c8ba8927d3c52b40e5", null ], + [ "findLink", "namespacertabmap_1_1graph.html#a06ed3112247c13dcf494665c1d9df327", null ], + [ "findLink", "namespacertabmap_1_1graph.html#a7695c60c6bb375057586449674d42eea", null ], + [ "findLink", "namespacertabmap_1_1graph.html#a8200ae3a6bd27ee2cee4b71d85ace3e9", null ], + [ "findLink", "namespacertabmap_1_1graph.html#aecdcc01682092f4c89257d070aa2a437", null ], + [ "findLinks", "namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82", null ], + [ "filterDuplicateLinks", "namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2", null ], + [ "filterLinks", "namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300", null ], + [ "filterLinks", "namespacertabmap_1_1graph.html#af4dffb2a3eced519378d18bca8fa4419", null ], + [ "frustumPosesFiltering", "namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de", null ], + [ "radiusPosesFiltering", "namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506", null ], + [ "radiusPosesClustering", "namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155", null ], + [ "reduceGraph", "namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f", null ], + [ "computePath", "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea", null ], + [ "computePath", "namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2", null ], + [ "computePath", "namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142", null ], + [ "findNearestNode", "namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c", null ], + [ "findNearestNodes", "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157", null ], + [ "findNearestNodes", "namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f", null ], + [ "findNearestPoses", "namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf", null ], + [ "findNearestPoses", "namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95", null ], + [ "findNearestNodes", "namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f", null ], + [ "getNodesInRadius", "namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e", null ], + [ "getNodesInRadius", "namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620", null ], + [ "getPosesInRadius", "namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043", null ], + [ "getPosesInRadius", "namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f", null ], + [ "computePathLength", "namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39", null ], + [ "computePathLength", "namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277", null ], + [ "getPaths", "namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094", null ], + [ "computeMinMax", "namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html index a2a1f3b2..877df10c 100644 --- a/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util2d.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Functions
    @@ -100,7 +117,7 @@ Functions void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo (cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)  Computes sparse optical flow using a pyramidal Lucas-Kanade method constrained to the x-axis.
      -cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap()) +cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())  Computes the disparity map from a pair of stereo images.
      cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1) @@ -181,6 +198,7 @@ cv::Mat RTABMAP_CORE_EXPORT <

    Detailed Description

    This namespace contains 2D image processing utilities.

    +

    2D image utilities: disparity and depth conversion, interpolation, decimation, sub-pixel refinement and similarity measures.

    Function Documentation

    ◆ ssd()

    @@ -520,8 +538,8 @@ cv::Mat RTABMAP_CORE_EXPORT < - const ParametersMap &  - parameters = ParametersMap()  + const ParametersMap &  + parameters = ParametersMap()  @@ -1716,9 +1734,13 @@ If the indx vector is provided, the returned indices refer to the o
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html new file mode 100644 index 00000000..e9bf6518 --- /dev/null +++ b/preview/pr-1492/api/latest/namespacertabmap_1_1util3d.html @@ -0,0 +1,8683 @@ + + + + + + + + +RTAB-Map: rtabmap::util3d Namespace Reference + + + + + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    Real-Time Appearance-Based Mapping
    +
    +
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    rtabmap::util3d Namespace Reference
    +
    +
    + +

    3D utilities: point cloud conversion and filtering, projection, registration, surface reconstruction, mapping and transforms. +More...

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Functions

    template<typename PointCloud2T >
    LaserScan laserScanFromPointCloud (const PointCloud2T &cloud, bool filterNaNs=true, bool is2D=false, const Transform &transform=Transform())
     Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::Format)
     
    template<typename PointT >
    pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane (const typename pcl::PointCloud< PointT > &cloud)
     Projects a point cloud onto the XY plane by setting all Z coordinates to zero.
     
    template<typename PointT >
    void segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, const typename pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight, pcl::IndicesPtr *flatObstacles, const Eigen::Vector4f &viewPoint, float groundNormalsUp)
     
    template<typename PointT >
    void segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles=false, float maxGroundHeight=0.0f, pcl::IndicesPtr *flatObstacles=0, const Eigen::Vector4f &viewPoint=Eigen::Vector4f(0, 0, 100, 0), float groundNormalsUp=0)
     Segments ground and obstacle indices from a point cloud using surface normals and clustering.
     
    template<typename PointT >
    void occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
     Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupancy data.
     
    template<typename PointT >
    void occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr &groundCloud, const typename pcl::PointCloud< PointT >::Ptr &obstaclesCloud, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
     Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupancy data.
     
    template<typename PointT >
    void occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize=0.05f, float groundNormalAngle=M_PI_4, int minClusterSize=20, bool segmentFlatObstacles=false, float maxGroundHeight=0.0f)
     Generates 2D ground and obstacle occupancy data from a 3D point cloud.
     
    template<typename PointT >
    void occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr &cloud, cv::Mat &ground, cv::Mat &obstacles, float cellSize=0.05f, float groundNormalAngle=M_PI_4, int minClusterSize=20, bool segmentFlatObstacles=false, float maxGroundHeight=0.0f)
     Generates 2D ground and obstacle occupancy data from a 3D point cloud.
     
    template<typename pointT >
    std::vector< pcl::Vertices > normalizePolygonsSide (const typename pcl::PointCloud< pointT > &cloud, const std::vector< pcl::Vertices > &polygons, const pcl::PointXYZ &viewPoint)
     
    template<typename pointRGBT >
    void denseMeshPostProcessing (pcl::PolygonMeshPtr &mesh, float meshDecimationFactor, int maximumPolygons, const typename pcl::PointCloud< pointRGBT >::Ptr &cloud, float transferColorRadius, bool coloredOutput, bool cleanMesh, int minClusterSize, ProgressState *progressState)
     
    template<typename PointT >
    bool intersectRayMesh (const Eigen::Vector3f &origin, const Eigen::Vector3f &dir, const typename pcl::PointCloud< PointT > &cloud, const std::vector< pcl::Vertices > &polygons, bool ignoreBackFaces, float &distance, Eigen::Vector3f &normal, int &index)
     
    cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
     Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.
     
    cv::Mat RTABMAP_CORE_EXPORT depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool depth16U=true)
     Generates a depth image from a PCL organized point cloud.
     
    void RTABMAP_CORE_EXPORT rgbdFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, bool bgrOrder=true, bool depth16U=true)
     Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.
     
    pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D (const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)
     Projects a single depth pixel into 3D space.
     
    Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay (const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)
     Projects pixel coordinates to a normalized 3D ray in camera coordinates.
     
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Converts a depth image to a 3D point cloud.
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth (const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Converts a depth image to a 3D point cloud using a camera model.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth (const cv::Mat &imageDepth, const cv::Mat &imageDepthConfidence, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, unsigned char confidenceThr=0, std::vector< int > *validIndices=0)
     
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Creates a point cloud from an RGB image and a depth image.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Creates a point cloud from an RGB image and a depth image using a CameraModel.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB (const cv::Mat &imageRgb, const cv::Mat &imageDepth, const cv::Mat &imageDepthConfidence, const CameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, unsigned char confidenceThr=0, std::vector< int > *validIndices=0)
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity (const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Converts a disparity image to a 3D point cloud.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB (const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
     Converts a disparity image and an RGB image to a 3D point cloud with color.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages (const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())
     Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.
     
    std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
     Generates a set of point clouds from sensor data.
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
     Generates a point cloud from sensor data.
     
    std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
     Generates a point cloud with RGB color data from sensor data.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData (const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
     Generates a point cloud of type pcl::PointXYZRGB from sensor data.
     
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImage (const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())
     Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and a local transformation.
     
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages (const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)
     Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (point cloud).
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZ → (x, y, z) → LaserScan::kXYZ
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZ → (x, y, z) → LaserScan::kXYZ
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZRGB → (x, y, z, rgb) → LaserScan::kXYZRGB
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZRGB → (x, y, z, rgb) → LaserScan::kXYZRGB
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZI → (x, y, z, intensity) → LaserScan::kXYZI
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZI → (x, y, z, intensity) → LaserScan::kXYZI
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     rtabmap::PointXYZIRT → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     rtabmap::PointXYZIRT → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
     pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     PointXYZ → LaserScan::kXY
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     PointXYZI → LaserScan::kXYI (x, y, intensity)
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     PointNormal → LaserScan::kXYNormal (x, y, nx, ny, nz)
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
     PointXYZ + Normal → LaserScan::kXYNormal (x, y, nx, ny, nz)
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
     PointXYZINormal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)
     
    +LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
     PointXYZI + Normal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)
     
    +pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2 (const LaserScan &laserScan, const Transform &transform=Transform())
     Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::Format)
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform())
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform())
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
     
    +pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint (const LaserScan &laserScan, int index)
     
    +pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal (const LaserScan &laserScan, int index)
     
    +pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
     
    +pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI (const LaserScan &laserScan, int index, float intensity)
     
    +pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
     
    +pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity)
     
    void RTABMAP_CORE_EXPORT getMinMax3D (const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)
     Computes the minimum and maximum 3D points from a laser scan matrix.
     
    void RTABMAP_CORE_EXPORT getMinMax3D (const cv::Mat &laserScan, pcl::PointXYZ &min, pcl::PointXYZ &max)
     Computes the minimum and maximum 3D points from a laser scan matrix and stores the results in pcl::PointXYZ.
     
    cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D (const cv::Point2f &pt, float disparity, const StereoCameraModel &model)
     Projects a 2D point from the left image and its disparity into 3D space.
     
    cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D (const cv::Point2f &pt, const cv::Mat &disparity, const StereoCameraModel &model)
     Projects a 2D point from the left image and the disparity map into 3D space.
     
    cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)
     Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.
     
    cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const pcl::PointCloud< pcl::PointXYZ >::Ptr laserScan, const rtabmap::Transform &cameraTransform)
     Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.
     
    cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera (const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const pcl::PCLPointCloud2::Ptr laserScan, const rtabmap::Transform &cameraTransform)
     Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.
     
    void RTABMAP_CORE_EXPORT fillProjectedCloudHoles (cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)
     Fills holes (missing depth values) in a depth image by interpolating between non-zero values.
     
    cv::Mat RTABMAP_CORE_EXPORT filterFloor (const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float threshold, cv::Mat *depthBelow=0)
     Filters out points below a certain threshold in a depth image based on camera models.
     
    std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
     Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy.
     
    std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
     Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy.
     
    bool RTABMAP_CORE_EXPORT isFinite (const cv::Point3f &pt)
     Checks if all coordinates of a 3D point are finite.
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
     Concatenates a list of PointXYZ point clouds into a single point cloud.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds)
     Concatenates a list of PointXYZRGB point clouds into a single point cloud.
     
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate (const std::vector< pcl::IndicesPtr > &indices)
     Concatenates multiple sets of indices into a single index vector.
     
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate (const pcl::IndicesPtr &indicesA, const pcl::IndicesPtr &indicesB)
     Concatenates two sets of indices into one.
     
    void RTABMAP_CORE_EXPORT savePCDWords (const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
     Saves 3D word points to a PCD file, applying a transform to each point.
     
    void RTABMAP_CORE_EXPORT savePCDWords (const std::string &fileName, const std::multimap< int, cv::Point3f > &words, const Transform &transform=Transform::getIdentity())
     Saves 3D word points (as OpenCV points) to a PCD file, applying a transform to each point.
     
    cv::Mat RTABMAP_CORE_EXPORT loadBINScan (const std::string &fileName)
     Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud (const std::string &fileName)
     Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.
     
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud (const std::string &fileName, int dim)
     Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.
     
    LaserScan RTABMAP_CORE_EXPORT loadScan (const std::string &path)
     Loads a 3D scan from a file (.pcd, .ply, or .bin format).
     
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadCloud (const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)
     Loads and optionally transforms/downsamples/voxelizes a point cloud.
     
    LaserScan RTABMAP_CORE_EXPORT deskew (const LaserScan &input, double inputStamp, const rtabmap::Transform &velocity)
     Lidar deskewing.
     
    void RTABMAP_CORE_EXPORT extractXYZCorrespondences (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
     Extracts 3D point correspondences between two sets of labeled 3D points.
     
    void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC (const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
     Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filtering.
     
    void RTABMAP_CORE_EXPORT extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const cv::Mat &depthImage1, const cv::Mat &depthImage2, float cx, float cy, float fx, float fy, float maxDepth, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
     Extracts 3D point correspondences from 2D pixel matches using depth images.
     
    void RTABMAP_CORE_EXPORT extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2)
     Extracts 3D correspondences from 2D feature matches using pcl::PointXYZ organized point clouds.
     
    void RTABMAP_CORE_EXPORT extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > &correspondences, const pcl::PointCloud< pcl::PointXYZRGB > &cloud1, const pcl::PointCloud< pcl::PointXYZRGB > &cloud2, pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2)
     Extracts 3D correspondences from 2D feature matches using pcl::PointXYZRGB organized point clouds.
     
    int RTABMAP_CORE_EXPORT countUniquePairs (const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
     Counts the number of unique 3D point correspondences between two sets of word-indexed features.
     
    void RTABMAP_CORE_EXPORT filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
     Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.
     
    void RTABMAP_CORE_EXPORT findCorrespondences (const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< cv::Point2f, cv::Point2f > > &pairs)
     Finds 2D point correspondences between two sets of keypoints based on matching word IDs.
     
    void RTABMAP_CORE_EXPORT findCorrespondences (const std::multimap< int, cv::Point3f > &words1, const std::multimap< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *uniqueCorrespondences=0)
     Finds 3D point correspondences between two sets of points based on matching word IDs.
     
    void RTABMAP_CORE_EXPORT findCorrespondences (const std::map< int, cv::Point3f > &words1, const std::map< int, cv::Point3f > &words2, std::vector< cv::Point3f > &inliers1, std::vector< cv::Point3f > &inliers2, float maxDepth, std::vector< int > *correspondences=0)
     Finds 3D point correspondences between two sets of uniquely indexed 3D points.
     
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float minDepth=0, float maxDepth=0)
     Projects 2D keypoints to 3D space using the provided depth image and camera models.
     
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDepth (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const CameraModel &cameraModel, float minDepth=0, float maxDepth=0)
     Projects 2D keypoints to 3D space using the provided depth image and camera model.
     
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
     Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.
     
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DStereo (const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
     Computes 3D keypoints from corresponding 2D points in a stereo image pair.
     
    +std::map< int, cv::Point3f > RTABMAP_CORE_EXPORT generateWords3DMono (const std::map< int, cv::KeyPoint > &kpts, const std::map< int, cv::KeyPoint > &previousKpts, const CameraModel &cameraModel, Transform &cameraTransform, float ransacReprojThreshold=3.0f, float ransacConfidence=0.99f, int varianceMedianRatio=4, const std::map< int, cv::Point3f > &refGuess3D=std::map< int, cv::Point3f >(), double *variance=0, std::vector< int > *matchesOut=0)
     
    std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate (const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
     Aggregates word IDs and corresponding keypoints into a multimap.
     
    LaserScan RTABMAP_CORE_EXPORT commonFiltering (const LaserScan &scan, int downsamplingStep, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalK=0, float normalRadius=0.0f, float groundNormalsUp=0.0f)
     Applies a common set of filters to a LaserScan, including downsampling, range limits, voxel grid filtering, and normal estimation.
     
    RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering (const LaserScan &scan, int downsamplingStep, float rangeMin, float rangeMax, float voxelSize, int normalK, float normalRadius, bool forceGroundNormalsUp)
     Applies a common set of filters to a LaserScan, including downsampling, range limits, voxel grid filtering, and normal estimation.
     
    LaserScan RTABMAP_CORE_EXPORT rangeFiltering (const LaserScan &scan, float rangeMin, float rangeMax)
     Filters a LaserScan data on a minimum and maximum Euclidean range.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
     Filters a point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
     Filters a point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
     Filters a point cloud of type pcl::PointNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
     Filters a point cloud of type pcl::PointXYZRGBNormal.
     
    +void RTABMAP_CORE_EXPORT rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
     Splits a point cloud of type pcl::PointXYZ.
     
    +void RTABMAP_CORE_EXPORT rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
     Splits a point cloud of type pcl::PointXYZRGB.
     
    +void RTABMAP_CORE_EXPORT rangeSplitFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
     Splits a point cloud of type pcl::PointNormal.
     
    +void RTABMAP_CORE_EXPORT rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
     Splits a point cloud of type pcl::PointXYZRGBNormal.
     
    +LaserScan RTABMAP_CORE_EXPORT downsample (const LaserScan &cloud, int step)
     Downsamples a LaserScan.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointXYZ.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointXYZRGB.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointXYZI.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointNormal.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT downsample (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, int step)
     Downsamples a point cloud of type pcl::PointXYZINormal.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointNormal on provided indices.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGB on provided indices.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGBNormal on provided indices.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZI on provided indices.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZINormal on provided indices.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointNormal.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGB.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZI.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT voxelize (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float voxelSize)
     Performs voxel grid downsampling on a point cloud of type pcl::PointXYZINormal.
     
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
     DEPRECATED: Use voxelize() instead.
     
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr uniformSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
     DEPRECATED: Use voxelize() instead.
     
    pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr uniformSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
     DEPRECATED: Use voxelize() instead.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointXYZ.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointNormal.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointXYZRGB.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointXYZI.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT randomSampling (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, int samples)
     Performs random sampling on a point cloud of type pcl::PointXYZINormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns filtered indices.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
     Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns a new point cloud of the filtered points.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PCLPointCloud2::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PCLPointCloud2 and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointNormal and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZRGB and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZRGBNormal and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZI and returns filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZINormal and returns filtered indices.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointNormal and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZI and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZINormal and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT cropBox (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
     Performs crop box filtering on a point cloud of type pcl::PointXYZRGBNormal and returns a new point cloud of the filtered points.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
     Performs frustum filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
     Performs frustum filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT frustumFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
     Performs frustum filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
     Remove NaN points from a point cloud of type pcl::PointXYZ.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)
     Remove NaN points from a point cloud of type pcl::PointXYZRGB.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud)
     Remove NaN points from a point cloud of type pcl::PointXYZI.
     
    +pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud (const pcl::PCLPointCloud2::Ptr &cloud)
     Remove NaN points from a point cloud of type pcl::PCLPointCloud2.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
     Removes points with NaN normal values from a point cloud of type pcl::PointNormal.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud)
     Removes points with NaN normal values from a point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud)
     Removes points with NaN normal values from a point cloud of type pcl::PointXYZINormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZI.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZINormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZ with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointNormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZRGB with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZRGBNormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZI with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
     Radius filtering for point cloud of type pcl::PointXYZINormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZI.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZINormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZ with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointNormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZRGB with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZRGBNormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZI with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
     Proportional radius filtering for point cloud of type pcl::PointXYZINormal with indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZ, returning filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZRGB, returning filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointNormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointNormal, returning filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZINormal, returning filtered indices.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZRGBNormal, returning filtered indices.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, float radiusSearch, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZ, returning a new filtered point cloud.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, float radiusSearch, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZRGB, returning a new filtered point cloud.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointNormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointNormal, returning a new filtered point cloud.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZINormal, returning a new filtered point cloud.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
     Subtract filtering for point cloud of type pcl::PointXYZRGBNormal, returning a new filtered point cloud.
     
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearchRatio=0.01, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
     Performs adaptive radius-based subtraction filtering on a point cloud.
     
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearchRatio=0.01, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
     Performs adaptive radius-based subtraction filtering on a point cloud with normals, also considering normal direction differences.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZI.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
     Point normal filtering for point cloud of type pcl::PointXYZINormal.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZ.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZRGB.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZ inside provided indices.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointNormal inside provided indices.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZRGB inside provided indices.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZRGBNormal inside provided indices.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZI inside provided indices.
     
    +std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
     Extract clusters from point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointXYZ.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointXYZRGB.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointXYZI.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
     Extract indices from point cloud of type pcl::PointXYZINormal.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
     Extract points from point cloud of type pcl::PointXYZ with corresponding indices.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
     Extract points from point cloud of type pcl::PointXYZRGB with corresponding indices.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
     Extract points from point cloud of type pcl::PointXYZRGBNormal with corresponding indices.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
     Extract points from point cloud of type pcl::PointXYZI with corresponding indices.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
     Extract points from point cloud of type pcl::PointXYZINormal with corresponding indices.
     
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
     Extracts the indices of the inliers that belong to a plane using RANSAC.
     
    +pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
     
    RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan (const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
     
    RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan (const cv::Mat &scan, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
     
    void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan (const cv::Mat &scanHit, const cv::Mat &scanNoHit, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
     Generates 2D occupancy grid maps (free and occupied cells) from laser scan data.
     
    cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps (const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false, float footprintRadius=0.0f)
     Creates a 2D occupancy grid map from local occupancy data.
     
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
     
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
     
    cv::Mat RTABMAP_CORE_EXPORT create2DMap (const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
     Generates a 2D occupancy grid map from a set of poses, laser scans, and viewpoints.
     
    void RTABMAP_CORE_EXPORT rayTrace (const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
     Performs a 2D ray tracing operation between two points on a grid map.
     
    cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U (const cv::Mat &map8S, bool pgmFormat=false)
     Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).
     
    cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map (const cv::Mat &map8U, bool pgmFormat=false)
     Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).
     
    cv::Mat RTABMAP_CORE_EXPORT erodeMap (const cv::Mat &map)
     Performs erosion on an occupancy grid map to reduce small noisy obstacles.
     
    template<typename PointT >
    void segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, pcl::IndicesPtr &ground, pcl::IndicesPtr &obstacles, int normalKSearch, float groundNormalAngle, float clusterRadius, int minClusterSize, bool segmentFlatObstacles=false, float maxGroundHeight=0.0f, pcl::IndicesPtr *flatObstacles=0, const Eigen::Vector4f &viewPoint=Eigen::Vector4f(0, 0, 100, 0), float groundNormalsUp=0)
     Segments ground and obstacle indices from a point cloud using surface normals and clustering.
     
    void RTABMAP_CORE_EXPORT setRansacDeterministicSeed (bool enable)
     Toggle a deterministic seed for OpenGV's internal RANSAC RNG.
     
    bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled ()
     
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)
     Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.
     
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const std::vector< CameraModel > &cameraModels, unsigned int samplingPolicy, int minInliers, int iterations, double reprojError, int flagsPnP, int refineIterations, int varianceMedianRatio, float maxVariance, const Transform &guess, const std::map< int, cv::Point3f > &words3B, cv::Mat *covariance, std::vector< std::vector< int > > *matchesOut, std::vector< std::vector< int > > *inliersOut, bool splitLinearCovarianceComponents)
     Estimates the 3D-to-2D motion (pose) transformation between a set of 3D points and their corresponding 2D keypoints using the OpenGV library.
     
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const std::vector< CameraModel > &cameraModels, unsigned int samplingPolicy=0, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)
     Estimates the 3D-to-2D motion (pose) transformation between a set of 3D points and their corresponding 2D keypoints using the OpenGV library.
     
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D (const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::Point3f > &words3B, int minInliers=10, double inliersDistance=0.1, int iterations=100, int refineIterations=5, cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0)
     Estimates the 3D rigid transformation between two sets of 3D points.
     
    void RTABMAP_CORE_EXPORT solvePnPRansac (const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)
     Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
     
    +int RTABMAP_CORE_EXPORT getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance)
     
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
     Estimates the rigid 3D transformation between two point clouds using SVD.
     
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
     Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.
     
    +void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
     Compute with variance and correspondences of pcl::PointNormal point cloud type.
     
    +void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
     Compute with variance and correspondences of pcl::PointXYZINormal point cloud type.
     
    +void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
     Compute with variance and correspondences of pcl::PointXYZ point cloud type.
     
    +void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
     Compute with variance and correspondences of pcl::PointXYZI point cloud type.
     
    Transform RTABMAP_CORE_EXPORT icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
     Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting transform.
     
    Transform RTABMAP_CORE_EXPORT icp (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZI > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
     Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting transform.
     
    Transform RTABMAP_CORE_EXPORT icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
     Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.
     
    Transform RTABMAP_CORE_EXPORT icpPointToPlane (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZINormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
     Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.
     
    void RTABMAP_CORE_EXPORT createPolygonIndexes (const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
     Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
     
    +std::list< std::list< int > > RTABMAP_CORE_EXPORT clusterPolygons (const std::vector< std::set< int > > &neighborPolygons, int minClusterSize=0)
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT organizedFastMesh (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, double angleTolerance, bool quad, int trianglePixelSize, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT organizedFastMesh (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, double angleTolerance=M_PI/16, bool quad=true, int trianglePixelSize=2, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT organizedFastMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, double angleTolerance=M_PI/16, bool quad=true, int trianglePixelSize=2, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
     
    +void RTABMAP_CORE_EXPORT appendMesh (pcl::PointCloud< pcl::PointXYZRGBNormal > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloudB, const std::vector< pcl::Vertices > &polygonsB)
     
    +void RTABMAP_CORE_EXPORT appendMesh (pcl::PointCloud< pcl::PointXYZRGB > &cloudA, std::vector< pcl::Vertices > &polygonsA, const pcl::PointCloud< pcl::PointXYZRGB > &cloudB, const std::vector< pcl::Vertices > &polygonsB)
     
    +std::vector< int > RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGBNormal > &outputCloud, std::vector< pcl::Vertices > &outputPolygons)
     
    +std::vector< int > RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGB > &outputCloud, std::vector< pcl::Vertices > &outputPolygons)
     
    +std::vector< int > RTABMAP_CORE_EXPORT filterNaNPointsFromMesh (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< pcl::Vertices > &polygons, pcl::PointCloud< pcl::PointXYZRGB > &outputCloud, std::vector< pcl::Vertices > &outputPolygons)
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT filterCloseVerticesFromMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr cloud, const std::vector< pcl::Vertices > &polygons, float radius, float angle, bool keepLatestInRadius)
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT filterInvalidPolygons (const std::vector< pcl::Vertices > &polygons)
     
    +pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT createMesh (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloudWithNormals, float gp3SearchRadius=0.025, float gp3Mu=2.5, int gp3MaximumNearestNeighbors=100, float gp3MaximumSurfaceAngle=M_PI/4, float gp3MinimumAngle=M_PI/18, float gp3MaximumAngle=2 *M_PI/3, bool gp3NormalConsistency=true)
     
    +pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, Transform > &poses, const std::map< int, CameraModel > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const ProgressState *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false)
     
    +pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh (const pcl::PolygonMesh::Ptr &mesh, const std::map< int, Transform > &poses, const std::map< int, std::vector< CameraModel > > &cameraModels, const std::map< int, cv::Mat > &cameraDepths, float maxDistance=0.0f, float maxDepthError=0.0f, float maxAngle=0.0f, int minClusterSize=50, const std::vector< float > &roiRatios=std::vector< float >(), const ProgressState *state=0, std::vector< std::map< int, pcl::PointXY > > *vertexToPixels=0, bool distanceToCamPolicy=false)
     
    void RTABMAP_CORE_EXPORT cleanTextureMesh (pcl::TextureMesh &textureMesh, int minClusterSize)
     
    +pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT concatenateTextureMeshes (const std::list< pcl::TextureMesh::Ptr > &meshes)
     
    +void RTABMAP_CORE_EXPORT concatenateTextureMaterials (pcl::TextureMesh &mesh, const cv::Size &imageSize, int textureSize, int maxTextures, float &scale, std::vector< bool > *materialsKept=0)
     
    +std::vector< std::vector< RTABMAP_PCL_INDEX > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL (const std::vector< pcl::Vertices > &polygons)
     
    +std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL (const std::vector< std::vector< pcl::Vertices > > &polygons)
     
    +std::vector< pcl::Vertices > RTABMAP_CORE_EXPORT convertPolygonsToPCL (const std::vector< std::vector< RTABMAP_PCL_INDEX > > &polygons)
     
    +std::vector< std::vector< pcl::Vertices > > RTABMAP_CORE_EXPORT convertPolygonsToPCL (const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &tex_polygons)
     
    +pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT assembleTextureMesh (const cv::Mat &cloudMat, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, cv::Mat &textures, bool mergeTextures=false)
     
    +pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh (const cv::Mat &cloudMat, const std::vector< std::vector< RTABMAP_PCL_INDEX > > &polygons)
     
    cv::Mat RTABMAP_CORE_EXPORT mergeTextures (pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)
     
    +cv::Mat RTABMAP_CORE_EXPORT mergeTextures (pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, std::vector< CameraModel > > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)
     
    +void RTABMAP_CORE_EXPORT fixTextureMeshForVisualization (pcl::TextureMesh &textureMesh)
     
    +RTABMAP_DEPRECATED bool RTABMAP_CORE_EXPORT multiBandTexturing (const std::string &outputOBJPath, const pcl::PCLPointCloud2 &cloud, const std::vector< pcl::Vertices > &polygons, const std::map< int, Transform > &cameraPoses, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels, const std::map< int, cv::Mat > &images, const std::map< int, std::vector< CameraModel > > &cameraModels, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=8192, const std::string &textureFormat="jpg", const std::map< int, std::map< int, cv::Vec4d > > &gains=std::map< int, std::map< int, cv::Vec4d > >(), const std::map< int, std::map< int, cv::Mat > > &blendingGains=std::map< int, std::map< int, cv::Mat > >(), const std::pair< float, float > &contrastValues=std::pair< float, float >(0, 0), bool gainRGB=true)
     
    bool RTABMAP_CORE_EXPORT multiBandTexturing (const std::string &outputOBJPath, const pcl::PCLPointCloud2 &cloud, const std::vector< pcl::Vertices > &polygons, const std::map< int, Transform > &cameraPoses, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels, const std::map< int, cv::Mat > &images, const std::map< int, std::vector< CameraModel > > &cameraModels, const Memory *memory=0, const DBDriver *dbDriver=0, unsigned int textureSize=8192, unsigned int textureDownscale=2, const std::string &nbContrib="1 5 10 0", const std::string &textureFormat="jpg", const std::map< int, std::map< int, cv::Vec4d > > &gains=std::map< int, std::map< int, cv::Vec4d > >(), const std::map< int, std::map< int, cv::Mat > > &blendingGains=std::map< int, std::map< int, cv::Mat > >(), const std::pair< float, float > &contrastValues=std::pair< float, float >(0, 0), bool gainRGB=true, unsigned int unwrapMethod=0, bool fillHoles=false, unsigned int padding=5, double bestScoreThreshold=0.1, double angleHardThreshold=90.0, bool forceVisibleByAllVertices=false)
     
    +cv::Mat RTABMAP_CORE_EXPORT computeNormals (const cv::Mat &laserScan, int searchK, float searchRadius)
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, int searchK=20, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals2D (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeNormals2D (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int searchK=5, float searchRadius=0.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float maxDepthChangeFactor=0.02f, float normalSmoothingSize=10.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +pcl::PointCloud< pcl::Normal >::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float maxDepthChangeFactor=0.02f, float normalSmoothingSize=10.0f, const Eigen::Vector3f &viewPoint=Eigen::Vector3f(0, 0, 0))
     
    +float RTABMAP_CORE_EXPORT computeNormalsComplexity (const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
     Computes the complexity of surface normals in a point cloud of type LaserScan.
     
    +float RTABMAP_CORE_EXPORT computeNormalsComplexity (const pcl::PointCloud< pcl::Normal > &normals, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
     Computes the complexity of surface normals in a point cloud of type pcl::Normal.
     
    +float RTABMAP_CORE_EXPORT computeNormalsComplexity (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
     Computes the complexity of surface normals in a point cloud of type pcl::PointNormal.
     
    +float RTABMAP_CORE_EXPORT computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
     Computes the complexity of surface normals in a point cloud of type pcl::PointXYZINormal.
     
    +float RTABMAP_CORE_EXPORT computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
     Computes the complexity of surface normals in a point cloud of type pcl::PointXYZRGBNormal.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0)
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT mls (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float searchRadius=0.0f, int polygonialOrder=2, int upsamplingMethod=0, float upsamplingRadius=0.0f, float upsamplingStep=0.0f, int pointDensity=0, float dilationVoxelSize=1.0f, int dilationIterations=0)
     
    +RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (const LaserScan &scan, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp)
     
    +LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (const LaserScan &scan, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f)
     
    +RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f)
     
    +RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f)
     
    +RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint, bool forceGroundNormalsUp)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint (pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0), float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const std::vector< int > &cameraIndices, pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const std::vector< int > &cameraIndices, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const std::vector< int > &cameraIndices, pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const pcl::PointCloud< pcl::PointXYZ >::Ptr &rawCloud, const std::vector< int > &rawCameraIndices, pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const pcl::PointCloud< pcl::PointXYZ >::Ptr &rawCloud, const std::vector< int > &rawCameraIndices, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &poses, const pcl::PointCloud< pcl::PointXYZ >::Ptr &rawCloud, const std::vector< int > &rawCameraIndices, pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float groundNormalsUp=0.0f)
     
    +void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints (const std::map< int, Transform > &viewpoints, const LaserScan &rawScan, const std::vector< int > &viewpointIds, LaserScan &scan, float groundNormalsUp=0.0f)
     
    +pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation (const pcl::PolygonMesh::Ptr &mesh, float factor)
     
    +template<typename pointT >
    std::vector< pcl::Vertices > normalizePolygonsSide (const pcl::PointCloud< pointT > &cloud, const std::vector< pcl::Vertices > &polygons, const pcl::PointXYZ &viewPoint=pcl::PointXYZ(0, 0, 0))
     
    bool RTABMAP_CORE_EXPORT intersectRayTriangle (const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
     
    +int RTABMAP_CORE_EXPORT saveOBJFile (const std::string &file_name, const pcl::TextureMesh &tex_mesh, unsigned precision=5)
     
    +int RTABMAP_CORE_EXPORT saveOBJFile (const std::string &file_name, const pcl::PolygonMesh &mesh, unsigned precision=5)
     
    LaserScan RTABMAP_CORE_EXPORT transformLaserScan (const LaserScan &laserScan, const Transform &transform)
     Applies a 3D transform to all points (and normals if present) in a LaserScan.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointXYZ point cloud type.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointXYZI point cloud type.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointXYZRGB point cloud type.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointNormal point cloud type.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointXYZRGBNormal point cloud type.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Transform &transform)
     Transforms pcl::PointXYZINormal point cloud type.
     
    +pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointXYZ point cloud type with specified indices.
     
    +pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointXYZI point cloud type with specified indices.
     
    +pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointXYZRGB point cloud type with specified indices.
     
    +pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointNormal point cloud type with specified indices.
     
    +pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointXYZRGBNormal point cloud type with specified indices.
     
    +pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
     Transforms pcl::PointXYZINormal point cloud type with specified indices.
     
    +cv::Point3f RTABMAP_CORE_EXPORT transformPoint (const cv::Point3f &pt, const Transform &transform)
     Transforms cv::Point3f point type.
     
    +cv::Point3d RTABMAP_CORE_EXPORT transformPoint (const cv::Point3d &pt, const Transform &transform)
     Transforms cv::Point3d point type.
     
    +pcl::PointXYZ RTABMAP_CORE_EXPORT transformPoint (const pcl::PointXYZ &pt, const Transform &transform)
     Transforms pcl::PointXYZ point type.
     
    +pcl::PointXYZI RTABMAP_CORE_EXPORT transformPoint (const pcl::PointXYZI &pt, const Transform &transform)
     Transforms pcl::PointXYZI point type.
     
    +pcl::PointXYZRGB RTABMAP_CORE_EXPORT transformPoint (const pcl::PointXYZRGB &pt, const Transform &transform)
     Transforms pcl::PointXYZRGB point type.
     
    +pcl::PointNormal RTABMAP_CORE_EXPORT transformPoint (const pcl::PointNormal &point, const Transform &transform)
     Transforms pcl::PointNormal point type.
     
    +pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT transformPoint (const pcl::PointXYZRGBNormal &point, const Transform &transform)
     Transforms pcl::PointXYZRGBNormal point type.
     
    +pcl::PointXYZINormal RTABMAP_CORE_EXPORT transformPoint (const pcl::PointXYZINormal &point, const Transform &transform)
     Transforms pcl::PointXYZINormal point type.
     
    +

    Detailed Description

    +

    3D utilities: point cloud conversion and filtering, projection, registration, surface reconstruction, mapping and transforms.

    +

    Declared across util3d.h, util3d_filtering.h, util3d_mapping.h, util3d_registration.h, util3d_surface.h and util3d_transforms.h.

    +

    Function Documentation

    + +

    ◆ projectCloudOnXYPlane()

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + +
    pcl::PointCloud< PointT >::Ptr rtabmap::util3d::projectCloudOnXYPlane (const typename pcl::PointCloud< PointT > & cloud)
    +
    + +

    Projects a point cloud onto the XY plane by setting all Z coordinates to zero.

    +

    This function creates a copy of the input point cloud and modifies each point's Z coordinate to be zero, effectively projecting the entire cloud onto the XY plane.

    +
    Template Parameters
    + + +
    PointTThe type of point used in the point cloud (e.g., pcl::PointXYZ).
    +
    +
    +
    Parameters
    + + +
    cloudThe input point cloud to project.
    +
    +
    +
    Returns
    typename pcl::PointCloud<PointT>::Ptr A pointer to the projected point cloud with Z coordinates set to zero.
    + +

    Definition at line 41 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ segmentObstaclesFromGround() [1/3]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    const typename pcl::IndicesPtr & indices,
    pcl::IndicesPtr & ground,
    pcl::IndicesPtr & obstacles,
    int normalKSearch,
    float groundNormalAngle,
    float clusterRadius,
    int minClusterSize,
    bool segmentFlatObstacles,
    float maxGroundHeight,
    pcl::IndicesPtr * flatObstacles,
    const Eigen::Vector4f & viewPoint,
    float groundNormalsUp 
    )
    +
    + +

    Definition at line 54 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ segmentObstaclesFromGround() [2/3]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    pcl::IndicesPtr & ground,
    pcl::IndicesPtr & obstacles,
    int normalKSearch,
    float groundNormalAngle,
    float clusterRadius,
    int minClusterSize,
    bool segmentFlatObstacles = false,
    float maxGroundHeight = 0.0f,
    pcl::IndicesPtr * flatObstacles = 0,
    const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0, 0, 100, 0),
    float groundNormalsUp = 0 
    )
    +
    + +

    Segments ground and obstacle indices from a point cloud using surface normals and clustering.

    +
    See also
    segmentObstaclesFromGround() with indices
    + +

    Definition at line 202 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ occupancy2DFromGroundObstacles() [1/2]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    const pcl::IndicesPtr & groundIndices,
    const pcl::IndicesPtr & obstaclesIndices,
    cv::Mat & ground,
    cv::Mat & obstacles,
    float cellSize 
    )
    +
    + +

    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupancy data.

    +
    See also
    occupancy2DFromGroundObstacles() without indices
    + +

    Definition at line 234 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ occupancy2DFromGroundObstacles() [2/2]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::occupancy2DFromGroundObstacles (const typename pcl::PointCloud< PointT >::Ptr & groundCloud,
    const typename pcl::PointCloud< PointT >::Ptr & obstaclesCloud,
    cv::Mat & ground,
    cv::Mat & obstacles,
    float cellSize 
    )
    +
    + +

    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupancy data.

    +

    This function takes two 3D point clouds—representing ground and obstacles—and performs the following steps:

      +
    • Projects them onto the XY plane (setting Z = 0).
      • +
    • Voxelizes them based on the specified cell size.
      • +
    • Converts the resulting 2D points into OpenCV matrices (1-row, N-columns, CV_32FC2) where each element is a (x, y) coordinate.
      • +
    +
    Template Parameters
    + + +
    PointTThe type of point in the input point clouds (e.g., pcl::PointXYZ).
    +
    +
    +
    Parameters
    + + + + + + +
    groundCloudThe input point cloud representing ground points.
    obstaclesCloudThe input point cloud representing obstacle points.
    groundOutput matrix containing 2D (x, y) coordinates of projected ground points (type: CV_32FC2).
    obstaclesOutput matrix containing 2D (x, y) coordinates of projected obstacle points (type: CV_32FC2).
    cellSizeThe size of each voxel/grid cell used for downsampling the projected cloud (in meters).
    +
    +
    + +

    Definition at line 264 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ occupancy2DFromCloud3D() [1/2]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    cv::Mat & ground,
    cv::Mat & obstacles,
    float cellSize = 0.05f,
    float groundNormalAngle = M_PI_4,
    int minClusterSize = 20,
    bool segmentFlatObstacles = false,
    float maxGroundHeight = 0.0f 
    )
    +
    + +

    Generates 2D ground and obstacle occupancy data from a 3D point cloud.

    +

    This function performs segmentation on a 3D point cloud to separate ground and obstacle points based on normal orientation and clustering, then projects both onto the XY plane to create 2D occupancy representations using voxelization.

    +

    The resulting occupancy data is returned as two OpenCV matrices (cv::Mat) of type CV_32FC2, where each entry contains a 2D point (x, y) in meters corresponding to a ground or obstacle voxel.

    +
    Template Parameters
    + + +
    PointTThe type of point used in the input point cloud (e.g., pcl::PointXYZ).
    +
    +
    +
    Parameters
    + + + + + + + + + + +
    cloudThe input 3D point cloud.
    indicesOptional subset of points from the cloud to use for processing (can be full cloud indices).
    groundOutput matrix containing 2D ground points projected and voxelized (CV_32FC2).
    obstaclesOutput matrix containing 2D obstacle points projected and voxelized (CV_32FC2).
    cellSizeThe voxel size (in meters) for projecting and grouping points in 2D.
    groundNormalAngleMaximum allowable angle (in radians) between a point's normal and the vertical axis for it to be considered part of the ground.
    minClusterSizeMinimum number of points required to form a valid obstacle cluster.
    segmentFlatObstaclesWhether to separate flat horizontal surfaces (e.g., tables) from the ground and treat them as obstacles.
    maxGroundHeightMaximum Z value (in meters) for a surface to be considered ground. If 0, height filtering is disabled.
    +
    +
    +
    Note
    Internally, this function calls: +
    + +

    Definition at line 309 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ occupancy2DFromCloud3D() [2/2]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::occupancy2DFromCloud3D (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    cv::Mat & ground,
    cv::Mat & obstacles,
    float cellSize = 0.05f,
    float groundNormalAngle = M_PI_4,
    int minClusterSize = 20,
    bool segmentFlatObstacles = false,
    float maxGroundHeight = 0.0f 
    )
    +
    + +

    Generates 2D ground and obstacle occupancy data from a 3D point cloud.

    +
    See also
    occupancy2DFromCloud3D() with indices
    + +

    Definition at line 348 of file util3d_mapping.hpp.

    + +
    +
    + +

    ◆ normalizePolygonsSide()

    + +
    +
    +
    +template<typename pointT >
    + + + + + + + + + + + + + + + + + + + + + + + + +
    std::vector< pcl::Vertices > rtabmap::util3d::normalizePolygonsSide (const typename pcl::PointCloud< pointT > & cloud,
    const std::vector< pcl::Vertices > & polygons,
    const pcl::PointXYZ & viewPoint 
    )
    +
    + +

    Definition at line 20 of file util3d_surface.hpp.

    + +
    +
    + +

    ◆ denseMeshPostProcessing()

    + +
    +
    +
    +template<typename pointRGBT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::denseMeshPostProcessing (pcl::PolygonMeshPtr & mesh,
    float meshDecimationFactor,
    int maximumPolygons,
    const typename pcl::PointCloud< pointRGBT >::Ptr & cloud,
    float transferColorRadius,
    bool coloredOutput,
    bool cleanMesh,
    int minClusterSize,
    ProgressState * progressState 
    )
    +
    + +

    Definition at line 50 of file util3d_surface.hpp.

    + +
    +
    + +

    ◆ intersectRayMesh()

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    bool rtabmap::util3d::intersectRayMesh (const Eigen::Vector3f & origin,
    const Eigen::Vector3f & dir,
    const typename pcl::PointCloud< PointT > & cloud,
    const std::vector< pcl::Vertices > & polygons,
    bool ignoreBackFaces,
    float & distance,
    Eigen::Vector3f & normal,
    int & index 
    )
    +
    + +

    Definition at line 315 of file util3d_surface.hpp.

    + +
    +
    + +

    ◆ rgbFromCloud()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::rgbFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > & cloud,
    bool bgrOrder = true 
    )
    +
    + +

    Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.

    +

    This function takes a structured point cloud (organized as height × width) and creates a corresponding OpenCV cv::Mat image containing the RGB (or BGR) color values from the cloud.

    +
    Parameters
    + + + +
    cloudThe input organized point cloud of type pcl::PointCloud<pcl::PointXYZRGBA>. The cloud must be organized (i.e., cloud.width and cloud.height must be greater than 0).
    bgrOrderIf true, the output image will be in BGR format (OpenCV default); if false, it will be RGB.
    +
    +
    +
    Returns
    A cv::Mat of type CV_8UC3 with the same width and height as the input point cloud, containing RGB or BGR color values depending on the bgrOrder flag.
    +
    Note
    This function assumes that the point cloud is organized. If the cloud is unorganized, the behavior is undefined.
    +
    See also
    pcl::PointCloud, cv::Mat
    + +
    +
    + +

    ◆ depthFromCloud()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::depthFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > & cloud,
    bool depth16U = true 
    )
    +
    + +

    Generates a depth image from a PCL organized point cloud.

    +

    This function converts a given organized point cloud of type pcl::PointXYZRGBA into a depth image (cv::Mat) in either 32-bit float or 16-bit unsigned format. The depth image contains the Z coordinate (depth) values of each point.

    +
    Parameters
    + + + +
    [in]cloudThe input organized point cloud (height x width), where each point contains XYZ and RGBA.
    [in]depth16UIf true, output depth will be in 16-bit unsigned integer (millimeters); otherwise, 32-bit float (meters).
    +
    +
    +
    Returns
    A depth image (cv::Mat) of the same resolution as the input cloud, with type CV_16UC1 or CV_32FC1.
    +
    Note
    The function assumes that the point cloud is organized (structured as an image).
    + +
    +
    + +

    ◆ rgbdFromCloud()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::rgbdFromCloud (const pcl::PointCloud< pcl::PointXYZRGBA > & cloud,
    cv::Mat & rgb,
    cv::Mat & depth,
    bool bgrOrder = true,
    bool depth16U = true 
    )
    +
    + +

    Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.

    +

    This function extracts RGB and depth information from a structured PCL point cloud (organized point cloud with width and height) and fills the corresponding OpenCV matrices.

    +
    Parameters
    + + + + + + +
    [in]cloudThe input organized point cloud containing RGBA data (structured as height x width).
    [out]frameBGRThe output color image (CV_8UC3). The channels are ordered as BGR if bgrOrder is true, otherwise RGB.
    [out]frameDepthThe output depth image (either CV_32FC1 for meters or CV_16UC1 for millimeters depending on depth16U).
    [in]bgrOrderIf true, store colors in BGR order. If false, store as RGB.
    [in]depth16UIf true, store depth as 16-bit unsigned integers (in millimeters), otherwise use 32-bit floats (in meters).
    +
    +
    +
    Note
    The function assumes that the point cloud is organized. If the point cloud is not organized, the output matrices will not be valid.
    + +
    +
    + +

    ◆ projectDepthTo3D()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointXYZ RTABMAP_CORE_EXPORT rtabmap::util3d::projectDepthTo3D (const cv::Mat & depthImage,
    float x,
    float y,
    float cx,
    float cy,
    float fx,
    float fy,
    bool smoothing,
    float depthErrorRatio = 0.02f 
    )
    +
    + +

    Projects a single depth pixel into 3D space.

    +

    This function computes the 3D coordinates of a point given a depth image and camera intrinsic parameters. It optionally applies smoothing and depth error compensation to improve the accuracy of the result.

    +
    Parameters
    + + + + + + + + + + +
    depthImageThe depth image (CV_16UC1 in millimeters or CV_32FC1 in meters).
    xThe x coordinate (column index) of the pixel to project.
    yThe y coordinate (row index) of the pixel to project.
    cxThe principal point x-coordinate. If set to 0, it will default to image center.
    cyThe principal point y-coordinate. If set to 0, it will default to image center.
    fxThe focal length in x direction (in pixels).
    fyThe focal length in y direction (in pixels).
    smoothingWhether to apply smoothing on the depth value at (x, y).
    depthErrorRatioRatio used to reject outlier depths when smoothing is enabled.
    +
    +
    +
    Returns
    A pcl::PointXYZ containing the 3D coordinates of the pixel in the depth image. If the depth value is invalid or <= 0, all coordinates are set to NaN.
    + +
    +
    + +

    ◆ projectDepthTo3DRay()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Eigen::Vector3f RTABMAP_CORE_EXPORT rtabmap::util3d::projectDepthTo3DRay (const cv::Size & imageSize,
    float x,
    float y,
    float cx,
    float cy,
    float fx,
    float fy 
    )
    +
    + +

    Projects pixel coordinates to a normalized 3D ray in camera coordinates.

    +

    This function computes the direction of a 3D ray from the camera origin through a pixel in the image plane, assuming a pinhole camera model. The returned ray is not scaled by depth; it has a fixed z component of 1.0.

    +
    Parameters
    + + + + + + + + +
    imageSizeThe size of the image (width, height).
    xThe x-coordinate of the pixel in the image.
    yThe y-coordinate of the pixel in the image.
    cxThe x-coordinate of the principal point. If zero or negative, defaults to (image width / 2) - 0.5.
    cyThe y-coordinate of the principal point. If zero or negative, defaults to (image height / 2) - 0.5.
    fxThe focal length in the x direction (pixels).
    fyThe focal length in the y direction (pixels).
    +
    +
    +
    Returns
    A normalized Eigen::Vector3f representing the direction of the ray in camera coordinates.
    + +
    +
    + +

    ◆ cloudFromDepth() [1/2]

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    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDepth (const cv::Mat & imageDepth,
    float cx,
    float cy,
    float fx,
    float fy,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Converts a depth image to a 3D point cloud.

    +

    This function uses the camera model's intrinsic parameters to convert each pixel in the depth image to a 3D point in the camera's coordinate system. It handles the decimation of the image and ensures the resulting point cloud does not exceed the specified maximum and minimum depth values.

    +
    Parameters
    + + + + + + + + + + +
    [in]imageDepthThe input depth image, which should be of type CV_16UC1 or CV_32FC1.
    [in]cxThe optical center of the camera in the x-axis (usually the center of the image).
    [in]cyThe optical center of the camera in the y-axis (usually the center of the image).
    [in]fxThe focal length of the camera in the x-axis.
    [in]fyThe focal length of the camera in the y-axis.
    [in]decimationDecimation factor, used to reduce the image resolution (use 0 for no decimation).
    [in]maxDepthThe maximum depth value to consider when creating the point cloud.
    [in]minDepthThe minimum depth value to consider when creating the point cloud.
    [out]validIndicesA pointer to a vector where the indices of valid points will be stored. If null, this is ignored.
    +
    +
    +
    Returns
    A pcl::PointCloud<pcl::PointXYZ>::Ptr containing the 3D points corresponding to the depth image.
    +
    Deprecated:
    This function is deprecated and will be removed in future versions. Use the cloudFromDepth function that accepts a rtabmap::CameraModel instead.
    + +
    +
    + +

    ◆ cloudFromDepth() [2/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDepth (const cv::Mat & imageDepth,
    const CameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Converts a depth image to a 3D point cloud using a camera model.

    +

    This function performs the conversion of a depth image to a point cloud using the provided CameraModel object. It handles decimation, validates the depth values, and calculates the corresponding 3D coordinates in the camera's optical coordinate system.

    +
    Parameters
    + + + + + + + +
    [in]imageDepthInThe input depth image, which should be of type CV_16UC1 or CV_32FC1.
    [in]modelThe camera model containing the intrinsic parameters (fx, fy, cx, cy).
    [in]decimationThe decimation factor for image resolution reduction (use 0 for no decimation).
    [in]maxDepthThe maximum depth value to consider when creating the point cloud.
    [in]minDepthThe minimum depth value to consider when creating the point cloud.
    [out]validIndicesA pointer to a vector to store indices of valid points in the point cloud. If null, it is ignored.
    +
    +
    +
    Returns
    A pcl::PointCloud<pcl::PointXYZ>::Ptr containing the 3D points corresponding to the depth image.
    + +
    +
    + +

    ◆ cloudFromDepthRGB() [1/2]

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    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDepthRGB (const cv::Mat & imageRgb,
    const cv::Mat & imageDepth,
    float cx,
    float cy,
    float fx,
    float fy,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Creates a point cloud from an RGB image and a depth image.

    +

    This function uses the RGB and depth images, along with camera intrinsic parameters, to generate a point cloud where each point contains RGB color and 3D spatial information. It also handles decimation and depth constraints (min/max depth) for efficient processing and memory management.

    +
    Parameters
    + + + + + + + + + + + +
    imageRgbThe RGB image (e.g., in BGR format for OpenCV).
    imageDepthThe depth image (CV_16UC1 or CV_32FC1 format).
    cxThe x-coordinate of the camera's principal point (optical center).
    cyThe y-coordinate of the camera's principal point.
    fxThe focal length in x-direction (in pixels).
    fyThe focal length in y-direction (in pixels).
    decimationThe decimation factor for the image (negative value for decimation from RGB size).
    maxDepthThe maximum depth value to consider for valid points (set 0 to ignore).
    minDepthThe minimum depth value to consider for valid points.
    validIndicesA pointer to a vector that will store valid point indices (optional).
    +
    +
    +
    Returns
    A shared pointer to a point cloud (pcl::PointCloud<pcl::PointXYZRGB>) containing RGB and 3D point data.
    +
    Deprecated:
    This function is deprecated and will be removed in future versions. Use the version that accepts a rtabmap::CameraModel instead.
    + +
    +
    + +

    ◆ cloudFromDepthRGB() [2/2]

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    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDepthRGB (const cv::Mat & imageRgb,
    const cv::Mat & imageDepth,
    const CameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Creates a point cloud from an RGB image and a depth image using a CameraModel.

    +

    This function generates a point cloud where each point contains RGB color and 3D spatial information derived from the provided RGB and depth images, using intrinsic parameters provided in the CameraModel. It also applies decimation for efficiency, and depth constraints (min/max depth) to limit the points to a valid range.

    +
    Parameters
    + + + + + + + + +
    imageRgbThe RGB image (e.g., in BGR format for OpenCV).
    imageDepthInThe depth image (CV_16UC1 or CV_32FC1 format).
    modelA CameraModel object that contains intrinsic camera parameters (fx, fy, cx, cy).
    decimationThe decimation factor for the image (negative value for decimation from RGB size).
    maxDepthThe maximum depth value to consider for valid points (set 0 to ignore).
    minDepthThe minimum depth value to consider for valid points.
    validIndicesA pointer to a vector that will store valid point indices (optional).
    +
    +
    +
    Returns
    A shared pointer to a point cloud (pcl::PointCloud<pcl::PointXYZRGB>) containing RGB and 3D point data.
    +
    Note
    This version uses a CameraModel to encapsulate the camera parameters.
    + +
    +
    + +

    ◆ cloudFromDisparity()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDisparity (const cv::Mat & imageDisparity,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Converts a disparity image to a 3D point cloud.

    +

    This function takes a disparity image and projects each disparity value to a 3D point in space using the provided stereo camera model. The points are stored in a pcl::PointCloud object. The function also supports decimating the image for faster processing.

    +
    Parameters
    + + + + + + + +
    imageDisparityThe input disparity image, which must be of type CV_32FC1 (floating-point) or CV_16SC1 (16-bit signed short).
    modelThe stereo camera model used to project disparity to 3D.
    decimationThe decimation factor for downsampling the image. It must be greater than or equal to 1.
    maxDepthThe maximum depth for valid points in meters. Points with a depth greater than this value will be discarded. A non-positive value means no maximum depth constraint.
    minDepthThe minimum depth for valid points in meters. Points with a depth less than this value will be discarded.
    validIndicesAn optional vector that will be filled with the indices of valid points in the cloud (those within the depth constraints). If nullptr, the indices are not stored.
    +
    +
    +
    Returns
    A shared pointer to a pcl::PointCloud<pcl::PointXYZ> containing the 3D points derived from the disparity image.
    +
    Note
    If the disparity image dimensions are not divisible by the decimation factor, the decimation factor will be adjusted to the highest compatible value.
    + +
    +
    + +

    ◆ cloudFromDisparityRGB()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromDisparityRGB (const cv::Mat & imageRgb,
    const cv::Mat & imageDisparity,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0 
    )
    +
    + +

    Converts a disparity image and an RGB image to a 3D point cloud with color.

    +

    This function takes both a disparity image and an RGB image to create a colored 3D point cloud. Each RGB pixel is associated with a 3D point generated from the disparity value. The function also supports decimating the images for faster processing.

    +
    Parameters
    + + + + + + + + +
    imageRgbThe input RGB image, which must have 3 channels (color->BGR) or 1 channel (grayscale). The image is used to assign colors to the 3D points.
    imageDisparityThe input disparity image, which must be of type CV_32FC1 (floating-point) or CV_16SC1 (16-bit signed short).
    modelThe stereo camera model used to project disparity to 3D.
    decimationThe decimation factor for downsampling the images. It must be greater than or equal to 1.
    maxDepthThe maximum depth for valid points in meters. Points with a depth greater than this value will be discarded. A non-positive value means no maximum depth constraint.
    minDepthThe minimum depth for valid points in meters. Points with a depth less than this value will be discarded.
    validIndicesAn optional vector that will be filled with the indices of valid points in the cloud (those within the depth constraints). If nullptr, the indices are not stored.
    +
    +
    +
    Returns
    A shared pointer to a pcl::PointCloud<pcl::PointXYZRGB> containing the 3D points with associated RGB color values.
    +
    Note
    If the disparity image dimensions are not divisible by the decimation factor, the decimation factor will be adjusted to the highest compatible value.
    +
    Warning
    The RGB image must have the same size as the disparity image.
    + +
    +
    + +

    ◆ cloudFromStereoImages()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromStereoImages (const cv::Mat & imageLeft,
    const cv::Mat & imageRight,
    const StereoCameraModel & model,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0,
    const ParametersMap & parameters = ParametersMap() 
    )
    +
    + +

    Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.

    +

    This function takes a pair of stereo images, computes the disparity map between the left and right images, and then converts the disparity map into a 3D point cloud where each point contains the 3D coordinates (x, y, z) and RGB color values from the corresponding pixel in the left image.

    +

    The function supports both color and monochrome images and performs stereo rectification and disparity calculation internally. The resulting 3D point cloud is returned in the PCL format with RGB color for each point, using the pcl::PointXYZRGB type. Points outside the specified depth range are discarded.

    +
    Parameters
    + + + + + + + + + +
    [in]imageLeftThe left stereo image (either grayscale or color). If color, the image is converted to grayscale internally for disparity calculation.
    [in]imageRightThe right stereo image (either grayscale or color). If color, the image is converted to grayscale internally for disparity calculation.
    [in]modelThe stereo camera model that contains the parameters for projecting disparity values into 3D.
    [in]decimationThe decimation factor used to downsample the image and reduce computation time. It must be greater than or equal to 1.
    [in]maxDepthThe maximum allowable depth (z value). Points with a depth greater than this value will be discarded.
    [in]minDepthThe minimum allowable depth (z value). Points with a depth smaller than this value will be discarded.
    [out]validIndicesA pointer to a vector that will be filled with the indices of the valid points in the resulting point cloud. Can be set to nullptr if this information is not needed.
    [in]parametersA map of additional parameters for disparity computation, used by the stereo disparity function.
    +
    +
    +
    Returns
    A pointer to a pcl::PointCloud<pcl::PointXYZRGB> containing the 3D points with RGB colors. The cloud is dense only in regions with valid disparity values and within the specified depth range.
    +
    Note
    The function assumes that the input images are rectified and aligned to the same coordinate system. The disparity map is computed from the left and right mono images using the disparityFromStereoImages utility function, which is provided by the util2d namespace.
    +
    Warning
    The input images must have the same size, and the disparity computation assumes that the stereo pair is well-calibrated.
    + +
    +
    + +

    ◆ cloudsFromSensorData()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT rtabmap::util3d::cloudsFromSensorData (const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< pcl::IndicesPtr > * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector< float > & roiRatios = std::vector< float >(),
    unsigned char confidenceThr = 0 
    )
    +
    + +

    Generates a set of point clouds from sensor data.

    +

    This function processes depth and image data from the provided SensorData object to generate point clouds. It supports both depth camera data (using a camera model) and stereo camera data (using disparity computation). It handles various preprocessing operations like decimation, applying regions of interest (ROIs), and transforming point clouds.

    +

    The function creates a point cloud for each camera model (or stereo camera model) in the SensorData and returns them in a vector of point cloud pointers.

    +
    Parameters
    + + + + + + + + +
    sensorDataA reference to the SensorData object that contains raw depth or image data, along with camera models.
    decimationThe decimation factor to downsample the data. A value of 0 means no decimation. The decimation factor should be a factor of the image width and height.
    maxDepthThe maximum depth value to be considered in the generated point clouds.
    minDepthThe minimum depth value to be considered in the generated point clouds.
    validIndicesAn optional vector to store valid point indices for each point cloud. If provided, the function will populate it with indices of valid points in each corresponding cloud.
    stereoParametersA map of parameters for stereo image processing, used to compute disparity.
    roiRatiosA vector containing four float values representing the region of interest (ROI) in normalized coordinates (left, right, top, bottom). If not specified or set to [0 0 0 0], the entire image is used.
    +
    +
    +
    Returns
    A vector of pcl::PointCloud<pcl::PointXYZ>::Ptr representing the generated point clouds in base coordinate frame.
    +
    Note
      +
    • The sensorData object must contain either depth data (for depth cameras) or image data with a right image (for stereo cameras).
      • +
    • The ROI ratios must be in the range [0.0f, 1.0f] and will be applied to both depth and image data if provided.
      • +
    • If the ROI cannot be divided evenly by the decimation factor, the function will ignore the ROI and log an error.
      • +
    • If the stereo data is provided, disparity will be computed from the left and right images, and the resulting disparity image will be used to generate 3D point clouds.
      • +
    +
    + +
    +
    + +

    ◆ cloudFromSensorData()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudFromSensorData (const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector< float > & roiRatios = std::vector< float >(),
    unsigned char confidenceThr = 0 
    )
    +
    + +

    Generates a point cloud from sensor data.

    +

    This function processes the provided sensor data, generates point clouds for each sensor, and combines them into a single point cloud. It handles both single-camera and stereo data by calling the cloudsFromSensorData function. The resulting point cloud can be decimated according to the specified parameter and filtered based on depth constraints.

    +
    Parameters
    + + + + + + + + +
    sensorDataThe sensor data containing depth and image information. This data is used to generate the point clouds.
    decimationThe factor by which the generated point cloud should be decimated. A value of 1 means no decimation. The decimation factor should be a factor of the image width and height.
    maxDepthThe maximum depth allowed for valid points in the generated cloud.
    minDepthThe minimum depth allowed for valid points in the generated cloud.
    validIndicesOptional vector to store the indices of valid points in the generated point cloud.
    stereoParametersThe stereo parameters that may be used when dealing with stereo camera data.
    roiRatiosA vector containing four float values representing the region of interest (ROI) ratios (left, right, top, bottom) to crop the sensor images before processing. The values should be between 0 and 1. If not specified or set to [0 0 0 0], the entire image is used.
    +
    +
    +
    Returns
    A pointer to a pcl::PointCloud<pcl::PointXYZ> containing the combined point cloud generated from the sensor data. The point cloud is transformed in base coordinate frame.
    +
    Note
    The function will automatically handle the removal of NaN points from the cloud. If the validIndices pointer is provided, it will be filled with the indices of valid points.
    + +
    +
    + +

    ◆ cloudsRGBFromSensorData()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT rtabmap::util3d::cloudsRGBFromSensorData (const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< pcl::IndicesPtr > * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector< float > & roiRatios = std::vector< float >(),
    unsigned char confidenceThr = 0 
    )
    +
    + +

    Generates a point cloud with RGB color data from sensor data.

    +

    This function creates RGB point clouds from depth and color images obtained from a sensor. It supports both single camera models and stereo camera models. The RGB and depth images are processed and converted into a 3D point cloud using the provided camera models. Optionally, Region-of-Interest (ROI) ratios can be applied to the images to focus on specific areas.

    +
    Parameters
    + + + + + + + + +
    [in]sensorDataThe sensor data that contains the raw image and depth information.
    [in]decimationThe decimation factor to reduce the resolution of the point cloud.
    [in]maxDepthThe maximum depth to consider while generating the point cloud.
    [in]minDepthThe minimum depth to consider while generating the point cloud.
    [out]validIndicesA pointer to a vector of indices that indicate the valid points in the cloud. If nullptr, no indices will be returned.
    [in]stereoParametersA map of parameters used for stereo vision processing (if stereo camera models are used).
    [in]roiRatiosA vector of 4 floats that represent the region of interest (ROI) ratios (left, right, top, bottom) for cropping the image. Each value should be between 0.0 and 1.0, representing the normalized position of the ROI. A value of 0.0 means no cropping, and a value of 1.0 means full cropping.
    +
    +
    +
    Returns
    A vector of point clouds containing the RGB point cloud data for each camera model. Each point cloud is represented by pcl::PointCloud<pcl::PointXYZRGB>::Ptr. The point clouds are transformed in base coordinate frame.
    +
    Note
    If the sensor data does not contain both image and depth data, or if no camera models are available, an empty vector will be returned.
    +
    +If stereo camera models are used, the left and right images are processed for disparity computation.
    +
    Warning
    The function performs several assertions and checks, such as ensuring that the image and depth images are divisible by the number of camera models, and that the ROI ratios are compatible with the decimation factor.
    + +
    +
    + +

    ◆ cloudRGBFromSensorData()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cloudRGBFromSensorData (const SensorData & sensorData,
    int decimation = 1,
    float maxDepth = 0.0f,
    float minDepth = 0.0f,
    std::vector< int > * validIndices = 0,
    const ParametersMap & stereoParameters = ParametersMap(),
    const std::vector< float > & roiRatios = std::vector< float >(),
    unsigned char confidenceThr = 0 
    )
    +
    + +

    Generates a point cloud of type pcl::PointXYZRGB from sensor data.

    +

    This function processes sensor data (such as RGB images and depth images) to generate a point cloud of type pcl::PointXYZRGB. It can handle stereo or multiple camera models, apply decimation, and filter points based on the maximum and minimum depth values. Optionally, it can also apply region-of-interest (ROI) ratios.

    +
    Parameters
    + + + + + + + + +
    [in]sensorDataThe sensor data containing raw RGB and depth images, as well as camera models.
    [in]decimationThe decimation factor to reduce the point cloud size. Default is 1.
    [in]maxDepthThe maximum depth value (points beyond this distance will be ignored).
    [in]minDepthThe minimum depth value (points closer than this distance will be ignored).
    [out]validIndicesA vector to store the indices of the valid points in the generated point cloud. It will be resized to the point cloud's size.
    [in]stereoParametersA map of stereo camera parameters, used when dealing with stereo images.
    [in]roiRatiosA vector of four float values representing the region-of-interest (ROI) ratios for cropping the depth and RGB images (left right top bottom). If not specified or set to [0 0 0 0], the entire image is used.
    +
    +
    +
    Returns
    A pointer to a pcl::PointCloud<pcl::PointXYZRGB> containing the generated point cloud. If multiple clouds are generated, they are merged into a single cloud. The validIndices vector is populated if it is provided. The point cloud(s) is/are transformed in base coordinate frame.
    +
    Note
    If the sensor data is stereo, the function will use stereo processing to generate the point cloud. If multiple camera models are provided, it generates and merges the point clouds from each camera.
    +
    +The validIndices vector will be resized and populated if it is passed as an argument.
    + +
    +
    + +

    ◆ laserScanFromDepthImage()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromDepthImage (const cv::Mat & depthImage,
    float fx,
    float fy,
    float cx,
    float cy,
    float maxDepth = 0,
    float minDepth = 0,
    const Transform & localTransform = Transform::getIdentity() 
    )
    +
    + +

    Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and a local transformation.

    +

    This function projects each pixel from a depth image into 3D space using the camera intrinsics (focal lengths and principal point) and applies a transformation to each point in 3D space. It filters out points that are outside the specified depth range (maxDepth, minDepth) and excludes any invalid points.

    +
    Parameters
    + + + + + + + + + +
    depthImageThe input depth image (single channel, 16-bit unsigned or 32-bit floating point).
    fxThe focal length in the x-axis (in pixels).
    fyThe focal length in the y-axis (in pixels).
    cxThe optical center in the x-axis (in pixels).
    cyThe optical center in the y-axis (in pixels).
    maxDepthThe maximum depth value (in meters). Points with depth larger than this will be discarded. If 0, no maximum depth filtering is applied.
    minDepthThe minimum depth value (in meters). Points with depth smaller than this will be discarded.
    localTransformA transformation that will be applied to all points in the resulting point cloud. This can be an identity transformation if not needed.
    +
    +
    +
    Returns
    pcl::PointCloud<pcl::PointXYZ> The resulting point cloud where each point represents a 3D coordinate projected from the depth image.
    +
    Note
    Assumes the input depth image is either CV_16UC1 (16-bit unsigned integers) or CV_32FC1 (32-bit floating-point).
    +
    +Assumes the camera is pointing parallel to ground (e.g., forward looking camera).
    + +
    +
    + +

    ◆ laserScanFromDepthImages()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromDepthImages (const cv::Mat & depthImages,
    const std::vector< CameraModel > & cameraModels,
    float maxDepth,
    float minDepth 
    )
    +
    + +

    Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (point cloud).

    +

    This function processes multiple depth images, one for each camera in a stereo or multi-camera setup. It uses the camera models to project the depth values of the middle row to 3D space and combines them into a single point cloud. Each camera's depth image is projected using the associated camera intrinsics, and the points are transformed according to the camera's local transformation.

    +
    Parameters
    + + + + + +
    depthImagesThe input depth images concatenated horizontally. Each camera's depth image is assumed to be of equal width and placed side by side.
    cameraModelsA vector of camera models, one for each depth image in the input. Each model contains the intrinsics and the local transformation for a specific camera.
    maxDepthThe maximum depth value (in meters). Points with depth larger than this will be discarded. If 0, no maximum depth filtering is applied.
    minDepthThe minimum depth value (in meters). Points with depth smaller than this will be discarded.
    +
    +
    +
    Returns
    pcl::PointCloud<pcl::PointXYZ> The resulting point cloud where each point represents a 3D coordinate projected from the depth images.
    +
    Note
    This function assumes that the number of camera models corresponds to the number of sub-images in the input depth images.
    +
    +Each depth image is projected using the corresponding camera model in the cameraModels array.
    +
    +Assumes the cameras are pointing parallel to ground (e.g., forward and backward looking cameras).
    + +
    +
    + +

    ◆ getMinMax3D() [1/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::getMinMax3D (const cv::Mat & laserScan,
    cv::Point3f & min,
    cv::Point3f & max 
    )
    +
    + +

    Computes the minimum and maximum 3D points from a laser scan matrix.

    +

    This function computes the minimum and maximum values along each of the X, Y, and Z axes in the laser scan matrix. The laser scan is assumed to be a matrix of type CV_32FC2, CV_32FC3, CV_32FC4, CV_32FC5, CV_32FC6, or CV_32FC7, where each row represents a point in space. The matrix is expected to have 3 or more channels for 3D data, but it can have additional channels (e.g., intensity, color, etc.).

    +

    The Z-coordinate is only considered if the matrix has at least 3 channels (3D scan). If the scan has fewer than 3 channels, the Z-coordinate is set to 0.

    +
    Parameters
    + + + + +
    laserScanThe input laser scan data, which must be a matrix of type CV_32FC2, CV_32FC3, CV_32FC4, CV_32FC5, CV_32FC6, or CV_32FC7 (with at least 2 channels, and at least 3 channels for 3D).
    minA reference to a cv::Point3f object where the minimum 3D point (X, Y, Z) will be stored.
    maxA reference to a cv::Point3f object where the maximum 3D point (X, Y, Z) will be stored.
    +
    +
    +
    Exceptions
    + + +
    exceptionif the input matrix is empty or has an invalid type.
    +
    +
    + +
    +
    + +

    ◆ getMinMax3D() [2/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::getMinMax3D (const cv::Mat & laserScan,
    pcl::PointXYZ & min,
    pcl::PointXYZ & max 
    )
    +
    + +

    Computes the minimum and maximum 3D points from a laser scan matrix and stores the results in pcl::PointXYZ.

    +

    This function calls the getMinMax3D function that operates on cv::Point3f and converts the results to pcl::PointXYZ format. It is useful when working with PCL data structures for 3D processing.

    +
    Parameters
    + + + + +
    laserScanThe input laser scan data, which must be a matrix of type CV_32FC2, CV_32FC3, CV_32FC4, CV_32FC5, CV_32FC6, or CV_32FC7 (with at least 2 channels, and at least 3 channels for 3D).
    minA reference to a pcl::PointXYZ object where the minimum 3D point (X, Y, Z) will be stored.
    maxA reference to a pcl::PointXYZ object where the maximum 3D point (X, Y, Z) will be stored.
    +
    +
    +
    Exceptions
    + + +
    exceptionif the input matrix is empty or has an invalid type.
    +
    +
    + +
    +
    + +

    ◆ projectDisparityTo3D() [1/2]

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    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Point3f RTABMAP_CORE_EXPORT rtabmap::util3d::projectDisparityTo3D (const cv::Point2f & pt,
    float disparity,
    const StereoCameraModel & model 
    )
    +
    + +

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

    +

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

    +

    The conversion follows the formula:

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

    +

    Where:

      +
    • baseline is the distance between the left and right camera centers
      • +
    • f is the focal length of the camera
      • +
    • cx1 and cx0 are the x-coordinates of the principal points of the right and left cameras, respectively.
      • +
    +
    Parameters
    + + + + +
    ptThe 2D point in the left image (in pixels).
    disparityThe disparity value for the corresponding point (in pixels).
    modelThe stereo camera model containing the intrinsic parameters.
    +
    +
    +
    Returns
    A 3D point (x, y, z) in space corresponding to the input 2D point and disparity. If the disparity is invalid or any required camera parameters are not set, it returns a point containing NaN values.
    +
    Note
    This function assumes that the disparity value is positive, and that the baseline and focal lengths are also positive.
    + +
    +
    + +

    ◆ projectDisparityTo3D() [2/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Point3f RTABMAP_CORE_EXPORT rtabmap::util3d::projectDisparityTo3D (const cv::Point2f & pt,
    const cv::Mat & disparity,
    const StereoCameraModel & model 
    )
    +
    + +

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

    +

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

    +

    The function first retrieves the disparity value for the given 2D point from the disparity map. It then calls the other projectDisparityTo3D function to perform the conversion to 3D.

    +
    Parameters
    + + + + +
    ptThe 2D point in the left image (in pixels).
    disparityThe disparity map (CV_32FC1 or CV_16SC1) from which the disparity value for the point is retrieved.
    modelThe stereo camera model containing the intrinsic parameters.
    +
    +
    +
    Returns
    A 3D point (x, y, z) in space corresponding to the input 2D point and the disparity value. If the point is outside the disparity map bounds or if the disparity value is invalid, it returns a point containing NaN values.
    +
    Note
    This function checks that the input disparity matrix is not empty and has an appropriate type (either CV_32FC1 or CV_16SC1).
    + +
    +
    + +

    ◆ projectCloudToCamera() [1/3]

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    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::projectCloudToCamera (const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,
    const cv::Mat & laserScan,
    const rtabmap::Transform & cameraTransform 
    )
    +
    + +

    Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.

    +

    This function projects a laser scan (in /base_link coordinate system) into the camera frame of reference using the camera's intrinsic parameters and the camera's transform. The result is stored in a depth image (cv::Mat), where each pixel corresponds to the distance of the projected point in the camera frame.

    +
    Parameters
    + + + + + +
    [in]imageSizeThe desired size of the output depth image (in pixels).
    [in]cameraMatrixKThe camera matrix (intrinsics), containing the focal lengths and principal points.
    [in]laserScanA matrix of laser scan points. The type can be CV_32FC2 (2D), CV_32FC3, CV_32FC4, etc., where the points are assumed to be in the /base_link coordinate system.
    [in]cameraTransformThe transform from /base_link to /camera_link, used to adjust the point cloud to the camera's reference frame.
    +
    +
    +
    Returns
    A cv::Mat object representing the registered depth image, with each pixel corresponding to the projected point's depth (z value) in the camera frame.
    +
    Exceptions
    + + +
    exceptionif the input cameraTransform is null, the laser scan is empty, or the cameraMatrixK has incorrect dimensions.
    +
    +
    + +
    +
    + +

    ◆ projectCloudToCamera() [2/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::projectCloudToCamera (const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,
    const pcl::PointCloud< pcl::PointXYZ >::Ptr laserScan,
    const rtabmap::Transform & cameraTransform 
    )
    +
    + +

    Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.

    +

    This function projects a laser scan (pcl::PointCloud) into the camera frame of reference using the camera's intrinsic parameters and the camera's transform. The result is stored in a depth image (cv::Mat), where each pixel corresponds to the distance of the projected point in the camera frame.

    +
    Parameters
    + + + + + +
    [in]imageSizeThe desired size of the output depth image (in pixels).
    [in]cameraMatrixKThe camera matrix (intrinsics), containing the focal lengths and principal points.
    [in]laserScanA pointer to a pcl::PointCloud<pcl::PointXYZ> object containing the laser scan points. The points are assumed to be in the /base_link coordinate system.
    [in]cameraTransformThe transform from /base_link to /camera_link, used to adjust the point cloud to the camera's reference frame.
    +
    +
    +
    Returns
    A cv::Mat object representing the registered depth image, with each pixel corresponding to the projected point's depth (z value) in the camera frame.
    +
    Exceptions
    + + +
    exceptionif the input cameraTransform is null, the laser scan is empty, or the cameraMatrixK has incorrect dimensions.
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    +
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    + +

    ◆ projectCloudToCamera() [3/3]

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::projectCloudToCamera (const cv::Size & imageSize,
    const cv::Mat & cameraMatrixK,
    const pcl::PCLPointCloud2::Ptr laserScan,
    const rtabmap::Transform & cameraTransform 
    )
    +
    + +

    Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth image.

    +

    This function projects a laser scan (pcl::PCLPointCloud2) into the camera frame of reference using the camera's intrinsic parameters and the camera's transform. The result is stored in a depth image (cv::Mat), where each pixel corresponds to the distance of the projected point in the camera frame.

    +
    Parameters
    + + + + + +
    [in]imageSizeThe desired size of the output depth image (in pixels).
    [in]cameraMatrixKThe camera matrix (intrinsics), containing the focal lengths and principal points.
    [in]laserScanA pointer to a pcl::PCLPointCloud2 object containing the laser scan points. The points are assumed to be in the /base_link coordinate system.
    [in]cameraTransformThe transform from /base_link to /camera_link, used to adjust the point cloud to the camera's reference frame.
    +
    +
    +
    Returns
    A cv::Mat object representing the registered depth image, with each pixel corresponding to the projected point's depth (z value) in the camera frame.
    +
    Exceptions
    + + +
    exceptionif the input cameraTransform is null, the laser scan is empty, or the cameraMatrixK has incorrect dimensions.
    +
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    + +
    +
    + +

    ◆ fillProjectedCloudHoles()

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::fillProjectedCloudHoles (cv::Mat & depthRegistered,
    bool verticalDirection,
    bool fillToBorder 
    )
    +
    + +

    Fills holes (missing depth values) in a depth image by interpolating between non-zero values.

    +

    This function iterates through a depth image and fills holes by interpolating between the surrounding non-zero depth values. It works either vertically or horizontally, depending on the verticalDirection parameter. The interpolation method fills the missing values based on the linear slope between two valid depth values. Optionally, the interpolation can be extended to the border of the image if fillToBorder is set to true.

    +
    Parameters
    + + + + +
    registeredDepthA matrix representing the registered depth image, where missing depth values are assumed to be zero. The matrix must be of type CV_32FC1.
    verticalDirectionIf true, the holes are filled vertically (by column), otherwise the holes are filled horizontally (by row).
    fillToBorderIf true, the interpolation will fill the depth holes all the way to the border of the image (i.e., it will propagate the nearest valid depth to the edges of the image).
    +
    +
    +
    Note
    The input registeredDepth matrix must be of type CV_32FC1, where depth values are stored as single-precision floating-point numbers.
    +
    +With fillToBorder enabled, the current implementation only fills up to last pixel, i.e., first/last rows or columns are not filled.
    +
    Warning
    This function modifies the input registeredDepth matrix in place.
    + +
    +
    + +

    ◆ filterFloor()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::filterFloor (const cv::Mat & depth,
    const std::vector< CameraModel > & cameraModels,
    float threshold,
    cv::Mat * depthBelow = 0 
    )
    +
    + +

    Filters out points below a certain threshold in a depth image based on camera models.

    +

    This function processes a depth image and filters out points below a specified threshold, which are assumed to belong to the floor. It does this by projecting the depth pixels into 3D space (base frame) using the camera models, and if the z-coordinate of the projected point is less than the threshold, the corresponding depth value is set to 0.

    +
    Parameters
    + + + + + +
    depthThe input depth image to be filtered. The matrix should contain depth values in either CV_16UC1 (unsigned short) or CV_32FC1 (float) format.
    cameraModelsA vector of camera models used for reprojection. The camera models are used to convert the 2D image coordinates to 3D space.
    thresholdThe z-threshold in meters, below which points are considered part of the floor and will be filtered out.
    depthBelowA pointer to an optional output depth image where the filtered-out points (below the threshold) will be saved. If this is nullptr, no output is generated for filtered-out points.
    +
    +
    +
    Returns
    A new depth image where points below the specified threshold are set to zero.
    +
    Note
      +
    • The function assumes that the depth image has valid depth values.
      • +
    • If the input depthBelow is provided, it will contain the depth values for the points that were considered as floor points.
      • +
    • The function assumes that all camera models have the same resolution and are valid for reprojection.
      • +
    +
    +
    Exceptions
    + + +
    std::invalid_argumentif the camera models are empty or invalid.
    +
    +
    + +
    +
    + +

    ◆ projectCloudToCameras() [1/2]

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    std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT rtabmap::util3d::projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZRGBNormal > & cloud,
    const std::map< int, Transform > & cameraPoses,
    const std::map< int, std::vector< CameraModel > > & cameraModels,
    float maxDistance = 0.0f,
    float maxAngle = 0.0f,
    float maxDepthError = 0.0f,
    const std::vector< float > & roiRatios = std::vector< float >(),
    const cv::Mat & projMask = cv::Mat(),
    bool distanceToCamPolicy = false,
    const ProgressState * state = 0 
    )
    +
    + +

    Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy.

    +

    This function takes a point cloud of type pcl::PointXYZRGBNormal and projects each point to the best camera that sees the point. The "best" camera is selected based on the distance, angle, and other parameters like Region of Interest (ROI) ratios and projection mask.

    +
    Parameters
    + + + + + + + + + + +
    cloudThe input point cloud of type pcl::PointXYZRGBNormal containing 3D points.
    cameraPosesA map of camera IDs to their respective poses (transformations).
    cameraModelsA map of camera IDs to their camera models (internal camera parameters).
    maxDistanceMaximum allowable distance from the camera for a point to be considered.
    maxAngleMaximum allowable angle between the camera and the point normal for it to be considered.
    roiRatiosA vector of four floats defining the region of interest ratios for the camera image. See util2d::computeRoi() for format.
    projMaskA binary mask for projection, which will be checked to ensure the point lies within the mask.
    distanceToCamPolicyIf true, the distance to the camera is considered in the decision of the best camera, otherwise distance to center of the camera is used.
    stateA ProgressState object to provide feedback on progress or cancellation.
    +
    +
    +
    Returns
    A vector of pairs, where each pair contains a pair of camera ID and camera index, and a 2D UV coordinate. The UV coordinate represents the projection of each point onto the best camera.
    + +
    +
    + +

    ◆ projectCloudToCameras() [2/2]

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    std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT rtabmap::util3d::projectCloudToCameras (const pcl::PointCloud< pcl::PointXYZINormal > & cloud,
    const std::map< int, Transform > & cameraPoses,
    const std::map< int, std::vector< CameraModel > > & cameraModels,
    float maxDistance = 0.0f,
    float maxAngle = 0.0f,
    float maxDepthError = 0.0f,
    const std::vector< float > & roiRatios = std::vector< float >(),
    const cv::Mat & projMask = cv::Mat(),
    bool distanceToCamPolicy = false,
    const ProgressState * state = 0 
    )
    +
    + +

    Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy.

    +

    This function takes a point cloud of type pcl::PointXYZINormal and projects each point to the best camera that sees the point. The "best" camera is selected based on the distance, angle, and other parameters like Region of Interest (ROI) ratios and projection mask.

    +
    Parameters
    + + + + + + + + + + +
    cloudThe input point cloud of type pcl::PointXYZINormal containing 3D points.
    cameraPosesA map of camera IDs to their respective poses (transformations).
    cameraModelsA map of camera IDs to their camera models (internal camera parameters).
    maxDistanceMaximum allowable distance from the camera for a point to be considered.
    maxAngleMaximum allowable angle between the camera and the point normal for it to be considered.
    roiRatiosA vector of four floats defining the region of interest ratios for the camera image. See util2d::computeRoi() for format.
    projMaskA binary mask for projection, which will be checked to ensure the point lies within the mask.
    distanceToCamPolicyIf true, the distance to the camera is considered in the decision of the best camera, otherwise distance to center of the camera is used.
    stateA ProgressState object to provide feedback on progress or cancellation.
    +
    +
    +
    Returns
    A vector of pairs, where each pair contains a pair of camera ID and camera index, and a 2D UV coordinate. The UV coordinate represents the projection of each point onto the best camera.
    + +
    +
    + +

    ◆ isFinite()

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    bool RTABMAP_CORE_EXPORT rtabmap::util3d::isFinite (const cv::Point3f & pt)
    +
    + +

    Checks if all coordinates of a 3D point are finite.

    +

    This function verifies that the x, y, and z components of the given cv::Point3f are all finite values (i.e., not NaN or infinite).

    +
    Parameters
    + + +
    ptThe 3D point to check.
    +
    +
    +
    Returns
    true if all components of the point are finite, false otherwise.
    + +
    +
    + +

    ◆ concatenateClouds() [1/2]

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    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > & clouds)
    +
    + +

    Concatenates a list of PointXYZ point clouds into a single point cloud.

    +

    This function takes a list of shared pointers to pcl::PointCloud<pcl::PointXYZ> objects, and merges them into a single point cloud by appending the points of each input cloud.

    +
    Parameters
    + + +
    [in]cloudsA list of pointers to PointXYZ point clouds to concatenate.
    +
    +
    +
    Returns
    A new pcl::PointCloud<pcl::PointXYZ>::Ptr containing all the points from the input clouds.
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    +
    + +

    ◆ concatenateClouds() [2/2]

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    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::concatenateClouds (const std::list< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > & clouds)
    +
    + +

    Concatenates a list of PointXYZRGB point clouds into a single point cloud.

    +

    This function takes a list of shared pointers to pcl::PointCloud<pcl::PointXYZRGB> objects, and merges them into a single point cloud by appending the points of each input cloud.

    +
    Parameters
    + + +
    [in]cloudsA list of pointers to PointXYZRGB point clouds to concatenate.
    +
    +
    +
    Returns
    A new pcl::PointCloud<pcl::PointXYZRGB>::Ptr containing all the points from the input clouds.
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    +
    + +

    ◆ concatenate() [1/2]

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    pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::concatenate (const std::vector< pcl::IndicesPtr > & indices)
    +
    + +

    Concatenates multiple sets of indices into a single index vector.

    +

    This function takes a vector of shared pointers to PCL index vectors and combines them into a single shared pointer containing all indices in the same order as they appear in the input.

    +
    Parameters
    + + +
    indicesA vector of pcl::IndicesPtr (shared pointers to index vectors).
    +
    +
    +
    Returns
    A single pcl::IndicesPtr containing the concatenated indices.
    +
    Note
    The output order preserves the original order of indices from each input set.
    +
    See also
    concatenate(const pcl::IndicesPtr &, const pcl::IndicesPtr &)
    + +
    +
    + +

    ◆ concatenate() [2/2]

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    pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::concatenate (const pcl::IndicesPtr & indicesA,
    const pcl::IndicesPtr & indicesB 
    )
    +
    + +

    Concatenates two sets of indices into one.

    +

    This function creates a new index vector containing all indices from indicesA followed by all indices from indicesB.

    +
    Parameters
    + + + +
    indicesAThe first set of indices to include.
    indicesBThe second set of indices to append.
    +
    +
    +
    Returns
    A pcl::IndicesPtr containing the combined indices from both inputs.
    +
    Note
    The input index vectors are not modified.
    +
    See also
    concatenate(const std::vector<pcl::IndicesPtr> &)
    + +
    +
    + +

    ◆ savePCDWords() [1/2]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::savePCDWords (const std::string & fileName,
    const std::multimap< int, pcl::PointXYZ > & words,
    const Transform & transform = Transform::getIdentity() 
    )
    +
    + +

    Saves 3D word points to a PCD file, applying a transform to each point.

    +

    This function takes a multimap of word identifiers and corresponding 3D PCL points, applies the given transform to each point, and saves the resulting point cloud to the specified PCD file.

    +
    Parameters
    + + + + +
    fileNameThe path to the output PCD file.
    wordsA multimap containing word IDs and their associated pcl::PointXYZ coordinates.
    transformA transform to apply to each 3D point before saving.
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    ◆ savePCDWords() [2/2]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::savePCDWords (const std::string & fileName,
    const std::multimap< int, cv::Point3f > & words,
    const Transform & transform = Transform::getIdentity() 
    )
    +
    + +

    Saves 3D word points (as OpenCV points) to a PCD file, applying a transform to each point.

    +

    This function takes a multimap of word identifiers and corresponding 3D OpenCV points, converts them to PCL format after applying the given transform, and saves them as a point cloud to the specified PCD file.

    +
    Parameters
    + + + + +
    fileNameThe path to the output PCD file.
    wordsA multimap containing word IDs and their associated cv::Point3f coordinates.
    transformA transform to apply to each 3D point before saving.
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    +
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    ◆ loadBINScan()

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    + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::loadBINScan (const std::string & fileName)
    +
    + +

    Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.

    +

    This function assumes the binary file contains a series of 4-float values per point representing (X, Y, Z, Intensity). It loads the entire file into a cv::Mat with type CV_32FC4.

    +
    Parameters
    + + +
    fileNamePath to the .bin file.
    +
    +
    +
    Returns
    A 1-row cv::Mat with 4 channels (XYZI), one column per point.
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    +
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    ◆ loadBINCloud() [1/2]

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    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::loadBINCloud (const std::string & fileName)
    +
    + +

    Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.

    +

    Internally calls loadScan() and converts the result into a pcl::PointCloud<pcl::PointXYZ>.

    +
    Parameters
    + + +
    fileNamePath to the .bin file.
    +
    +
    +
    Returns
    Pointer to the loaded point cloud.
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    +
    + +

    ◆ loadBINCloud() [2/2]

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    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::loadBINCloud (const std::string & fileName,
    int dim 
    )
    +
    + +

    Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.

    +
    Parameters
    + + + +
    fileNamePath to the .bin file.
    dimUnused parameter.
    +
    +
    +
    Returns
    Pointer to the loaded point cloud.
    +
    Deprecated:
    This overload exists for compatibility but ignores the dim parameter. Use version without dim directly.
    + +
    +
    + +

    ◆ loadScan()

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    +
    + + + + + + + + +
    LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::loadScan (const std::string & path)
    +
    + +

    Loads a 3D scan from a file (.pcd, .ply, or .bin format).

    +

    This function detects the file type based on the extension and loads the scan accordingly. Binary .bin files are interpreted using the KITTI format (XYZI). For .pcd or .ply files, a PCL point cloud is loaded and optionally interpreted as 2D if all Z values are 0.

    +
    Parameters
    + + +
    pathPath to the scan file.
    +
    +
    +
    Returns
    A LaserScan object containing the loaded scan data.
    + +
    +
    + +

    ◆ loadCloud()

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    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::loadCloud (const std::string & path,
    const Transform & transform = Transform::getIdentity(),
    int downsampleStep = 1,
    float voxelSize = 0.0f 
    )
    +
    + +

    Loads and optionally transforms/downsamples/voxelizes a point cloud.

    +

    This function loads a point cloud from a .bin, .pcd, or .ply file. It can apply a transformation, downsample using a step size, or filter using a voxel grid.

    +
    Parameters
    + + + + + +
    pathPath to the scan file.
    transformTransformation to apply to the cloud (must not be null).
    downsampleStepStep size to downsample (1 = no downsampling).
    voxelSizeSize of the voxel grid filter in meters (0 = no filtering).
    +
    +
    +
    Returns
    Transformed and optionally filtered pcl::PointCloud<pcl::PointXYZ>::Ptr.
    +
    Deprecated:
    Use loadScan() instead.
    + +
    +
    + +

    ◆ deskew()

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    LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::deskew (const LaserScan & input,
    double inputStamp,
    const rtabmap::Transform & velocity 
    )
    +
    + +

    Lidar deskewing.

    +
    Parameters
    + + + + + +
    inputlidar, format should have time channel
    inputstamp of the lidar
    velocityin base frame
    velocitystamp at which it has been computed
    +
    +
    +
    Returns
    lidar deskewed
    +

    Deskews a laser scan based on the velocity transform and timestamp information.

    +

    This function takes an input LaserScan with a time channel (kXYZIT format), and deskews the scan based on the provided velocity transform. It assumes that the scan has a time channel with time information for each point relative to inputStamp. The deskewing process involves calculating the pose of the laser at each point in time and correcting the scan data accordingly.

    +
    Parameters
    + + + + +
    [in]inputThe input LaserScan to be deskewed.
    [in]inputStampThe timestamp of the input scan (e.g., epoch time).
    [in]velocityThe velocity transform (linear and angular velocities), in base frame.
    +
    +
    +
    Returns
    A new LaserScan that has been deskewed based on the provided velocity and timestamps.
    +
    Note
    If the velocity is null or if the input scan does not have the correct format, an error will be logged. If the first and last timestamps are identical, deskewing cannot be performed, and an error is logged.
    +
    Warning
    This function assumes that the input LaserScan is in the kXYZIT format (with time data). If not, an error will be logged and an empty LaserScan will be returned.
    +
    Exceptions
    + + +
    exceptionif velocity is null or the format is incorrect.
    +
    +
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    +
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    ◆ extractXYZCorrespondences() [1/4]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::extractXYZCorrespondences (const std::multimap< int, pcl::PointXYZ > & words1,
    const std::multimap< int, pcl::PointXYZ > & words2,
    pcl::PointCloud< pcl::PointXYZ > & cloud1,
    pcl::PointCloud< pcl::PointXYZ > & cloud2 
    )
    +
    + +

    Extracts 3D point correspondences between two sets of labeled 3D points.

    +

    This function identifies common point IDs (keys) between two multimap structures containing pcl::PointXYZ points. For each shared key that appears exactly once in both input maps, and where both corresponding points are finite, the matched points are added to two output point clouds.

    +

    The resulting cloud1 and cloud2 point clouds will contain points with a one-to-one correspondence, useful for geometric registration (e.g., ICP).

    +
    Parameters
    + + + + + +
    words1Input multimap of point ID to 3D point for the first dataset.
    words2Input multimap of point ID to 3D point for the second dataset.
    cloud1Output point cloud (corresponding to points from words1).
    cloud2Output point cloud (corresponding to points from words2).
    +
    +
    +
    Note
    Only keys that appear exactly once in both words1 and words2, and whose associated pcl::PointXYZ entries are finite, will be included in the output clouds.
    + +
    +
    + +

    ◆ extractXYZCorrespondencesRANSAC()

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::extractXYZCorrespondencesRANSAC (const std::multimap< int, pcl::PointXYZ > & words1,
    const std::multimap< int, pcl::PointXYZ > & words2,
    pcl::PointCloud< pcl::PointXYZ > & cloud1,
    pcl::PointCloud< pcl::PointXYZ > & cloud2 
    )
    +
    + +

    Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filtering.

    +

    This function finds correspondences between words1 and words2 based on shared unique keys. For each common key that appears exactly once in both maps, and where the corresponding 3D points are finite, a candidate correspondence is formed. If more than 7 such pairs exist, RANSAC is used via OpenCV’s cv::findFundamentalMat to reject outliers based on the geometric consistency of the 2D projections.

    +

    Only the inlier correspondences determined by RANSAC are returned in the output point clouds cloud1 and cloud2.

    +
    Parameters
    + + + + + +
    words1Input multimap of point ID to pcl::PointXYZ for the first set of 3D features.
    words2Input multimap of point ID to pcl::PointXYZ for the second set of 3D features.
    cloud1Output point cloud containing inlier points from words1.
    cloud2Output point cloud containing inlier points from words2.
    +
    +
    +
    Note
    At least 8 valid point correspondences are required for RANSAC to compute a fundamental matrix. If fewer than 8 valid matches exist, the function does not modify the output clouds.
    +
    Warning
    Only 2D (x, y) components of the 3D points are used for RANSAC filtering.
    + +
    +
    + +

    ◆ extractXYZCorrespondences() [2/4]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > & correspondences,
    const cv::Mat & depthImage1,
    const cv::Mat & depthImage2,
    float cx,
    float cy,
    float fx,
    float fy,
    float maxDepth,
    pcl::PointCloud< pcl::PointXYZ > & cloud1,
    pcl::PointCloud< pcl::PointXYZ > & cloud2 
    )
    +
    + +

    Extracts 3D point correspondences from 2D pixel matches using depth images.

    +

    This function projects matched 2D keypoints (pixel correspondences) from two RGB-D images into 3D space using the provided camera intrinsic parameters. Only valid and finite 3D points are retained. If a maxDepth threshold is provided, points farther than this threshold are excluded.

    +

    The function returns two synchronized point clouds, cloud1 and cloud2, where each point pair at the same index corresponds to a match between the two views.

    +
    Parameters
    + + + + + + + + + + + +
    correspondencesList of 2D point correspondences between image 1 and image 2.
    depthImage1Depth image corresponding to the first set of points (CV_32FC1 or CV_16UC1).
    depthImage2Depth image corresponding to the second set of points (same format as depthImage1).
    cxPrincipal point x-coordinate (camera intrinsic).
    cyPrincipal point y-coordinate (camera intrinsic).
    fxFocal length in x-direction (camera intrinsic).
    fyFocal length in y-direction (camera intrinsic).
    maxDepthMaximum allowed depth for a correspondence to be considered valid. If <= 0, all depths are accepted.
    cloud1Output point cloud with 3D points corresponding to the first image.
    cloud2Output point cloud with 3D points corresponding to the second image.
    +
    +
    +
    Note
      +
    • Both output point clouds are resized to contain only the valid 3D matches after filtering.
      • +
    • Invalid, non-finite, or out-of-range depth values are automatically filtered out.
      • +
    +
    + +
    +
    + +

    ◆ extractXYZCorrespondences() [3/4]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > & correspondences,
    const pcl::PointCloud< pcl::PointXYZ > & cloud1,
    const pcl::PointCloud< pcl::PointXYZ > & cloud2,
    pcl::PointCloud< pcl::PointXYZ > & inliers1,
    pcl::PointCloud< pcl::PointXYZ > & inliers2 
    )
    +
    + +

    Extracts 3D correspondences from 2D feature matches using pcl::PointXYZ organized point clouds.

    +

    This function projects 2D keypoint matches into 3D using the corresponding organized point clouds (cloud1 and cloud2). Points that are not finite are discarded.

    +
    Parameters
    + + + + + + +
    correspondencesList of 2D point correspondences between image 1 and image 2.
    cloud1Organized pcl::PointXYZ point cloud corresponding to the first image.
    cloud2Organized pcl::PointXYZ point cloud corresponding to the second image.
    inliers1Output 3D points from cloud1 corresponding to valid 2D matches.
    inliers2Output 3D points from cloud2 corresponding to valid 2D matches.
    +
    +
    +
    Note
      +
    • Only organized point clouds are supported (i.e., width × height layout must match image size from which 2D keypoints were taken).
      • +
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    +
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    ◆ extractXYZCorrespondences() [4/4]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::extractXYZCorrespondences (const std::list< std::pair< cv::Point2f, cv::Point2f > > & correspondences,
    const pcl::PointCloud< pcl::PointXYZRGB > & cloud1,
    const pcl::PointCloud< pcl::PointXYZRGB > & cloud2,
    pcl::PointCloud< pcl::PointXYZ > & inliers1,
    pcl::PointCloud< pcl::PointXYZ > & inliers2 
    )
    +
    + +

    Extracts 3D correspondences from 2D feature matches using pcl::PointXYZRGB organized point clouds.

    +

    This overload behaves identically to the pcl::PointXYZ version, but supports input point clouds that contain RGB color data. The color is not used—only the XYZ fields are extracted.

    +
    Parameters
    + + + + + + +
    correspondencesList of matched 2D keypoints between two images.
    cloud1Organized pcl::PointXYZRGB point cloud for the first image.
    cloud2Organized pcl::PointXYZRGB point cloud for the second image.
    inliers1Output 3D points from cloud1 corresponding to valid 2D matches.
    inliers2Output 3D points from cloud2 corresponding to valid 2D matches.
    +
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    ◆ countUniquePairs()

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    int RTABMAP_CORE_EXPORT rtabmap::util3d::countUniquePairs (const std::multimap< int, pcl::PointXYZ > & wordsA,
    const std::multimap< int, pcl::PointXYZ > & wordsB 
    )
    +
    + +

    Counts the number of unique 3D point correspondences between two sets of word-indexed features.

    +

    This function iterates over the unique keys (word IDs) in wordsA and checks if the same key exists in wordsB. A pair is considered "unique" if both wordsA and wordsB contain exactly one 3D point (i.e., one pcl::PointXYZ) associated with the same key.

    +
    Parameters
    + + + +
    wordsAA multimap of word IDs to 3D points (e.g., from frame A).
    wordsBA multimap of word IDs to 3D points (e.g., from frame B).
    +
    +
    +
    Returns
    The number of unique pairs where both wordsA and wordsB contain exactly one point for a given word ID.
    + +
    +
    + +

    ◆ filterMaxDepth()

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::filterMaxDepth (pcl::PointCloud< pcl::PointXYZ > & inliers1,
    pcl::PointCloud< pcl::PointXYZ > & inliers2,
    float maxDepth,
    char depthAxis,
    bool removeDuplicates 
    )
    +
    + +

    Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.

    +

    This function takes two point clouds (inliers1 and inliers2) containing corresponding 3D points, and filters out pairs where either point exceeds a specified maximum depth value along the given axis. It can also optionally remove duplicate points in the first point cloud.

    +
    Parameters
    + + + + + + +
    [in,out]inliers1The first point cloud of 3D points to be filtered. Points failing the filter will be removed.
    [in,out]inliers2The second point cloud of 3D points corresponding to inliers1. Points failing the filter will be removed. Must be the same size as inliers1.
    [in]maxDepthThe maximum allowed depth value along the specified axis. Points with coordinate values greater or equal to this value on that axis will be removed. If maxDepth is less or equal to zero, no filtering is performed.
    [in]depthAxisThe axis ('x', 'y', or 'z') along which to measure depth for filtering.
    [in]removeDuplicatesIf true, duplicate points in inliers1 (exact coordinate matches) will be removed. Duplicates are detected only in inliers1.
    +
    +
    +
    Warning
    The function modifies inliers1 and inliers2 in place, replacing them with filtered versions.
    + +
    +
    + +

    ◆ findCorrespondences() [1/3]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::findCorrespondences (const std::multimap< int, cv::KeyPoint > & wordsA,
    const std::multimap< int, cv::KeyPoint > & wordsB,
    std::list< std::pair< cv::Point2f, cv::Point2f > > & pairs 
    )
    +
    + +

    Finds 2D point correspondences between two sets of keypoints based on matching word IDs.

    +

    This function compares two multimap structures containing word IDs associated with cv::KeyPoints. It extracts correspondences where the same word ID appears exactly once in each set.

    +
    Parameters
    + + + + +
    [in]wordsAA multimap from word ID to keypoints in set A.
    [in]wordsBA multimap from word ID to keypoints in set B.
    [out]pairsA list of matching 2D point correspondences (Point2f) between wordsA and wordsB.
    +
    +
    +
    Note
    Only unique word ID matches (count == 1 in both sets) are considered valid correspondences.
    +
    Example
    If wordsA = [1 2 3 4 6 6] and wordsB = [1 1 2 4 5 6 6], the output pairs will contain correspondences for IDs 2 and 4, because only those have exactly one match in both sets.
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    +
    + +

    ◆ findCorrespondences() [2/3]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::findCorrespondences (const std::multimap< int, cv::Point3f > & words1,
    const std::multimap< int, cv::Point3f > & words2,
    std::vector< cv::Point3f > & inliers1,
    std::vector< cv::Point3f > & inliers2,
    float maxDepth,
    std::vector< int > * uniqueCorrespondences = 0 
    )
    +
    + +

    Finds 3D point correspondences between two sets of points based on matching word IDs.

    +

    This function compares two multimaps of 3D points (typically from different views or frames). It returns point pairs where the same word ID appears once in both maps, the points are finite and valid, and optionally filtered by a maximum X-depth.

    +
    Parameters
    + + + + + + + +
    [in]words1A multimap of word IDs to 3D points in the first set.
    [in]words2A multimap of word IDs to 3D points in the second set.
    [out]inliers1Output vector of 3D points from words1 with valid correspondences.
    [out]inliers2Output vector of corresponding 3D points from words2.
    [in]maxDepthOptional filter: only points with X-values in (0, maxDepth] are kept. Use <= 0 to disable.
    [out]uniqueCorrespondences(Optional) Vector of word IDs corresponding to each pair.
    +
    +
    +
    Note
    Only pairs with exactly one occurrence in each map and non-zero, finite coordinates are kept.
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    +
    + +

    ◆ findCorrespondences() [3/3]

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::findCorrespondences (const std::map< int, cv::Point3f > & words1,
    const std::map< int, cv::Point3f > & words2,
    std::vector< cv::Point3f > & inliers1,
    std::vector< cv::Point3f > & inliers2,
    float maxDepth,
    std::vector< int > * correspondences = 0 
    )
    +
    + +

    Finds 3D point correspondences between two sets of uniquely indexed 3D points.

    +

    This overload works with std::map, where each word ID appears at most once. It finds matching IDs and returns valid point pairs based on similar criteria to the multimap version.

    +
    Parameters
    + + + + + + + +
    [in]words1A map of word IDs to 3D points in the first set.
    [in]words2A map of word IDs to 3D points in the second set.
    [out]inliers1Output vector of 3D points from words1 with valid correspondences.
    [out]inliers2Output vector of corresponding 3D points from words2.
    [in]maxDepthOptional filter: only points with X-values in (0, maxDepth] are kept. Use <= 0 to disable.
    [out]correspondences(Optional) Vector of word IDs corresponding to valid matched pairs.
    +
    +
    +
    Note
    Finite, non-zero points are required. The function ignores word IDs not found in both sets.
    + +
    +
    + +

    ◆ generateKeypoints3DDepth() [1/2]

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    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT rtabmap::util3d::generateKeypoints3DDepth (const std::vector< cv::KeyPoint > & keypoints,
    const cv::Mat & depth,
    const std::vector< CameraModel > & cameraModels,
    float minDepth = 0,
    float maxDepth = 0 
    )
    +
    + +

    Projects 2D keypoints to 3D space using the provided depth image and camera models.

    +

    This function takes a vector of 2D keypoints and projects them into 3D space by using depth values from a depth image and the associated camera models. It supports multi-camera setups by assuming the depth image is horizontally stacked with sub-images corresponding to each camera.

    +

    If a depth value at a keypoint location is invalid or outside the specified depth range (minDepth, maxDepth), the output 3D point will be set to NaN.

    +
    Parameters
    + + + + + + +
    keypointsA vector of 2D keypoints (in image coordinates).
    depthThe depth image (must be either CV_32FC1 or CV_16UC1). For multiple cameras, the depth images should be horizontally concatenated.
    cameraModelsA vector of camera models, one per camera. Each model must provide intrinsic parameters and optionally a local transform to apply to the resulting 3D point.
    minDepthMinimum valid depth value. If negative, no minimum is enforced.
    maxDepthMaximum valid depth value. If zero or negative, no maximum is enforced.
    +
    +
    +
    Returns
    A vector of 3D points (cv::Point3f) corresponding to the input keypoints. If the depth is invalid or outside the valid range, the point will contain NaNs.
    +
    Exceptions
    + + +
    Assertionfailure if the depth image is empty or not of the expected type, or if the camera model vector is empty, or if camera index computation fails.
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    ◆ generateKeypoints3DDepth() [2/2]

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    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT rtabmap::util3d::generateKeypoints3DDepth (const std::vector< cv::KeyPoint > & keypoints,
    const cv::Mat & depth,
    const CameraModel & cameraModel,
    float minDepth = 0,
    float maxDepth = 0 
    )
    +
    + +

    Projects 2D keypoints to 3D space using the provided depth image and camera model.

    +
    See also
    util3d::generateKeypoints3DDepth()
    + +
    +
    + +

    ◆ generateKeypoints3DDisparity()

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    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT rtabmap::util3d::generateKeypoints3DDisparity (const std::vector< cv::KeyPoint > & keypoints,
    const cv::Mat & disparity,
    const StereoCameraModel & stereoCameraModel,
    float minDepth = 0,
    float maxDepth = 0 
    )
    +
    + +

    Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.

    +

    This function computes 3D coordinates for each input 2D keypoint by using the disparity image and the stereo camera model. Invalid or out-of-range depth values result in 3D points with NaN components.

    +

    The function applies the local transform of the left camera (from the stereo model) to each valid 3D point, if the transform is not null or identity.

    +
    Parameters
    + + + + + + +
    keypointsA vector of 2D keypoints (image coordinates) to be projected into 3D.
    disparityThe disparity image (must be of type CV_16SC1 or CV_32F). Disparity values should correspond to the keypoints' locations.
    stereoCameraModelA valid stereo camera model that provides projection parameters and an optional local transform.
    minDepthMinimum depth threshold. If negative, no minimum constraint is applied.
    maxDepthMaximum depth threshold. If zero or negative, no maximum constraint is applied.
    +
    +
    +
    Returns
    A vector of 3D points (cv::Point3f) corresponding to the input keypoints. Points with invalid or out-of-range depth are returned as (NaN, NaN, NaN).
    +
    Exceptions
    + + +
    Assertionfailure if the disparity image is empty or of incorrect type, or if the stereo camera model is not valid for projection.
    +
    +
    + +
    +
    + +

    ◆ generateKeypoints3DStereo()

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    +
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    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT rtabmap::util3d::generateKeypoints3DStereo (const std::vector< cv::Point2f > & leftCorners,
    const std::vector< cv::Point2f > & rightCorners,
    const StereoCameraModel & model,
    const std::vector< unsigned char > & mask = std::vector< unsigned char >(),
    float minDepth = 0,
    float maxDepth = 0 
    )
    +
    + +

    Computes 3D keypoints from corresponding 2D points in a stereo image pair.

    +

    This function triangulates 3D points from pairs of corresponding 2D points (leftCorners, rightCorners) using a given stereo camera model. It optionally applies a validity mask and filters 3D points by depth range.

    +

    For each point pair, the disparity is computed as the x-coordinate difference between left and right corners. Only positive disparities are considered valid. If a mask is provided, only entries with a non-zero value are processed.

    +

    The resulting 3D points are optionally transformed using the stereo camera model's local transform, if one is defined and non-identity.

    +

    Invalid or out-of-range points are set to (NaN, NaN, NaN).

    +
    Parameters
    + + + + + + + +
    leftCornersA vector of 2D points from the left stereo image.
    rightCornersA vector of corresponding 2D points from the right stereo image.
    modelThe stereo camera model containing intrinsic parameters and optional local transform.
    mask(Optional) A binary mask indicating which matches are valid (non-zero = valid). If empty, all matches are considered valid.
    minDepthMinimum allowed depth value. If negative, no minimum is applied.
    maxDepthMaximum allowed depth value. If zero or negative, no maximum is applied.
    +
    +
    +
    Returns
    A vector of 3D points (cv::Point3f) corresponding to valid stereo matches. Invalid points or those outside the depth range are returned as (NaN, NaN, NaN).
    +
    Exceptions
    + + +
    Assertionfailure if the input vectors are inconsistent in size, or if the stereo camera model is invalid (e.g., non-positive focal length or baseline).
    +
    +
    + +
    +
    + +

    ◆ aggregate()

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    std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT rtabmap::util3d::aggregate (const std::list< int > & wordIds,
    const std::vector< cv::KeyPoint > & keypoints 
    )
    +
    + +

    Aggregates word IDs and corresponding keypoints into a multimap.

    +

    This function pairs each word ID from the input list with the corresponding keypoint from the input vector and stores them in a std::multimap<int, cv::KeyPoint>.

    +

    It is assumed that the wordIds list and the keypoints vector are of the same length and ordered such that each word ID corresponds to the keypoint at the same index.

    +
    Parameters
    + + + +
    wordIdsA list of integer word IDs (e.g., visual word identifiers).
    keypointsA vector of keypoints associated with the word IDs.
    +
    +
    +
    Returns
    A multimap where each key is a word ID and the value is the corresponding cv::KeyPoint. Multiple keypoints can be associated with the same word ID.
    +
    Exceptions
    + + +
    Assertionfailure if wordIds.size() != keypoints.size().
    +
    +
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    +
    + +

    ◆ commonFiltering() [1/2]

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    LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::commonFiltering (const LaserScan & scan,
    int downsamplingStep,
    float rangeMin = 0.0f,
    float rangeMax = 0.0f,
    float voxelSize = 0.0f,
    int normalK = 0,
    float normalRadius = 0.0f,
    float groundNormalsUp = 0.0f 
    )
    +
    + +

    Applies a common set of filters to a LaserScan, including downsampling, range limits, voxel grid filtering, and normal estimation.

    +

    This function performs a sequence of optional preprocessing steps on the input LaserScan:

      +
    • Downsampling: Reduces the number of points by selecting every N-th point.
      • +
    • Range filtering: Removes points outside the specified minimum and maximum range.
      • +
    • Voxel grid filtering: Reduces point density using a voxel grid.
      • +
    • Normal estimation: Computes surface normals using k-nearest neighbors or radius search.
      • +
    • Normal reorientation: Optionally orients normals upward if this condition is fulfilled: for each normal, if normal.z < -groundNormalsUp and the corresponding point is below viewpoint, it is flipped upward.
      • +
    +

    The function supports both 2D and 3D scans and adapts behavior based on whether the scan contains RGB or intensity data.

    +

    Depending on the filtering options used, the output point cloud may be dense if the input is organized.

    +
    Parameters
    + + + + + + + + + +
    scanInInput LaserScan to be filtered.
    downsamplingStepStep size for downsampling. A value >1 will reduce the scan resolution. For organized scans, only the largest dimension is downsampled and the result is dense. For example, if the input organized scan is 16x1024, the resulting scan will be 1x8192 (if all values are valid).
    rangeMinMinimum range to keep points from the scan viewpoint. Points closer than this value will be discarded. Output point cloud will be dense. Set to 0 to disable.
    rangeMaxMaximum range to keep points from the scan viewpoint. Points farther than this value will be discarded. Output point cloud will be dense. Set to 0 to disable.
    voxelSizeSize of the voxel grid in meters. A value >0 enables voxel filtering. Output point cloud will be dense.
    normalKNumber of nearest neighbors to use for normal estimation. Set to 0 to disable.
    normalRadiusRadius used for normal estimation. Set to 0 to disable.
    groundNormalsUpIf >0, normal vectors close to -Z axis will be oriented upward (+Z). Expected value is around 0.8.
    +
    +
    +
    Returns
    A new LaserScan instance with the applied filters and potential normals.
    +
    See also
    adjustNormalsToViewPoint()
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    +
    + +

    ◆ commonFiltering() [2/2]

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    RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::commonFiltering (const LaserScan & scan,
    int downsamplingStep,
    float rangeMin,
    float rangeMax,
    float voxelSize,
    int normalK,
    float normalRadius,
    bool forceGroundNormalsUp 
    )
    +
    + +

    Applies a common set of filters to a LaserScan, including downsampling, range limits, voxel grid filtering, and normal estimation.

    +
    Deprecated:
    Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUpAngle=0.8, otherwise set groundNormalsUpAngle=0.0.
    + +
    +
    + +

    ◆ rangeFiltering()

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    LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::rangeFiltering (const LaserScan & scan,
    float rangeMin,
    float rangeMax 
    )
    +
    + +

    Filters a LaserScan data on a minimum and maximum Euclidean range.

    +

    This function removes scan points from the input LaserScan that fall outside the specified minimum and maximum range (in meters) from the LaserScan's viewpoint.

    +
    Parameters
    + + + + +
    scanThe input LaserScan object containing the scan data.
    rangeMinThe minimum range threshold. Points closer than this will be excluded.
    rangeMaxThe maximum range threshold. Points farther than this will be excluded.
    +
    +
    +
    Returns
    A new LaserScan object containing only the points within the specified range. If the input scan is empty or the range limits are both zero, the original scan is returned.
    +
    Note
    The function handles both 2D and 3D scans based on the scan.is2d() flag. The function doesn't keep the scan organized if the input is.
    +
    Exceptions
    + + +
    Assertionfailure if either rangeMin or rangeMax is negative.
    +
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    + +

    ◆ uniformSampling() [1/3]

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    pcl::PointCloud< pcl::PointXYZ >::Ptr rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr & cloud,
    float voxelSize 
    )
    +     		+inline
    +
    + +

    DEPRECATED: Use voxelize() instead.

    +

    Performs uniform sampling of a point cloud by applying voxel grid filtering with the specified voxel size. This is a legacy wrapper for voxelize().

    +
    Parameters
    + + + +
    cloudThe input point cloud (pcl::PointXYZ).
    voxelSizeThe voxel size (resolution) used for downsampling.
    +
    +
    +
    Returns
    A downsampled point cloud using voxel grid filtering.
    +
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    + +

    Definition at line 430 of file util3d_filtering.h.

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    ◆ uniformSampling() [2/3]

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    pcl::PointCloud< pcl::PointXYZRGB >::Ptr rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud,
    float voxelSize 
    )
    +     		+inline
    +
    + +

    DEPRECATED: Use voxelize() instead.

    +

    Performs uniform sampling of a point cloud by applying voxel grid filtering with the specified voxel size. This is a legacy wrapper for voxelize().

    +
    Parameters
    + + + +
    cloudThe input point cloud (pcl::PointXYZRGB).
    voxelSizeThe voxel size (resolution) used for downsampling.
    +
    +
    +
    Returns
    A downsampled point cloud using voxel grid filtering.
    +
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    + +

    Definition at line 448 of file util3d_filtering.h.

    + +
    +
    + +

    ◆ uniformSampling() [3/3]

    + +
    +
    + + + + + +
    + + + + + + + + + + + + + + + + + + +
    pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr rtabmap::util3d::uniformSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr & cloud,
    float voxelSize 
    )
    +     		+inline
    +
    + +

    DEPRECATED: Use voxelize() instead.

    +

    Performs uniform sampling of a point cloud by applying voxel grid filtering with the specified voxel size. This is a legacy wrapper for voxelize().

    +
    Parameters
    + + + +
    cloudThe input point cloud (pcl::PointXYZRGBNormal).
    voxelSizeThe voxel size (resolution) used for downsampling.
    +
    +
    +
    Returns
    A downsampled point cloud using voxel grid filtering.
    +
    Deprecated:
    This function is deprecated. Use voxelize() for equivalent behavior.
    + +

    Definition at line 466 of file util3d_filtering.h.

    + +
    +
    + +

    ◆ subtractAdaptiveFiltering() [1/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & subtractCloud,
    const pcl::IndicesPtr & subtractIndices,
    float radiusSearchRatio = 0.01,
    int minNeighborsInRadius = 1,
    const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0, 0, 0) 
    )
    +
    + +

    Performs adaptive radius-based subtraction filtering on a point cloud.

    +

    This function removes points from the input cloud that have at least minNeighborsInRadius neighbors within an adaptive radius in the subtractCloud. The search radius is scaled proportionally to the distance of each point from the viewpoint, using the radiusSearchRatio.

    +
    Parameters
    + + + + + + + + +
    cloudThe input point cloud to filter.
    indicesThe subset of points in cloud to consider. If empty, the entire cloud is used.
    subtractCloudThe reference point cloud to search against.
    subtractIndicesOptional indices for subtractCloud. If empty, the full cloud is used.
    radiusSearchRatioThe ratio to scale the radius based on distance to viewpoint.
    minNeighborsInRadiusMinimum number of neighbors required to consider a point "covered".
    viewpointThe reference viewpoint used to compute adaptive search radius.
    +
    +
    +
    Returns
    The retained point indices from cloud.
    +
    Note
    Points with fewer than minNeighborsInRadius neighbors in the subtract cloud are retained.
    +
    Warning
    This version does not consider surface normals; it is purely geometric.
    + +
    +
    + +

    ◆ subtractAdaptiveFiltering() [2/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractAdaptiveFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr & subtractCloud,
    const pcl::IndicesPtr & subtractIndices,
    float radiusSearchRatio = 0.01,
    float maxAngle = M_PI/4.0f,
    int minNeighborsInRadius = 1,
    const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0, 0, 0) 
    )
    +
    + +

    Performs adaptive radius-based subtraction filtering on a point cloud with normals, also considering normal direction differences.

    +

    This function removes points from the input cloud that have at least minNeighborsInRadius neighbors within an adaptive radius in the subtractCloud, unless the angular difference between normals exceeds maxAngle.

    +

    The search radius is scaled based on the distance of each point from the viewpoint, using the radiusSearchRatio. For neighbors found, the angle between their normals and the input point’s normal is evaluated. If the angle exceeds maxAngle, the neighbor is ignored.

    +
    Parameters
    + + + + + + + + + +
    cloudThe input point cloud with normals to filter.
    indicesThe subset of points in cloud to consider. If empty, the entire cloud is used.
    subtractCloudThe reference point cloud with normals to search against.
    subtractIndicesOptional indices for subtractCloud. If empty, the full cloud is used.
    radiusSearchRatioThe ratio to scale the radius based on distance to viewpoint.
    maxAngleMaximum angle (in radians) allowed between normals of matched neighbors.
    minNeighborsInRadiusMinimum number of valid neighbors required to exclude a point.
    viewpointThe reference viewpoint used to compute adaptive search radius.
    +
    +
    +
    Returns
    The retained point indices from cloud.
    +
    Note
    Neighbors with normals exceeding maxAngle from the input point's normal are discarded. Points with fewer than minNeighborsInRadius valid neighbors are retained.
    + +
    +
    + +

    ◆ extractPlane()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractPlane (const pcl::PointCloud< pcl::PointXYZ >::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    float distanceThreshold,
    int maxIterations = 100,
    pcl::ModelCoefficients * coefficientsOut = 0 
    )
    +
    + +

    Extracts the indices of the inliers that belong to a plane using RANSAC.

    +

    This function uses the RANSAC algorithm to fit a plane model to a set of 3D points and returns the indices of the points that are considered inliers (i.e., those that lie close to the fitted plane). It also optionally outputs the coefficients of the plane (normal and offset).

    +
    Parameters
    + + + + + + +
    cloudThe input point cloud.
    indicesAn optional set of indices in the point cloud to use for segmentation. If empty, the whole cloud is used.
    distanceThresholdThe distance threshold for considering points as inliers to the plane. Points within this threshold are classified as inliers.
    maxIterationsThe maximum number of iterations the RANSAC algorithm should run.
    coefficientsOutAn optional output pointer to store the coefficients of the plane model. The coefficients include the plane normal and offset.
    +
    +
    +
    Returns
    A list of indices of points that are considered inliers to the fitted plane.
    +
    Note
    If the input indices is empty, the entire point cloud will be used for segmentation.
    +
    +If the coefficientsOut is not null, it will be filled with the model coefficients of the plane.
    + +
    +
    + +

    ◆ occupancy2DFromLaserScan() [1/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat & scan,
    cv::Mat & empty,
    cv::Mat & occupied,
    float cellSize,
    bool unknownSpaceFilled = false,
    float scanMaxRange = 0.0f 
    )
    +
    +
    Deprecated:
    Use the overload taking a viewpoint, so that ray tracing starts from the sensor and not from the base frame.
    + +
    +
    + +

    ◆ occupancy2DFromLaserScan() [2/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat & scan,
    const cv::Point3f & viewpoint,
    cv::Mat & empty,
    cv::Mat & occupied,
    float cellSize,
    bool unknownSpaceFilled = false,
    float scanMaxRange = 0.0f 
    )
    +
    +
    Deprecated:
    Use the overload taking scanHit / scanNoHit; passing a null scanNoHit is equivalent to this one.
    + +
    +
    + +

    ◆ occupancy2DFromLaserScan() [3/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::occupancy2DFromLaserScan (const cv::Mat & scanHit,
    const cv::Mat & scanNoHit,
    const cv::Point3f & viewpoint,
    cv::Mat & empty,
    cv::Mat & occupied,
    float cellSize,
    bool unknownSpaceFilled = false,
    float scanMaxRange = 0.0f 
    )
    +
    + +

    Generates 2D occupancy grid maps (free and occupied cells) from laser scan data.

    +

    This function takes in a laser scan composed of hit and no-hit points and computes two 2D maps:

      +
    • empty: 2D coordinates of free space (where the laser passed without hitting obstacles).
      • +
    • occupied: precise 2D coordinates of obstacle hits (where the laser reflected).
      • +
    +

    The internal representation uses a temporary occupancy map generated from create2DMap(), from which free cells are extracted. Obstacle points are directly passed through, potentially clipped by a maximum range filter.

    +
    Parameters
    + + + + + + + + + +
    [in]scanHitInCV_32FC2 or CV_32FC(n>=2) matrix representing obstacle hits in 2D or 3D space (relative to base frame, not laser frame).
    [in]scanNoHitInCV_32FC2 or CV_32FC(n>=2) matrix representing laser rays that did not hit an obstacle (relative to base frame, not laser frame).
    [in]viewpointThe viewpoint (sensor origin) from which the scan was taken, in 3D space, relative to base frame. This used to determinate the origin of ray tracing.
    [out]emptyOutput matrix (CV_32FC2) of free space points derived from ray tracing.
    [out]occupiedOutput matrix (CV_32FC2) of occupied (hit) points, filtered by max range if required.
    [in]cellSizeThe resolution of the occupancy map grid (in meters per cell).
    [in]unknownSpaceFilledIf true, unknown space between hits is also filled via ray tracing.
    [in]scanMaxRangeMaximum range of the scan (in meters). Values beyond this are clipped.
    +
    +
    +
    Note
    The function assumes a single scan already converted in base frame for internal processing.
    +
    +If scanMaxRange <= cellSize, no range filtering is applied to the occupied points.
    +
    See also
    create2DMap(), util3d::rangeFiltering()
    + +
    +
    + +

    ◆ create2DMapFromOccupancyLocalMaps()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::create2DMapFromOccupancyLocalMaps (const std::map< int, Transform > & poses,
    const std::map< int, std::pair< cv::Mat, cv::Mat > > & occupancy,
    float cellSize,
    float & xMin,
    float & yMin,
    float minMapSize = 0.0f,
    bool erode = false,
    float footprintRadius = 0.0f 
    )
    +
    + +

    Creates a 2D occupancy grid map from local occupancy data.

    +

    Generates a 2D occupancy grid (CV_8S) where:

      +
    • -1 indicates unknown space,
      • +
    • 0 indicates free space,
      • +
    • 100 indicates an occupied (obstacle) cell.
      • +
    +

    This function transforms and merges local empty/occupied occupancy maps from multiple robot poses into a single global 2D grid map.

    +
    Parameters
    + + + + + + + + + +
    posesInMap of robot poses, indexed by node ID.
    occupancyMap of local occupancy data, indexed by node ID. Each pair contains two cv::Mat elements:
      +
    • First: empty cells (CV_32FC2) relative to base frame,
      • +
    • Second: occupied cells (CV_32FC2) relative to base frame.
      • +
    +
    cellSizeThe resolution of the map in meters per cell.
    [out]xMinMinimum x-coordinate (origin offset) of the resulting map (in meters).
    [out]yMinMinimum y-coordinate (origin offset) of the resulting map (in meters).
    minMapSizeMinimum width/height of the output map in meters. If 0, size is computed from poses and occupancy data.
    erodeWhether to post-process (erode) noisy obstacles. This helps remove isolated or thin obstacle artifacts.
    footprintRadiusRadius of the robot footprint (in meters). Free space will be cleared under the robot.
    +
    +
    +
    Returns
    cv::Mat The resulting occupancy grid map (CV_8S): -1 = unknown, 0 = free space, 100 = obstacle.
    +
    Warning
    The output map can be very large if poses are far apart or cellSize is small. The function will not create a map if the estimated size exceeds reasonable limits (e.g. > 1.5 km).
    +
    Note
    The function will fill small holes surrounded by known cells and optionally erode noisy borders.
    + +
    +
    + +

    ◆ create2DMap() [1/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::create2DMap (const std::map< int, Transform > & poses,
    const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > & scans,
    float cellSize,
    bool unknownSpaceFilled,
    float & xMin,
    float & yMin,
    float minMapSize = 0.0f,
    float scanMaxRange = 0.0f 
    )
    +
    +
    Deprecated:
    Use the overload taking viewpoints, so that ray tracing starts from the sensor and not from the base frame.
    + +
    +
    + +

    ◆ create2DMap() [2/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::create2DMap (const std::map< int, Transform > & poses,
    const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > & scans,
    const std::map< int, cv::Point3f > & viewpoints,
    float cellSize,
    bool unknownSpaceFilled,
    float & xMin,
    float & yMin,
    float minMapSize = 0.0f,
    float scanMaxRange = 0.0f 
    )
    +
    +
    Deprecated:
    Use the overload taking cv::Mat scans.
    + +
    +
    + +

    ◆ create2DMap() [3/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::create2DMap (const std::map< int, Transform > & poses,
    const std::map< int, std::pair< cv::Mat, cv::Mat > > & scans,
    const std::map< int, cv::Point3f > & viewpoints,
    float cellSize,
    bool unknownSpaceFilled,
    float & xMin,
    float & yMin,
    float minMapSize = 0.0f,
    float scanMaxRange = 0.0f 
    )
    +
    + +

    Generates a 2D occupancy grid map from a set of poses, laser scans, and viewpoints.

    +

    This function aggregates laser scan data from multiple poses and creates a 2D occupancy grid (CV_8S: signed 8-bit) where:

      +
    • -1 represents unknown space,
      • +
    • 0 represents free space,
      • +
    • 100 represents occupied space (obstacles).
      • +
    +

    The scans are first transformed into the global map frame using the corresponding pose. Obstacles and free space are inserted using ray tracing. Optionally, unknown areas between known rays can also be filled using radial sweeping.

    +
    Parameters
    + + + + + + + + + + +
    posesA map of node IDs to 3D poses (used to transform local scans to the global frame).
    scansA map of node IDs to pairs of laser scans (<hit, no-hit>), each as a cv::Mat of type CV_32FC2.
      +
    • first: endpoints of beams hitting obstacles (relative to base frame, not laser frame).
      • +
    • second: endpoints of beams not hitting any obstacle (relative to base frame, not laser frame).
      • +
    +
    viewpointsA map of node IDs to local sensor origin offsets relative to each pose (e.g., lidar offset /base_link -> /base_scan). This is used to determinate the starting point for each ray trace.
    cellSizeThe size of each grid cell in meters.
    unknownSpaceFilledIf true, fills areas between known rays (fan sweeping) up to scanMaxRange.
    [out]xMinThe minimum x value (in meters) of the grid origin relative to map coordinates.
    [out]yMinThe minimum y value (in meters) of the grid origin relative to map coordinates.
    minMapSizeThe minimum width and height (in meters) of the map. Ensures the output map has a minimum footprint.
    scanMaxRangeThe maximum range (in meters) of the sensor. Used to limit ray tracing and padding.
    +
    +
    +
    Returns
    A 2D occupancy grid map (cv::Mat of type CV_8S) where:
      +
    • -1 = unknown
      • +
    • 0 = free space
      • +
    • 100 = obstacle
      • +
    +
    +
    Note
    If scanMaxRange <= 0, map size is determined based on scan data bounds.
    +
    +Grid coordinates are calculated with padding to ensure all points fall within the map.
    +
    +This function uses ray tracing internally via the rayTrace() function.
    + +
    +
    + +

    ◆ rayTrace()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::rayTrace (const cv::Point2i & start,
    const cv::Point2i & end,
    cv::Mat & grid,
    bool stopOnObstacle 
    )
    +
    + +

    Performs a 2D ray tracing operation between two points on a grid map.

    +

    This function draws a line from the start point to the end point on a grid (e.g., occupancy grid), marking all traversed cells as free (value = 0) unless an obstacle (value = 100) is encountered. The line follows an integer rasterization algorithm (like Bresenham’s line), accounting for steep slopes by transposing axes when needed.

    +
    Parameters
    + + + + + +
    startThe starting point of the ray (2D grid coordinates).
    endThe ending point of the ray (2D grid coordinates). This point is clipped to the grid bounds.
    gridA mutable 2D grid represented as a cv::Mat of signed char values. Assumes 100 denotes obstacles; 0 denotes free space.
    stopOnObstacleIf true, the ray trace stops upon hitting a cell marked with 100 (an obstacle).
    +
    +
    +
    Note
      +
    • If the slope of the line is steep (outside the range [-1, 1]), the algorithm swaps x and y axes for correctness.
      • +
    • The function ensures both the start and end points are within the bounds of the grid.
      • +
    • All visited cells along the path (except obstacles when stopOnObstacle is true) will be updated to 0 (free).
      • +
    • The grid must have type CV_8SC1 (signed 8-bit single-channel matrix).
      • +
    +
    + +
    +
    + +

    ◆ convertMap2Image8U()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::convertMap2Image8U (const cv::Mat & map8S,
    bool pgmFormat = false 
    )
    +
    + +

    Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).

    +

    This function takes a signed 8-bit occupancy grid map and produces a corresponding 8-bit unsigned grayscale image. The pixel values are mapped based on the occupancy values:

    +
      +
    • 0 (free space) → 178 (normal) or 254 (PGM format)
      • +
    • 100 (obstacle) → 0 (black)
      • +
    • -2 (robot footprint) → 200 (normal) or 254 (PGM format)
      • +
    • -1 (unknown) → 89 (normal) or 205 (PGM format)
      • +
    • v > 50 (partial obstacle): scaled to range [0, 89]
      • +
    • v < 50 (partial free): scaled to range [89, 178]
      • +
    +

    If pgmFormat is true, the vertical axis is flipped (for PGM format compatibility).

    +
    Parameters
    + + + +
    map8SThe input occupancy grid map as a CV_8S single-channel matrix. Must contain values such as -1 (unknown), 0 (free), 100 (occupied).
    pgmFormatIf true, output will be formatted for PGM file format (inverted Y-axis and different gray scale mapping).
    +
    +
    +
    Returns
    A CV_8U grayscale image with pixel values representing occupancy status.
    +
    Exceptions
    + + +
    UASSERTif the input map is not a single-channel CV_8S matrix.
    +
    +
    + +
    +
    + +

    ◆ convertImage8U2Map()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::convertImage8U2Map (const cv::Mat & map8U,
    bool pgmFormat = false 
    )
    +
    + +

    Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).

    +

    This function interprets grayscale pixel values from an input image and converts them into occupancy values used in a typical occupancy grid map:

      +
    • 100: Occupied
      • +
    • 0: Free
      • +
    • -1: Unknown
      • +
    • -2: Free space under robot footprint (non-PGM only)
      • +
    +

    The interpretation differs slightly depending on whether the input image is in PGM format (common in ROS map_server) or in standard grayscale.

    +
    Parameters
    + + + +
    map8UInput grayscale image (type CV_8U, single-channel).
    pgmFormatIf true, assumes PGM format:
      +
    • 0 = occupied
      • +
    • 254 = free
      • +
    • 205 = unknown If false (normal format):
      • +
    • 0 = occupied
      • +
    • 178 = free
      • +
    • 200 = footprint (free space under robot)
      • +
    • 89 = unknown
      • +
    +
    +
    +
    +
    Returns
    A CV_8S occupancy grid map with encoded occupancy values.
    +
    Exceptions
    + + +
    Assertionfailure if input image is not of type CV_8U or not single-channel.
    +
    +
    + +
    +
    + +

    ◆ erodeMap()

    + +
    +
    + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::erodeMap (const cv::Mat & map)
    +
    + +

    Performs erosion on an occupancy grid map to reduce small noisy obstacles.

    +

    This function scans a given occupancy grid (CV_8SC1 format) and removes obstacle cells (value 100) that are surrounded by at least 3 empty cells (value 0) and no adjacent unknown cells (value -1). These obstacles are likely noise and are converted into empty space (value 0) in the resulting map.

    +
    Parameters
    + + +
    mapInput occupancy grid map of type CV_8SC1 where:
      +
    • 100 represents obstacles,
      • +
    • 0 represents free space,
      • +
    • -1 represents unknown space.
      • +
    +
    +
    +
    +
    Returns
    A new cv::Mat of the same size and type as the input map, with eroded obstacles.
    + +
    +
    + +

    ◆ segmentObstaclesFromGround() [3/3]

    + +
    +
    +
    +template<typename PointT >
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::util3d::segmentObstaclesFromGround (const typename pcl::PointCloud< PointT >::Ptr & cloud,
    const pcl::IndicesPtr & indices,
    pcl::IndicesPtr & ground,
    pcl::IndicesPtr & obstacles,
    int normalKSearch,
    float groundNormalAngle,
    float clusterRadius,
    int minClusterSize,
    bool segmentFlatObstacles = false,
    float maxGroundHeight = 0.0f,
    pcl::IndicesPtr * flatObstacles = 0,
    const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0, 0, 100, 0),
    float groundNormalsUp = 0 
    )
    +
    + +

    Segments ground and obstacle indices from a point cloud using surface normals and clustering.

    +

    This function analyzes a point cloud to identify flat surfaces (e.g., ground) and separates them from potential obstacles based on normal orientation, height constraints, and optional clustering. Optionally, flat obstacles (e.g., tables, ramps) can be segmented separately.

    +
    Template Parameters
    + + +
    PointTThe type of point used in the point cloud (e.g., pcl::PointXYZ).
    +
    +
    +
    Parameters
    + + + + + + + + + + + + + + +
    cloudThe input point cloud.
    indicesOptional input indices to consider from the cloud (e.g., from a prior ROI extraction).
    groundOutput pointer where indices corresponding to ground points will be stored.
    obstaclesOutput pointer where indices corresponding to obstacle points will be stored.
    normalKSearchNumber of neighbors to use for normal estimation.
    groundNormalAngleMaximum angle (in radians) between the estimated normal and the "up" direction for a surface to be considered ground.
    clusterRadiusThe Euclidean distance threshold for clustering flat surfaces and obstacles.
    minClusterSizeThe minimum number of points required to form a valid cluster.
    segmentFlatObstaclesIf true, flat but non-ground surfaces (e.g., tables) are detected and optionally returned via flatObstacles.
    maxGroundHeightMaximum Z-height for a surface to be considered ground (0 disables filtering). Note that all obstacle points under that threshold will be ignored (i.e., won't be returned in obstacles).
    flatObstaclesOptional output pointer where indices corresponding to flat obstacles will be stored (only valid if segmentFlatObstacles is true).
    viewPointThe viewpoint to use for normal estimation (important for consistent orientation).
    groundNormalsUpThreshold (between 0 and 1) used to detect and flip ground-facing normals (set to 0.0f to disable). If the Z component of a normal is less than -groundNormalsUp and the corresponding point is below the viewpoint, the normal will be flipped.
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    ◆ setRansacDeterministicSeed()

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::setRansacDeterministicSeed (bool enable)
    +
    + +

    Toggle a deterministic seed for OpenGV's internal RANSAC RNG.

    +

    OpenGV's SampleConsensusProblem (and its multi-camera sibling) seeds its internal std::mt19937 from the system clock when default-constructed, which makes every estimateMotion3DTo2D() call non-reproducible across runs. Calling setRansacDeterministicSeed(true) reseeds OpenGV's RNG with the fixed value 12345 before each RANSAC pass so identical inputs always produce identical inlier sets, covariances and output transforms.

    +

    Intended for tests; production code should leave this off (default).

    +
    Parameters
    + + +
    enableIf true, force the deterministic seed; if false (default), use OpenGV's system-clock seed.
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    +
    + +

    ◆ ransacDeterministicSeedEnabled()

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    bool RTABMAP_CORE_EXPORT rtabmap::util3d::ransacDeterministicSeedEnabled ()
    +
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    Returns
    Whether the deterministic-seed toggle is currently enabled.
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    +
    + +

    ◆ estimateMotion3DTo2D() [1/3]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::estimateMotion3DTo2D (const std::map< int, cv::Point3f > & words3A,
    const std::map< int, cv::KeyPoint > & words2B,
    const CameraModel & cameraModel,
    int minInliers = 10,
    int iterations = 100,
    double reprojError = 5.,
    int flagsPnP = 0,
    int pnpRefineIterations = 1,
    int varianceMedianRatio = 4,
    float maxVariance = 0,
    const Transform & guess = Transform::getIdentity(),
    const std::map< int, cv::Point3f > & words3B = std::map< int, cv::Point3f >(),
    cv::Mat * covariance = 0,
    std::vector< int > * matchesOut = 0,
    std::vector< int > * inliersOut = 0,
    bool splitLinearCovarianceComponents = false 
    )
    +
    + +

    Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.

    +

    This function estimates the motion (transform) between two views by solving the Perspective-n-Point (PnP) problem using 3D points from one frame and their corresponding 2D keypoints in another frame. It optionally refines the result, computes covariance of the pose estimate, and handles degenerate cases.

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    Parameters
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    words3A3D points in frame A, indexed by feature ID.
    words2B2D keypoints in frame B, indexed by feature ID (shared with words3A).
    cameraModelIntrinsic and extrinsic parameters of the camera (must be valid).
    minInliersMinimum number of inliers required to accept the estimated transform. If the value is <4, it is set internally to 4.
    iterationsNumber of RANSAC iterations for PnP.
    reprojErrorMaximum allowed reprojection error (in pixels) to consider a point an inlier.
    flagsPnPFlags to control the cv::solvePnPRansac behavior (e.g., cv::SOLVEPNP_ITERATIVE).
    refineIterationsNumber of iterations for non-linear optimization (set to 0 to disable refinement).
    varianceMedianRatioIndex divisor used to select the robust variance threshold from sorted error residuals (e.g., 4 → use the 25% percentile).
    maxVarianceMaximum allowed median variance (linear error). Estimates with higher variance are rejected.
    guessInitial guess for the camera pose (must not be null). Typically from odometry or motion model.
    words3BOptional 3D points in frame B (if available). Used to better estimate 3D errors and variances.
    covarianceOptional output pointer for the estimated 6x6 pose covariance matrix. The matrix contains linear variance in the top-left 3x3 and angular variance in the bottom-right 3x3.
    matchesOutOptional output vector of all matched IDs used (regardless of inlier status).
    inliersOutOptional output vector of matched IDs that were determined to be inliers.
    splitLinearCovarianceComponentsWhether to split and compute variance for X, Y, Z components separately.
    +
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    Returns
    The estimated transformation from frame B to frame A. If estimation fails or is rejected due to variance, a null transform is returned (i.e., transform.isNull() will be true).
    +
    Note
      +
    • If words3B is provided, 3D variance is computed by comparing reprojected points to actual transformed points.
      • +
    • If words3B is empty, variance is estimated using reprojection error only.
      • +
    • The function assumes the camera model's local transform is known and factored into the pose estimation.
      • +
    +
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    See also
    cv::solvePnPRansac
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    ◆ estimateMotion3DTo2D() [2/3]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::estimateMotion3DTo2D (const std::map< int, cv::Point3f > & words3A,
    const std::map< int, cv::KeyPoint > & words2B,
    const std::vector< CameraModel > & cameraModels,
    unsigned int samplingPolicy,
    int minInliers,
    int iterations,
    double reprojError,
    int flagsPnP,
    int refineIterations,
    int varianceMedianRatio,
    float maxVariance,
    const Transform & guess,
    const std::map< int, cv::Point3f > & words3B,
    cv::Mat * covariance,
    std::vector< std::vector< int > > * matchesOut,
    std::vector< std::vector< int > > * inliersOut,
    bool splitLinearCovarianceComponents 
    )
    +
    + +

    Estimates the 3D-to-2D motion (pose) transformation between a set of 3D points and their corresponding 2D keypoints using the OpenGV library.

    +

    This function uses a robust multi-camera Perspective-n-Point (PnP) algorithm to estimate the transformation from a 3D point cloud (scene A) to a set of 2D keypoints (scene B) given the corresponding camera models and initial pose guess. The method supports multiple camera models and uses RANSAC with OpenGV for outlier rejection.

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    Parameters
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    words3A3D points in the source frame (scene A), indexed by feature ID.
    words2B2D keypoints in the destination frame (scene B), indexed by feature ID.
    cameraModelsList of camera models (multi-camera rig setup) for the destination frame.
    samplingPolicySampling strategy (0 = auto, 1 = any, 2 = homogeneous multi-camera).
    minInliersMinimum number of inliers required to consider the estimated transform as valid.
    iterationsMaximum number of RANSAC iterations.
    reprojErrorReprojection error threshold used by RANSAC.
    flagsPnPPnP flags (not used internally).
    refineIterationsNumber of pose refinement iterations after RANSAC (not used internally).
    varianceMedianRatioDivider used to compute median-based variance from the error distribution.
    maxVarianceMaximum allowed variance to accept the transform. Higher values permit more noisy estimates.
    guessInitial guess of the transformation.
    words3BOptional 3D points in destination frame (scene B) to evaluate the covariance using 3D correspondences, otherwise covariance is estimated from reprojection errors.
    covarianceOptional output 6x6 covariance matrix of the estimated transform.
    matchesOutOptional output: matches grouped per camera.
    inliersOutOptional output: inliers grouped per camera.
    splitLinearCovarianceComponentsIf true, linear covariance is split into separate x/y/z components.
    +
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    Returns
    The estimated Transform from scene A to scene B. Returns a null Transform if estimation fails or variance exceeds threshold.
    +
    Note
    This function requires RTAB-Map to be built with OpenGV support.
    +
    Warning
    The function assumes all camera models have the same image width and valid intrinsic parameters.
    +
    See also
    https://github.com/laurentkneip/opengv
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    ◆ estimateMotion3DTo2D() [3/3]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::estimateMotion3DTo2D (const std::map< int, cv::Point3f > & words3A,
    const std::map< int, cv::KeyPoint > & words2B,
    const std::vector< CameraModel > & cameraModels,
    unsigned int samplingPolicy = 0,
    int minInliers = 10,
    int iterations = 100,
    double reprojError = 5.,
    int flagsPnP = 0,
    int pnpRefineIterations = 1,
    int varianceMedianRatio = 4,
    float maxVariance = 0,
    const Transform & guess = Transform::getIdentity(),
    const std::map< int, cv::Point3f > & words3B = std::map< int, cv::Point3f >(),
    cv::Mat * covariance = 0,
    std::vector< int > * matchesOut = 0,
    std::vector< int > * inliersOut = 0,
    bool splitLinearCovarianceComponents = false 
    )
    +
    + +

    Estimates the 3D-to-2D motion (pose) transformation between a set of 3D points and their corresponding 2D keypoints using the OpenGV library.

    +
    See also
    estimateMotion3DTo2D(), the only difference is that output matches and inliers are combined in same vector instead of per camera
    + +
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    ◆ estimateMotion3DTo3D()

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::estimateMotion3DTo3D (const std::map< int, cv::Point3f > & words3A,
    const std::map< int, cv::Point3f > & words3B,
    int minInliers = 10,
    double inliersDistance = 0.1,
    int iterations = 100,
    int refineIterations = 5,
    cv::Mat * covariance = 0,
    std::vector< int > * matchesOut = 0,
    std::vector< int > * inliersOut = 0 
    )
    +
    + +

    Estimates the 3D rigid transformation between two sets of 3D points.

    +

    This function matches 3D points from two frames (A and B) using their unique IDs, filters correspondences based on a minimum number of inliers and distance threshold, and estimates the 6DoF transformation using PCL's RANSAC-based method.

    +
    Parameters
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    words3AA map of 3D points from the previous frame (id -> point).
    words3BA map of 3D points from the current frame (id -> point).
    minInliersMinimum number of inliers required to accept the transformation.
    inliersDistanceMaximum distance between correspondences to be considered inliers.
    iterationsMaximum number of RANSAC iterations.
    refineIterationsNumber of iterations for refining the transformation after RANSAC.
    covariance(Optional) Output 6x6 covariance matrix of the estimated transform.
    matchesOut(Optional) Output vector of all matched point IDs (from words3A).
    inliersOut(Optional) Output vector of inlier point IDs (subset of matchesOut).
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    Returns
    A Transform object representing the estimated rigid body motion from frame B to A. If not enough inliers are found or the estimation fails, a null Transform is returned.
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    + +

    ◆ solvePnPRansac()

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    void RTABMAP_CORE_EXPORT rtabmap::util3d::solvePnPRansac (const std::vector< cv::Point3f > & objectPoints,
    const std::vector< cv::Point2f > & imagePoints,
    const cv::Mat & cameraMatrix,
    const cv::Mat & distCoeffs,
    cv::Mat & rvec,
    cv::Mat & tvec,
    bool useExtrinsicGuess,
    int iterationsCount,
    float reprojectionError,
    int minInliersCount,
    std::vector< int > & inliers,
    int flags,
    int refineIterations = 1,
    float refineSigma = 3.0f 
    )
    +
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    Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.

    +

    This function computes the rotation and translation vectors (rvec, tvec) that transform 3D object points into the camera frame, using the Perspective-n-Point (PnP) method with RANSAC for robust outlier rejection. After an initial estimation using OpenCV's solvePnPRansac, it optionally refines the model iteratively based on reprojection error thresholds.

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    Parameters
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    objectPointsA vector of 3D points in the object coordinate space.
    imagePointsA vector of corresponding 2D points in the image plane.
    cameraMatrixThe camera intrinsic matrix (3x3).
    distCoeffsVector of distortion coefficients (k1, k2, p1, p2, k3, ...).
    rvecOutput rotation vector (Rodrigues form).
    tvecOutput translation vector.
    useExtrinsicGuessIf true, uses the provided rvec and tvec as an initial guess.
    iterationsCountThe number of RANSAC iterations.
    reprojectionErrorMaximum allowed reprojection error to classify an inlier.
    minInliersCountMinimum number of inliers required to accept a model.
    inliersOutput vector of indices of inlier points.
    flagsMethod for solving PnP (cv::SOLVEPNP_* flags).
    refineIterationsNumber of refinement iterations after RANSAC.
    refineSigmaMultiplier for the reprojection error standard deviation to define adaptive inlier threshold.
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    +
    Note
    This function uses OpenCV 3's implementation of solvePnPRansac for robustness. After RANSAC, the pose is optionally refined by minimizing reprojection error on inliers.
    +
    Warning
    Refinement may oscillate or terminate early if convergence is poor or the inlier set becomes unstable.
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    See also
    cv::solvePnP, cv::solvePnPRansac
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    ◆ transformFromXYZCorrespondencesSVD()

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > & cloud1,
    const pcl::PointCloud< pcl::PointXYZ > & cloud2 
    )
    +
    + +

    Estimates the rigid 3D transformation between two point clouds using SVD.

    +

    This function computes the transformation (rotation and translation) that best aligns cloud2 to cloud1 using Singular Value Decomposition (SVD) based on point correspondences. It assumes a one-to-one correspondence between points in the two clouds.

    +

    Internally, it uses PCL's TransformationEstimationSVD to compute the 4x4 transformation matrix, which is then converted to a Transform object.

    +
    Parameters
    + + + +
    cloud1Target point cloud (reference frame).
    cloud2Source point cloud to be aligned with cloud1. It must have the same number of points as cloud1, and the points should correspond to each other by index.
    +
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    +
    Returns
    A Transform representing the rigid-body transformation from cloud1 to cloud2.
    +
    Note
    This function does not perform any outlier rejection or correspondence estimation— it assumes that the input clouds are already matched appropriately.
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    ◆ transformFromXYZCorrespondences()

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::transformFromXYZCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & cloud1,
    const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & cloud2,
    double inlierThreshold = 0.02,
    int iterations = 100,
    int refineModelIterations = 10,
    double refineModelSigma = 3.0,
    std::vector< int > * inliers = 0,
    cv::Mat * variance = 0 
    )
    +
    + +

    Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.

    +

    This function finds a 3D rigid-body transform from cloud1 to cloud2 using one-to-one point correspondences. It applies a RANSAC-based outlier rejection and optionally refines the transformation with iterative model optimization.

    +

    It also optionally returns the inlier indices used to compute the final model and an approximate 6x6 covariance matrix of the transform.

    +
    Parameters
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    cloud1Target point cloud (reference frame). Must contain at least 3 points and match cloud2 in size.
    cloud2Source point cloud to align to cloud1. Must be the same size as cloud1.
    inlierThresholdMaximum Euclidean distance (in meters) between corresponding points for them to be considered inliers.
    iterationsNumber of RANSAC iterations to perform.
    refineIterationsNumber of refinement steps to perform after the initial RANSAC. If set to 0, no refinement is done.
    refineSigmaMultiplier for standard deviation used to adjust the inlier threshold during refinement.
    inliersOutOptional pointer to a vector that will receive the indices of the inlier correspondences.
    covarianceOptional pointer to a 6x6 covariance matrix of the estimated transform (as CV_64FC1). Will be identity if set and no inliers are found.
    +
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    Returns
    A Transform representing the estimated pose from cloud1 to cloud2. If no valid model is found, the returned transform will be identity.
    +
    Note
    This function assumes a one-to-one correspondence between points in the two clouds (e.g., index i in cloud1 corresponds to index i in cloud2).
    +
    +If fewer than 3 points are provided or point counts do not match, the identity transform is returned.
    +
    Warning
    Inlier refinement is sensitive to oscillation and may stop early if alternating inlier counts are detected.
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    ◆ icp() [1/2]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & cloud_source,
    const pcl::PointCloud< pcl::PointXYZ >::ConstPtr & cloud_target,
    double maxCorrespondenceDistance,
    int maximumIterations,
    bool & hasConverged,
    pcl::PointCloud< pcl::PointXYZ > & cloud_source_registered,
    float epsilon = 0.0f,
    bool icp2D = false,
    float ransacOutlierRatio = 0.0f,
    int * iterationsDone = nullptr 
    )
    +
    + +

    Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting transform.

    +

    This function aligns the cloud_source to the cloud_target using PCL's ICP algorithm. It optionally supports 2D ICP, which constrains the estimated transformation to the XY-plane with rotation about the Z-axis.

    +

    The result is returned as a Transform representing the transformation from source to target. The aligned version of the source cloud is written into cloud_source_registered.

    +
    Parameters
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    cloud_sourceThe input source point cloud to align.
    cloud_targetThe input target point cloud to align to.
    maxCorrespondenceDistanceMaximum distance threshold for point correspondences.
    maximumIterationsMaximum number of ICP iterations to perform.
    [out]hasConvergedSet to true if ICP converged to a solution; false otherwise.
    [out]cloud_source_registeredOutput point cloud containing the source aligned to the target.
    epsilonConvergence threshold for transformation changes between iterations (applied as squared value).
    icp2DIf true, enforces 2D ICP using only XY translation and Z rotation (ignores Z and X/Y rotation).
    +
    +
    +
    Returns
    Transform The estimated transformation from cloud_source to cloud_target.
    +
    Note
    All input points in both clouds must be finite (i.e., no NaNs or infinite values).
    +
    See also
    pcl::IterativeClosestPoint
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    +pcl::registration::TransformationEstimation2D
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    ◆ icp() [2/2]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icp (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr & cloud_source,
    const pcl::PointCloud< pcl::PointXYZI >::ConstPtr & cloud_target,
    double maxCorrespondenceDistance,
    int maximumIterations,
    bool & hasConverged,
    pcl::PointCloud< pcl::PointXYZI > & cloud_source_registered,
    float epsilon = 0.0f,
    bool icp2D = false,
    float ransacOutlierRatio = 0.0f,
    int * iterationsDone = nullptr 
    )
    +
    + +

    Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting transform.

    +
    See also
    util3d::icp()
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    Parameters
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    ransacOutlierRatioIf > 0 and < 1, install a PCL RANSAC correspondence rejector with inlier threshold = ransacOutlierRatio * maxCorrespondenceDistance. 0 disables the rejector (default).
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    ◆ icpPointToPlane() [1/2]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointNormal >::ConstPtr & cloud_source,
    const pcl::PointCloud< pcl::PointNormal >::ConstPtr & cloud_target,
    double maxCorrespondenceDistance,
    int maximumIterations,
    bool & hasConverged,
    pcl::PointCloud< pcl::PointNormal > & cloud_source_registered,
    float epsilon = 0.0f,
    bool icp2D = false,
    float ransacOutlierRatio = 0.0f,
    int * iterationsDone = nullptr 
    )
    +
    + +

    Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.

    +

    This function aligns a source point cloud to a target point cloud using PCL's point-to-plane ICP implementation with a linear least squares estimator. It returns the estimated transformation from the source to the target.

    +

    Optionally, if icp2D is true, the resulting transformation is projected to 3DoF (XY translation and rotation about Z).

    +
    Parameters
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    cloud_sourceInput source point cloud with normals.
    cloud_targetInput target point cloud with normals.
    maxCorrespondenceDistanceMaximum distance for considering point correspondences.
    maximumIterationsMaximum number of ICP iterations to perform.
    [out]hasConvergedSet to true if the ICP algorithm successfully converged.
    [out]cloud_source_registeredOutput cloud representing the aligned source.
    epsilonConvergence threshold for the transformation change (used as squared value).
    icp2DIf true, the result is projected to 2D (XY + Yaw only).
    +
    +
    +
    Returns
    The transformation from the source to the target cloud.
    +
    Note
    All points and normals in both input clouds must be finite (no NaNs or infinities).
    +
    See also
    pcl::IterativeClosestPoint
    +
    +pcl::registration::TransformationEstimationPointToPlaneLLS
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    ◆ icpPointToPlane() [2/2]

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    Transform RTABMAP_CORE_EXPORT rtabmap::util3d::icpPointToPlane (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr & cloud_source,
    const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr & cloud_target,
    double maxCorrespondenceDistance,
    int maximumIterations,
    bool & hasConverged,
    pcl::PointCloud< pcl::PointXYZINormal > & cloud_source_registered,
    float epsilon = 0.0f,
    bool icp2D = false,
    float ransacOutlierRatio = 0.0f,
    int * iterationsDone = nullptr 
    )
    +
    + +

    Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.

    +
    See also
    util3d::icpPointToPlane()
    +
    Parameters
    + + +
    ransacOutlierRatioIf > 0 and < 1, install a PCL RANSAC correspondence rejector with inlier threshold = ransacOutlierRatio * maxCorrespondenceDistance. 0 disables the rejector (default).
    +
    +
    + +
    +
    + +

    ◆ createPolygonIndexes()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::createPolygonIndexes (const std::vector< pcl::Vertices > & polygons,
    int cloudSize,
    std::vector< std::set< int > > & neighborPolygons,
    std::vector< std::set< int > > & vertexPolygons 
    )
    +
    + +

    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.

    +
    Parameters
    + + + + + +
    polygonsthe polygons to be indexed.
    cloudSizethe size of the cloud of the corresponding mesh to polygons (must be at least as high as the highest vertex value contained in the polygons).
    neighborPolygonsreturned index from polygons to neighbor polygons (index size = polygons size).
    vertexPolygonsreturned index from vertices to polygons (index size = cloudSize).
    +
    +
    + +
    +
    + +

    ◆ cleanTextureMesh()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util3d::cleanTextureMesh (pcl::TextureMesh & textureMesh,
    int minClusterSize 
    )
    +
    +

    Remove not textured polygon clusters. If minClusterSize<0, only the largest cluster is kept.

    + +
    +
    + +

    ◆ mergeTextures()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util3d::mergeTextures (pcl::TextureMesh & mesh,
    const std::map< int, cv::Mat > & images,
    const std::map< int, CameraModel > & calibrations,
    const Memory * memory = 0,
    const DBDriver * dbDriver = 0,
    int textureSize = 4096,
    int textureCount = 1,
    const std::vector< std::map< int, pcl::PointXY > > & vertexToPixels = std::vector< std::map< int, pcl::PointXY > >(),
    bool gainCompensation = true,
    float gainBeta = 10.0f,
    bool gainRGB = true,
    bool blending = true,
    int blendingDecimation = 0,
    int brightnessContrastRatioLow = 0,
    int brightnessContrastRatioHigh = 0,
    bool exposureFusion = false,
    const ProgressState * state = 0,
    unsigned char blankValue = 255,
    bool clearVertexColorUnderTexture = true,
    std::map< int, std::map< int, cv::Vec4d > > * gains = 0,
    std::map< int, std::map< int, cv::Mat > > * blendingGains = 0,
    std::pair< float, float > * contrastValues = 0 
    )
    +
    +

    Merge all textures in the mesh into "textureCount" textures of size "textureSize".

    Returns
    merged textures corresponding to new materials set in TextureMesh (height=textureSize, width=textureSize*materials)
    + +
    +
    + +

    ◆ multiBandTexturing()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    bool RTABMAP_CORE_EXPORT rtabmap::util3d::multiBandTexturing (const std::string & outputOBJPath,
    const pcl::PCLPointCloud2 & cloud,
    const std::vector< pcl::Vertices > & polygons,
    const std::map< int, Transform > & cameraPoses,
    const std::vector< std::map< int, pcl::PointXY > > & vertexToPixels,
    const std::map< int, cv::Mat > & images,
    const std::map< int, std::vector< CameraModel > > & cameraModels,
    const Memory * memory = 0,
    const DBDriver * dbDriver = 0,
    unsigned int textureSize = 8192,
    unsigned int textureDownscale = 2,
    const std::string & nbContrib = "1 5 10 0",
    const std::string & textureFormat = "jpg",
    const std::map< int, std::map< int, cv::Vec4d > > & gains = std::map< int, std::map< int, cv::Vec4d > >(),
    const std::map< int, std::map< int, cv::Mat > > & blendingGains = std::map< int, std::map< int, cv::Mat > >(),
    const std::pair< float, float > & contrastValues = std::pair< float, float >(0, 0),
    bool gainRGB = true,
    unsigned int unwrapMethod = 0,
    bool fillHoles = false,
    unsigned int padding = 5,
    double bestScoreThreshold = 0.1,
    double angleHardThreshold = 90.0,
    bool forceVisibleByAllVertices = false 
    )
    +
    +

    Texture mesh with AliceVision's multiband texturing approach. See also https://meshroom-manual.readthedocs.io/en/bibtex1/node-reference/nodes/Texturing.html.

    Parameters
    + + + + + + + + + + + + + + + + + + + + + + + + +
    outputOBJPathOutput OBJ path
    cloudinput Cloud of the mesh.
    polygonsInput polygons of the mesh.
    cameraPosesPoses of the cameras.
    vertexToPixelsOutput from createTextureMesh().
    imagesImages corresponding to cameraPoses, raw or compressed, can be empty if memory or dbDriver should be used.
    cameraModelsCamera calibrations corresponding to cameraPoses.
    memoryShould be set if images and dbDriver are not set.
    dbDriverShould be set if images and memory are not set.
    textureSizeOutput texture size 1024, 2048, 4096, 8192, 16384.
    textureDownscaleDownscaling to 4 or 8 will reduce the texture quality but speed up the computation time. Set Texture Downscale to 1 instead of 2 to get the maximum possible resolution with the resolution of your images. The output texture size will be divided by this value, e.g., with texture size of 8192 and downscale value of 2, the output will be 4096.
    nbContribnumber of contributions per frequency band for the multi-band blending (should be 4 values)
    textureFormatOutput texture format: "png" or "jpg".
    gainsOptional output of mergeTextures().
    blendingGainsOptional output of mergeTextures().
    contrastValuesOptional output of mergeTextures().
    gainRGBApply gain compensation on each RGB channels separately, otherwise it is apply equally to all channels.
    unwrapMethodMethod to unwrap input mesh if it does not have UV coordinates 0=Basic (> 600k faces) fast and simple. Can generate multiple atlases 2=LSCM (<= 600k faces): optimize space. Generates one atlas 1=ABF (<= 300k faces): optimize space and stretch. Generates one atlas.
    fillHolesFill Texture holes with plausible values True/False.
    paddingTexture edge padding size in pixel (0-100).
    bestScoreThreshold0.0 to disable filtering based on threshold to relative best score (0.0-1.0).
    angleHardThreshold0.0 to disable angle hard threshold filtering (0.0, 180.0).
    forceVisibleByAllVerticesTriangle visibility is based on the union of vertices visibility.
    +
    +
    + +
    +
    + +

    ◆ intersectRayTriangle()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    bool RTABMAP_CORE_EXPORT rtabmap::util3d::intersectRayTriangle (const Eigen::Vector3f & p,
    const Eigen::Vector3f & dir,
    const Eigen::Vector3f & v0,
    const Eigen::Vector3f & v1,
    const Eigen::Vector3f & v2,
    float & distance,
    Eigen::Vector3f & normal 
    )
    +
    +

    intersectRayTriangle(): find the 3D intersection of a ray with a triangle Input: p = origin of the ray dir = direction of the ray v0 = point 0 of the triangle v1 = point 1 of the triangle v2 = point 2 of the triangle Output: distance = distance from origin along ray direction normal = normal of the triangle (not normalized) Return: true = intersect in unique point inside the triangle

    +

    Intersection point can be computed with "I = p + dir*distance"

    +

    Copyright 2001 softSurfer, 2012 Dan Sunday This code may be freely used and modified for any purpose providing that this copyright notice is included with it. SoftSurfer makes no warranty for this code, and cannot be held liable for any real or imagined damage resulting from its use. Users of this code must verify correctness for their application.

    +

    Mathieu: Adapted for PCL format

    + +
    +
    + +

    ◆ transformLaserScan()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::transformLaserScan (const LaserScan & laserScan,
    const Transform & transform 
    )
    +
    + +

    Applies a 3D transform to all points (and normals if present) in a LaserScan.

    +

    This function transforms each point in the input LaserScan using the specified Transform. The transformation is applied on a cloned copy of the scan data, preserving the original. It supports both 2D and 3D scans, and if normals are present, they are also properly transformed.

    +

    The transformation is only applied if it is neither null nor the identity transform.

    +
    Parameters
    + + + +
    laserScanThe input LaserScan object containing scan data to be transformed.
    transformA Transform representing the spatial transformation to apply (translation + rotation). Can be 3DoF or 6DoF depending on the scan dimensionality.
    +
    +
    +
    Returns
    A new LaserScan object with transformed points (and optionally normals), and the same metadata such as range limits, angle information, format, and local transform as the input scan.
    +

    +Behavior:

    +
      +
    • If the transform is null or identity, the scan is returned unchanged.
      • +
    • If the scan has normals (e.g., format is kXYZNormal, kXYZINormal, etc.), both positions and normals are transformed.
      • +
    • If the scan has no normals, only point positions are transformed.
      • +
    • Angle-based scans (2D with valid angle increment) retain angular properties in the returned object.
      • +
    • The localTransform of the original scan is preserved in the returned scan.
      • +
    +

    +Supported Formats:

    +

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

      +
    • 2D: kXY, kXYI, kXYNormal, kXYINormal
      • +
    • 3D: kXYZ, kXYZI, kXYZNormal, kXYZINormal, kXYZRGB, kXYZRGBNormal, kXYZIT
      • +
    +
    See also
    LaserScan, Transform, util3d::transformPoint()
    + +
    +
    +
    +
    + + + + diff --git a/preview/pr-1492/api/latest/namespaces.html b/preview/pr-1492/api/latest/namespaces.html index 72da78bf..9e61f425 100644 --- a/preview/pr-1492/api/latest/namespaces.html +++ b/preview/pr-1492/api/latest/namespaces.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    Here is a list of all documented namespaces with brief descriptions:
    [detail level 123]
    - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
     NgraphPose-graph I/O, trajectory metrics, link utilities, and path planning
     ►Nrtabmap
     ►Nrtabmap
    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/namespaces_dup.js b/preview/pr-1492/api/latest/namespaces_dup.js new file mode 100644 index 00000000..64170781 --- /dev/null +++ b/preview/pr-1492/api/latest/namespaces_dup.js @@ -0,0 +1,4 @@ +var namespaces_dup = +[ + [ "rtabmap", "namespacertabmap.html", "namespacertabmap" ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/navtree.css b/preview/pr-1492/api/latest/navtree.css new file mode 100644 index 00000000..69211d4a --- /dev/null +++ b/preview/pr-1492/api/latest/navtree.css @@ -0,0 +1,149 @@ +#nav-tree .children_ul { + margin:0; + padding:4px; +} + +#nav-tree ul { + list-style:none outside none; + margin:0px; + padding:0px; +} + +#nav-tree li { + white-space:nowrap; + margin:0px; + padding:0px; +} + +#nav-tree .plus { + margin:0px; +} + +#nav-tree .selected { + background-image: url('tab_a.png'); + background-repeat:repeat-x; + color: var(--nav-text-active-color); + text-shadow: var(--nav-text-active-shadow); +} + +#nav-tree .selected .arrow { + color: var(--nav-arrow-selected-color); + text-shadow: none; +} + +#nav-tree img { + margin:0px; + padding:0px; + border:0px; + vertical-align: middle; +} + +#nav-tree a { + text-decoration:none; + padding:0px; + margin:0px; +} + +#nav-tree .label { + margin:0px; + padding:0px; + font: 12px var(--font-family-nav); +} + +#nav-tree .label a { + padding:2px; +} + +#nav-tree .selected a { + text-decoration:none; + color:var(--nav-text-active-color); +} + +#nav-tree .children_ul { + margin:0px; + padding:0px; +} + +#nav-tree .item { + margin:0px; + padding:0px; +} + +#nav-tree { + padding: 0px 0px; + font-size:14px; + overflow:auto; +} + +#doc-content { + overflow:auto; + display:block; + padding:0px; + margin:0px; + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#side-nav { + padding:0 6px 0 0; + margin: 0px; + display:block; + position: absolute; + left: 0px; + width: $width; + overflow : hidden; +} + +.ui-resizable .ui-resizable-handle { + display:block; +} + +.ui-resizable-e { + background-image:var(--nav-splitbar-image); + background-size:100%; + background-repeat:repeat-y; + background-attachment: scroll; + cursor:ew-resize; + height:100%; + right:0; + top:0; + width:6px; +} + +.ui-resizable-handle { + display:none; + font-size:0.1px; + position:absolute; + z-index:1; +} + +#nav-tree-contents { + margin: 6px 0px 0px 0px; +} + +#nav-tree { + background-repeat:repeat-x; + background-color: var(--nav-background-color); + -webkit-overflow-scrolling : touch; /* iOS 5+ */ +} + +#nav-sync { + position:absolute; + top:5px; + right:24px; + z-index:0; +} + +#nav-sync img { + opacity:0.3; +} + +#nav-sync img:hover { + opacity:0.9; +} + +@media print +{ + #nav-tree { display: none; } + div.ui-resizable-handle { display: none; position: relative; } +} + diff --git a/preview/pr-1492/api/latest/navtree.js b/preview/pr-1492/api/latest/navtree.js new file mode 100644 index 00000000..93dd3d46 --- /dev/null +++ b/preview/pr-1492/api/latest/navtree.js @@ -0,0 +1,559 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + 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. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +var navTreeSubIndices = new Array(); +var arrowDown = '▼'; +var arrowRight = '►'; + +function getData(varName) +{ + var i = varName.lastIndexOf('/'); + var n = i>=0 ? varName.substring(i+1) : varName; + return eval(n.replace(/\-/g,'_')); +} + +function stripPath(uri) +{ + return uri.substring(uri.lastIndexOf('/')+1); +} + +function stripPath2(uri) +{ + var i = uri.lastIndexOf('/'); + var s = uri.substring(i+1); + var m = uri.substring(0,i+1).match(/\/d\w\/d\w\w\/$/); + return m ? uri.substring(i-6) : s; +} + +function hashValue() +{ + return $(location).attr('hash').substring(1).replace(/[^\w\-]/g,''); +} + +function hashUrl() +{ + return '#'+hashValue(); +} + +function pathName() +{ + return $(location).attr('pathname').replace(/[^-A-Za-z0-9+&@#/%?=~_|!:,.;\(\)]/g, ''); +} + +function localStorageSupported() +{ + try { + return 'localStorage' in window && window['localStorage'] !== null && window.localStorage.getItem; + } + catch(e) { + return false; + } +} + +function storeLink(link) +{ + if (!$("#nav-sync").hasClass('sync') && localStorageSupported()) { + window.localStorage.setItem('navpath',link); + } +} + +function deleteLink() +{ + if (localStorageSupported()) { + window.localStorage.setItem('navpath',''); + } +} + +function cachedLink() +{ + if (localStorageSupported()) { + return window.localStorage.getItem('navpath'); + } else { + return ''; + } +} + +function getScript(scriptName,func) +{ + var head = document.getElementsByTagName("head")[0]; + var script = document.createElement('script'); + script.id = scriptName; + script.type = 'text/javascript'; + script.onload = func; + script.src = scriptName+'.js'; + head.appendChild(script); +} + +function createIndent(o,domNode,node,level) +{ + var level=-1; + var n = node; + while (n.parentNode) { level++; n=n.parentNode; } + if (node.childrenData) { + var imgNode = document.createElement("span"); + imgNode.className = 'arrow'; + imgNode.style.paddingLeft=(16*level).toString()+'px'; + imgNode.innerHTML=arrowRight; + node.plus_img = imgNode; + node.expandToggle = document.createElement("a"); + node.expandToggle.href = "javascript:void(0)"; + node.expandToggle.onclick = function() { + if (node.expanded) { + $(node.getChildrenUL()).slideUp("fast"); + node.plus_img.innerHTML=arrowRight; + node.expanded = false; + } else { + expandNode(o, node, false, true); + } + } + node.expandToggle.appendChild(imgNode); + domNode.appendChild(node.expandToggle); + } else { + var span = document.createElement("span"); + span.className = 'arrow'; + span.style.width = 16*(level+1)+'px'; + span.innerHTML = ' '; + domNode.appendChild(span); + } +} + +var animationInProgress = false; + +function gotoAnchor(anchor,aname,updateLocation) +{ + var pos, docContent = $('#doc-content'); + var ancParent = $(anchor.parent()); + if (ancParent.hasClass('memItemLeft') || + ancParent.hasClass('memtitle') || + ancParent.hasClass('fieldname') || + ancParent.hasClass('fieldtype') || + ancParent.is(':header')) + { + pos = ancParent.position().top; + } else if (anchor.position()) { + pos = anchor.position().top; + } + if (pos) { + var dist = Math.abs(Math.min( + pos-docContent.offset().top, + docContent[0].scrollHeight- + docContent.height()-docContent.scrollTop())); + animationInProgress=true; + docContent.animate({ + scrollTop: pos + docContent.scrollTop() - docContent.offset().top + },Math.max(50,Math.min(500,dist)),function(){ + if (updateLocation) window.location.href=aname; + animationInProgress=false; + }); + } +} + +function newNode(o, po, text, link, childrenData, lastNode) +{ + var node = new Object(); + node.children = Array(); + node.childrenData = childrenData; + node.depth = po.depth + 1; + node.relpath = po.relpath; + node.isLast = lastNode; + + node.li = document.createElement("li"); + po.getChildrenUL().appendChild(node.li); + node.parentNode = po; + + node.itemDiv = document.createElement("div"); + node.itemDiv.className = "item"; + + node.labelSpan = document.createElement("span"); + node.labelSpan.className = "label"; + + createIndent(o,node.itemDiv,node,0); + node.itemDiv.appendChild(node.labelSpan); + node.li.appendChild(node.itemDiv); + + var a = document.createElement("a"); + node.labelSpan.appendChild(a); + node.label = document.createTextNode(text); + node.expanded = false; + a.appendChild(node.label); + if (link) { + var url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + link = url; + } else { + url = node.relpath+link; + } + a.className = stripPath(link.replace('#',':')); + if (link.indexOf('#')!=-1) { + var aname = '#'+link.split('#')[1]; + var srcPage = stripPath(pathName()); + var targetPage = stripPath(link.split('#')[0]); + a.href = srcPage!=targetPage ? url : "javascript:void(0)"; + a.onclick = function(){ + storeLink(link); + if (!$(a).parent().parent().hasClass('selected')) + { + $('.item').removeClass('selected'); + $('.item').removeAttr('id'); + $(a).parent().parent().addClass('selected'); + $(a).parent().parent().attr('id','selected'); + } + var anchor = $(aname); + gotoAnchor(anchor,aname,true); + }; + } else { + a.href = url; + a.onclick = function() { storeLink(link); } + } + } else { + if (childrenData != null) + { + a.className = "nolink"; + a.href = "javascript:void(0)"; + a.onclick = node.expandToggle.onclick; + } + } + + node.childrenUL = null; + node.getChildrenUL = function() { + if (!node.childrenUL) { + node.childrenUL = document.createElement("ul"); + node.childrenUL.className = "children_ul"; + node.childrenUL.style.display = "none"; + node.li.appendChild(node.childrenUL); + } + return node.childrenUL; + }; + + return node; +} + +function showRoot() +{ + var headerHeight = $("#top").height(); + var footerHeight = $("#nav-path").height(); + var windowHeight = $(window).height() - headerHeight - footerHeight; + (function (){ // retry until we can scroll to the selected item + try { + var navtree=$('#nav-tree'); + navtree.scrollTo('#selected',100,{offset:-windowHeight/2}); + } catch (err) { + setTimeout(arguments.callee, 0); + } + })(); +} + +function expandNode(o, node, imm, setFocus) +{ + if (node.childrenData && !node.expanded) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + expandNode(o, node, imm, setFocus); + }); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).slideDown("fast"); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + if (setFocus) { + $(node.expandToggle).focus(); + } + } + } +} + +function glowEffect(n,duration) +{ + n.addClass('glow').delay(duration).queue(function(next){ + $(this).removeClass('glow');next(); + }); +} + +function highlightAnchor() +{ + var aname = hashUrl(); + var anchor = $(aname); + if (anchor.parent().attr('class')=='memItemLeft'){ + var rows = $('.memberdecls tr[class$="'+hashValue()+'"]'); + glowEffect(rows.children(),300); // member without details + } else if (anchor.parent().attr('class')=='fieldname'){ + glowEffect(anchor.parent().parent(),1000); // enum value + } else if (anchor.parent().attr('class')=='fieldtype'){ + glowEffect(anchor.parent().parent(),1000); // struct field + } else if (anchor.parent().is(":header")) { + glowEffect(anchor.parent(),1000); // section header + } else { + glowEffect(anchor.next(),1000); // normal member + } +} + +function selectAndHighlight(hash,n) +{ + var a; + if (hash) { + var link=stripPath(pathName())+':'+hash.substring(1); + a=$('.item a[class$="'+link+'"]'); + } + if (a && a.length) { + a.parent().parent().addClass('selected'); + a.parent().parent().attr('id','selected'); + highlightAnchor(); + } else if (n) { + $(n.itemDiv).addClass('selected'); + $(n.itemDiv).attr('id','selected'); + } + var topOffset=5; + if (typeof page_layout!=='undefined' && page_layout==1) { + topOffset+=$('#top').outerHeight(); + } + if ($('#nav-tree-contents .item:first').hasClass('selected')) { + topOffset+=25; + } + $('#nav-sync').css('top',topOffset+'px'); + showRoot(); +} + +function showNode(o, node, index, hash) +{ + if (node && node.childrenData) { + if (typeof(node.childrenData)==='string') { + var varName = node.childrenData; + getScript(node.relpath+varName,function(){ + node.childrenData = getData(varName); + showNode(o,node,index,hash); + }); + } else { + if (!node.childrenVisited) { + getNode(o, node); + } + $(node.getChildrenUL()).css({'display':'block'}); + node.plus_img.innerHTML = arrowDown; + node.expanded = true; + var n = node.children[o.breadcrumbs[index]]; + if (index+11) hash = '#'+parts[1].replace(/[^\w\-]/g,''); + else hash=''; + } + if (hash.match(/^#l\d+$/)) { + var anchor=$('a[name='+hash.substring(1)+']'); + glowEffect(anchor.parent(),1000); // line number + hash=''; // strip line number anchors + } + var url=root+hash; + var i=-1; + while (NAVTREEINDEX[i+1]<=url) i++; + if (i==-1) { i=0; root=NAVTREE[0][1]; } // fallback: show index + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath) + } else { + getScript(relpath+'navtreeindex'+i,function(){ + navTreeSubIndices[i] = eval('NAVTREEINDEX'+i); + if (navTreeSubIndices[i]) { + gotoNode(o,i,root,hash,relpath); + } + }); + } +} + +function showSyncOff(n,relpath) +{ + n.html(''); +} + +function showSyncOn(n,relpath) +{ + n.html(''); +} + +function toggleSyncButton(relpath) +{ + var navSync = $('#nav-sync'); + if (navSync.hasClass('sync')) { + navSync.removeClass('sync'); + showSyncOff(navSync,relpath); + storeLink(stripPath2(pathName())+hashUrl()); + } else { + navSync.addClass('sync'); + showSyncOn(navSync,relpath); + deleteLink(); + } +} + +var loadTriggered = false; +var readyTriggered = false; +var loadObject,loadToRoot,loadUrl,loadRelPath; + +$(window).on('load',function(){ + if (readyTriggered) { // ready first + navTo(loadObject,loadToRoot,loadUrl,loadRelPath); + showRoot(); + } + loadTriggered=true; +}); + +function initNavTree(toroot,relpath) +{ + var o = new Object(); + o.toroot = toroot; + o.node = new Object(); + o.node.li = document.getElementById("nav-tree-contents"); + o.node.childrenData = NAVTREE; + o.node.children = new Array(); + o.node.childrenUL = document.createElement("ul"); + o.node.getChildrenUL = function() { return o.node.childrenUL; }; + o.node.li.appendChild(o.node.childrenUL); + o.node.depth = 0; + o.node.relpath = relpath; + o.node.expanded = false; + o.node.isLast = true; + o.node.plus_img = document.createElement("span"); + o.node.plus_img.className = 'arrow'; + o.node.plus_img.innerHTML = arrowRight; + + if (localStorageSupported()) { + var navSync = $('#nav-sync'); + if (cachedLink()) { + showSyncOff(navSync,relpath); + navSync.removeClass('sync'); + } else { + showSyncOn(navSync,relpath); + } + navSync.click(function(){ toggleSyncButton(relpath); }); + } + + if (loadTriggered) { // load before ready + navTo(o,toroot,hashUrl(),relpath); + showRoot(); + } else { // ready before load + loadObject = o; + loadToRoot = toroot; + loadUrl = hashUrl(); + loadRelPath = relpath; + readyTriggered=true; + } + + $(window).bind('hashchange', function(){ + if (window.location.hash && window.location.hash.length>1){ + var a; + if ($(location).attr('hash')){ + var clslink=stripPath(pathName())+':'+hashValue(); + a=$('.item a[class$="'+clslink.replace(/ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
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     Deprecated List
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    + diff --git a/preview/pr-1492/api/latest/parameters.html b/preview/pr-1492/api/latest/parameters.html new file mode 100644 index 00000000..1a6c7691 --- /dev/null +++ b/preview/pr-1492/api/latest/parameters.html @@ -0,0 +1,1750 @@ + + + + + + + + +RTAB-Map: Parameter reference + + + + + + + + + + + + + + + + +
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    RTAB-Map 0.23.10 +
    +
    Real-Time Appearance-Based Mapping
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    Parameter reference
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    Table of Contents

    + +
    +

    Every setting in RTAB-Map is a Group/Name string key with a string value, collected in a rtabmap::ParametersMap. The 615 parameters below are declared in Parameters.h; the same keys are used by rtabmap::Rtabmap and rtabmap::Odometry, by the applications, by the --Param Group/Name value command-line arguments of the tools and by the ROS wrappers, so a setting found here applies everywhere.

    +
    rtabmap::ParametersMap parameters;
    +
    parameters.insert(rtabmap::ParametersPair(rtabmap::Parameters::kMemSTMSize(), "20"));
    +
    rtabmap.init(parameters, "map.db");
    +
    rtabmap::Parameters::kMemSTMSize
    static std::string kMemSTMSize()
    Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
    Definition Parameters.h:226
    + +
    rtabmap::ParametersPair
    std::pair< std::string, std::string > ParametersPair
    A single parameter key/value pair, the entry type of ParametersMap.
    Definition Parameters.h:46
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    +

    Each key links to its accessor on rtabmap::Parameters, which is also how the key is spelled in code (Parameters::kMemSTMSize() for Mem/STMSize). Defaults given with a condition depend on how RTAB-Map was built; call rtabmap::Parameters::getDefaultParameters() to read the values of the build in use.

    +

    +Rtabmap

    +

    Top-level loop closure detection and map management.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Rtabmap/PublishStats bool true Publishing statistics.
    Rtabmap/PublishLastSignature bool true Publishing last signature.
    Rtabmap/PublishPdf bool true Publishing pdf.
    Rtabmap/PublishLikelihood bool true Publishing likelihood.
    Rtabmap/PublishRAMUsage bool false Publishing RAM usage in statistics (may add a small overhead to get info from the system).
    Rtabmap/ComputeRMSE bool true Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.
    Rtabmap/SaveWMState bool false Save working memory state after each update in statistics.
    Rtabmap/TimeThr float 0 Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time.
    Rtabmap/MemoryThr int 0 Maximum nodes in the Working Memory (0 means infinity). Similar to Rtabmap/TimeThr, when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.
    Rtabmap/DetectionRate float 1 Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.
    Rtabmap/ImageBufferSize unsigned int 1 Data buffer size (0 min inf).
    Rtabmap/CreateIntermediateNodes bool false Create intermediate nodes between loop closure detection. Only used when Rtabmap/DetectionRate>0.
    Rtabmap/WorkingDirectory string "" Working directory.
    Rtabmap/MaxRetrieved unsigned int 2 Maximum nodes retrieved at the same time from LTM.
    Rtabmap/MaxRepublished unsigned int 2 Maximum nodes republished when requesting missing data. When RGBD/Enabled=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if Rtabmap/PublishLastSignature=false.
    Rtabmap/StatisticLogsBufferedInRAM bool true Statistic logs buffered in RAM instead of written to hard drive after each iteration.
    Rtabmap/StatisticLogged bool false Logging enabled.
    Rtabmap/StatisticLoggedHeaders bool true Add column header description to log files.
    Rtabmap/StartNewMapOnLoopClosure bool false Start a new map only if there is a global loop closure with a previous map.
    Rtabmap/StartNewMapOnGoodSignature bool false Start a new map only if the first signature is not bad (i.e., has enough features, see Kp/BadSignRatio).
    Rtabmap/ImagesAlreadyRectified bool true Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.
    Rtabmap/RectifyOnlyFeatures bool false If Rtabmap/ImagesAlreadyRectified is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.
    Rtabmap/LoopThr float 0.11 Loop closing threshold.
    Rtabmap/LoopRatio float 0 The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.
    Rtabmap/LoopGPS bool true Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius RGBD/LocalRadius of the current GPS location are considered for loop closure detection.
    Rtabmap/VirtualPlaceLikelihoodRatio int 0 Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)
    +

    +Mem

    +

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

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Mem/RehearsalSimilarity float 0.6 Rehearsal similarity.
    Mem/ImageKept bool false Keep raw images in RAM.
    Mem/BinDataKept bool true Keep binary data in db.
    Mem/RawDescriptorsKept bool true Raw descriptors kept in memory.
    Mem/LoadVisualLocalFeaturesOnInit bool true Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.
    Mem/MapLabelsAdded bool true Create map labels. The first node of a map will be labeled as "map#" where # is the map ID.
    Mem/SaveDepth16Format bool false Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).
    Mem/NotLinkedNodesKept bool true Keep not linked nodes in db (rehearsed nodes and deleted nodes).
    Mem/IntermediateNodeDataKept bool false Keep intermediate node data in db.
    Mem/ImageCompressionFormat string .jpg RGB image compression format. It should be ".jpg" or ".png".
    Mem/DepthCompressionFormat string .rvl Depth image compression format for 16UC1 depth type. It should be ".png" or ".rvl". If depth type is 32FC1, ".png" is used.
    Mem/STMSize unsigned int 10 Short-term memory size.
    Mem/IncrementalMemory bool true SLAM mode, otherwise it is Localization mode.
    Mem/LocalizationReadOnly bool false In localization mode, open the database in read-only mode (ignored if Mem/IncrementalMemory=true). Currrenty incompatible with memory management (Rtabmap/LoopThr and Rtabmap/MemoryThr cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless RGBD/StartAtOrigin is used or an external initial pose is provided on initialization.
    Mem/LocalizationDataSaved bool false Save localization data during localization session (when Mem/IncrementalMemory=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.
    Mem/ReduceGraph bool false Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable RGBD/OptimizeMaxError at the same time.
    Mem/RecentWmRatio float 0.2 Ratio of locations after the last loop closure in WM that cannot be transferred.
    Mem/TransferSortingByWeightId bool false On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.
    Mem/RehearsalIdUpdatedToNewOne bool false On merge, update to new id. When false, no copy. Keep this disable if Rtabmap/CreateIntermediateNodes=true.
    Mem/RehearsalWeightIgnoredWhileMoving bool false When the robot is moving, weights are not updated on rehearsal.
    Mem/GenerateIds bool true True=Generate location IDs, False=use input image IDs.
    Mem/BadSignaturesIgnored bool false Bad signatures are ignored.
    Mem/InitWMWithAllNodes bool false Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.
    Mem/DepthAsMask bool true Use depth image as mask when extracting features for vocabulary.
    Mem/DepthMaskFloorThr float 0.0 Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if Mem/DepthAsMask is false.
    Mem/StereoFromMotion bool false Triangulate features without depth using stereo from motion (odometry). It would be ignored if Mem/DepthAsMask is true and the feature detector used supports masking.
    Mem/ImagePreDecimation unsigned int 1 Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Mem/DepthAsMask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.
    Mem/ImagePostDecimation unsigned int 1 Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than Mem/ImagePreDecimation, data already decimated is saved (no need to re-decimate the image).
    Mem/CompressionParallelized bool true Compression of sensor data is multi-threaded.
    Mem/LaserScanDownsampleStepSize int 1 If > 1, downsample the laser scans when creating a signature.
    Mem/LaserScanVoxelSize float 0.0 If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use Mem/LaserScanNormalK or Mem/LaserScanNormalRadius parameters.
    Mem/LaserScanNormalK int 0 If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.
    Mem/LaserScanNormalRadius float 0.0 If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.
    Mem/UseOdomFeatures bool true Use odometry features instead of regenerating them.
    Mem/UseOdomGravity bool false Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if Optimizer/GravitySigma is not zero.
    Mem/CovOffDiagIgnored bool true Ignore off diagonal values of the covariance matrix.
    Mem/GlobalDescriptorStrategy int 0 Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor
    Mem/RotateImagesUpsideUp bool false Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.
    +

    +Kp

    +

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

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Kp/NNStrategy int 1 kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4
    Kp/IncrementalDictionary bool true
    Kp/IncrementalFlann bool true When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor Kp/FlannRebalancingFactor in size).
    Kp/FlannRebalancingFactor float 2.0 Factor used when rebuilding the incremental FLANN index (see Kp/IncrementalFlann). Set <=1 to disable.
    Kp/ByteToFloat bool false For Kp/NNStrategy=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.
    Kp/MaxDepth float 0 Filter extracted keypoints by depth (0=inf).
    Kp/MinDepth float 0 Filter extracted keypoints by depth.
    Kp/MaxFeatures int 500 Maximum features extracted from the images (0 means not bounded, <0 means no extraction).
    Kp/SSC bool false If true, SSC (Suppression via Square Covering) is applied to limit keypoints.
    Kp/BadSignRatio float 0.5 Bad signature ratio. If Kp/MaxFeatures=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).
    Kp/NndrRatio float 0.8 NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)
    Kp/DetectorStrategy int 8 with CV_MAJOR_VERSION &gt; 2 && !defined(HAVE_OPENCV_XFEATURES2D)
    +6 otherwise     		0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat
    Kp/TfIdfLikelihoodUsed bool true Use of the td-idf strategy to compute the likelihood.
    Kp/Parallelized bool true If the dictionary update and signature creation were parallelized.
    Kp/RoiRatios string 0.0 0.0 0.0 0.0 Region of interest ratios [left, right, top, bottom].
    Kp/DictionaryPath string "" Path of the pre-computed dictionary
    Kp/NewWordsComparedTogether bool true When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).
    Kp/FlannIndexSaved bool false Save FLANN index during localization session (when Mem/IncrementalMemory=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if Mem/InitWMWithAllNodes is enabled.
    Kp/SerializeWithChecksum bool true On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.
    Kp/SubPixWinSize int 3 See cv::cornerSubPix().
    Kp/SubPixIterations int 0 See cv::cornerSubPix(). 0 disables sub pixel refining.
    Kp/SubPixEps double 0.02 See cv::cornerSubPix().
    Kp/GridRows int 1 Number of rows of the grid used to extract uniformly "@ref param_KpMaxFeatures "Kp/MaxFeatures" / grid cells" features from each cell.
    Kp/GridCols int 1 Number of columns of the grid used to extract uniformly "@ref param_KpMaxFeatures "Kp/MaxFeatures" / grid cells" features from each cell.
    +

    +DbSqlite3

    + + + + + + + + + + + + + +
    Key Type Default Description
    DbSqlite3/InMemory bool false Using database in the memory instead of a file on the hard disk.
    DbSqlite3/CacheSize unsigned int 10000 PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.
    DbSqlite3/JournalMode int 3 PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html::pragma_journal_mode for more details. 0=DELETE (SQLite default): journal file deleted after each commit. 1=TRUNCATE: journal truncated to zero length. 2=PERSIST: journal file kept, header zeroed after commit. 3=MEMORY: journal in RAM only; faster, weaker crash safety. 4=OFF: no journal; fastest, risk of corruption on crash.
    DbSqlite3/Synchronous int 0 PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html::pragma_synchronous for more details. 0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. 1=NORMAL: sync at critical moments (common SQLite default with WAL). 2=FULL (SQLite safest default): sync after every commit; slowest.
    DbSqlite3/TempStore int 2 PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html::pragma_temp_store for more details. 0=DEFAULT: SQLite compile-time default (often on-disk temp files). 1=FILE: temporary files in the system temp directory. 2=MEMORY: temporary data in RAM when possible.
    +

    +Db

    +

    Database (long-term memory) storage.

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

    +SURF

    + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    SURF/Extended bool false Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).
    SURF/HessianThreshold float 500 Threshold for hessian keypoint detector used in SURF.
    SURF/Octaves int 4 Number of pyramid octaves the keypoint detector will use.
    SURF/OctaveLayers int 2 Number of octave layers within each octave.
    SURF/Upright bool false Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).
    SURF/GpuVersion bool false GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.
    SURF/GpuKeypointsRatio float 0.01 Used with SURF GPU.
    +

    +SIFT

    + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    SIFT/NOctaveLayers int 3 The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically.
    SIFT/ContrastThreshold double 0.04 The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see SIFT/GaussianThreshold instead).
    SIFT/EdgeThreshold double 10 The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).
    SIFT/Sigma double 1.6 The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.
    SIFT/PreciseUpscale bool false Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).
    SIFT/RootSIFT bool false Apply RootSIFT normalization of the descriptors.
    SIFT/Gpu bool false CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.
    SIFT/GaussianThreshold float 2.0 CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.
    SIFT/MaxGaussianThreshold float 0.0 CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than SIFT/GaussianThreshold). The lower the threshold, the less features with high response/hessian are produced by the detector.
    SIFT/Upscale bool false CudaSift: Whether to enable upscaling.
    +

    +BRIEF

    + + + + + +
    Key Type Default Description
    BRIEF/Bytes int 32 Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.
    +

    +FAST

    + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    FAST/Threshold int 20 Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.
    FAST/NonmaxSuppression bool true If true, non-maximum suppression is applied to detected corners (keypoints).
    FAST/Gpu bool false GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.
    FAST/GpuKeypointsRatio double 0.05 Used with FAST GPU.
    FAST/MinThreshold int 7 Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.
    FAST/MaxThreshold int 200 Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.
    FAST/GridRows int 0 Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.
    FAST/GridCols int 0 Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.
    FAST/CV int 0 Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.
    +

    +GFTT

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    GFTT/QualityLevel double 0.001
    GFTT/MinDistance double 7
    GFTT/BlockSize int 3
    GFTT/UseHarrisDetector bool false
    GFTT/K double 0.04
    GFTT/Gpu bool false GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected.
    +

    +ORB

    + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    ORB/ScaleFactor float 2 Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.
    ORB/NLevels int 3 The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).
    ORB/EdgeThreshold int 19 This is size of the border where the features are not detected. It should roughly match the patchSize parameter.
    ORB/FirstLevel int 0 It should be 0 in the current implementation.
    ORB/WTA_K int 2 The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).
    ORB/ScoreType int 0 The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.
    ORB/PatchSize int 31 size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.
    ORB/Gpu bool false GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.
    +

    +FREAK

    + + + + + + + + + + + +
    Key Type Default Description
    FREAK/OrientationNormalized bool true Enable orientation normalization.
    FREAK/ScaleNormalized bool true Enable scale normalization.
    FREAK/PatternScale float 22 Scaling of the description pattern.
    FREAK/NOctaves int 4 Number of octaves covered by the detected keypoints.
    +

    +BRISK

    + + + + + + + + + +
    Key Type Default Description
    BRISK/Thresh int 30 FAST/AGAST detection threshold score.
    BRISK/Octaves int 3 Detection octaves. Use 0 to do single scale.
    BRISK/PatternScale float 1 Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.
    +

    +KAZE

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    KAZE/Extended bool false Set to enable extraction of extended (128-byte) descriptor.
    KAZE/Upright bool false Set to enable use of upright descriptors (non rotation-invariant).
    KAZE/Threshold float 0.001 Detector response threshold to accept keypoint.
    KAZE/NOctaves int 4 Maximum octave evolution of the image.
    KAZE/NOctaveLayers int 4 Default number of sublevels per scale level.
    KAZE/Diffusivity int 1 Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.
    +

    +SuperPoint

    + + + + + + + + + + + + + +
    Key Type Default Description
    SuperPoint/ModelPath string "" [Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).
    SuperPoint/Threshold float 0.010 Detector response threshold to accept keypoint.
    SuperPoint/NMS bool true If true, non-maximum suppression is applied to detected keypoints.
    SuperPoint/NMSRadius int 4 [SuperPoint/NMS=true] Minimum distance (pixels) between keypoints.
    SuperPoint/Cuda bool true Use Cuda device for Torch, otherwise CPU device is used by default.
    +

    +SuperPointRpautrat

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    SuperPointRpautrat/WeightsPath string "" [Required] SuperPoint weights file (*.pth).
    SuperPointRpautrat/ModelPath string "" [Required] SuperPoint python model file (superpoint_pytorch.py).
    SuperPointRpautrat/Threshold float 0.005 Detector response threshold to accept keypoint.
    SuperPointRpautrat/NMS bool true If true, non-maximum suppression is applied to detected keypoints.
    SuperPointRpautrat/NMSRadius int 4 [SuperPointRpautrat/NMS=true] Minimum distance (pixels) between keypoints.
    SuperPointRpautrat/Cuda bool true Use Cuda device for Torch, otherwise CPU device is used by default.
    +

    +PyDetector

    + + + + + + + +
    Key Type Default Description
    PyDetector/Path string "" Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.
    PyDetector/Cuda bool true Use cuda.
    +

    +Bayes

    +

    Bayes filter used for loop closure hypotheses.

    + + + + + + + + + +
    Key Type Default Description
    Bayes/VirtualPlacePriorThr float 0.9 Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations).
    Bayes/PredictionLC string 0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23 Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.
    Bayes/FullPredictionUpdate bool false Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).
    +

    +VhEp

    + + + + + + + + + + + +
    Key Type Default Description
    VhEp/Enabled bool false Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when RGBD/Enabled is enabled.
    VhEp/MatchCountMin int 8 Minimum of matching visual words pairs to accept the loop hypothesis.
    VhEp/RansacParam1 float 3 Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.
    VhEp/RansacParam2 float 0.99 Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.
    +

    +RGBD

    +

    Metric SLAM: graph, proximity detection and localization.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    RGBD/Enabled bool true Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.
    RGBD/LinearUpdate float 0.1 Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both RGBD/LinearUpdate and RGBD/AngularUpdate should be set to 0.
    RGBD/AngularUpdate float 0.1 Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both RGBD/LinearUpdate and RGBD/AngularUpdate should be set to 0.
    RGBD/LinearSpeedUpdate float 0.0 Maximum linear speed (m/s) to update the map (0 means not limit).
    RGBD/AngularSpeedUpdate float 0.0 Maximum angular speed (rad/s) to update the map (0 means not limit).
    RGBD/AggressiveLoopThr float 0.05 Loop closure threshold used (overriding Rtabmap/LoopThr) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (RGBD/MaxOdomCacheSize). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when RGBD/Enabled is enabled. Set 1 to disable.
    RGBD/NewMapOdomChangeDistance float 0 A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).
    RGBD/OptimizeFromGraphEnd bool false Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).
    RGBD/OptimizeMaxError float 3.0 Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with Optimizer/Robust, the disabled loop closure links will be removed.
    RGBD/OptimizeMaxErrorRepairRadius float 0.0 If two consecutive loop closures are rejected by RGBD/OptimizeMaxError on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.
    RGBD/MaxLoopClosureDistance float 0.0 Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).
    RGBD/ForceOdom3DoF bool true Force odometry pose to be 3DoF if Reg/Force3DoF=true.
    RGBD/StartAtOrigin bool false If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (Mem/IncrementalMemory=false).
    RGBD/GoalReachedRadius float 0.5 Goal reached radius (m).
    RGBD/PlanStuckIterations int 0 Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.
    RGBD/PlanLinearVelocity float 0 Linear velocity (m/sec) used to compute path weights.
    RGBD/PlanAngularVelocity float 0 Angular velocity (rad/sec) used to compute path weights.
    RGBD/GoalsSavedInUserData bool false When a goal is received and processed with success, it is saved in user data of the location with this format: "GOAL:#".
    RGBD/MaxLocalRetrieved unsigned int 2 Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).
    RGBD/LocalRadius float 10 Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.
    RGBD/LocalImmunizationRatio float 0.25 Ratio of working memory for which local nodes are immunized from transfer.
    RGBD/ScanMatchingIdsSavedInLinks bool true Save scan matching IDs from one-to-many proximity detection in link's user data.
    RGBD/NeighborLinkRefining bool false When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (Reg/Strategy).
    RGBD/LoopClosureIdentityGuess bool false Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (Reg/Strategy) can deal with transformation estimation without guess.
    RGBD/LoopClosureReextractFeatures bool false Extract features even if there are some already in the nodes. Raw features are not saved in database.
    RGBD/LocalBundleOnLoopClosure bool false Do local bundle adjustment with neighborhood of the loop closure.
    RGBD/InvertedReg bool false On loop closure, do registration from the target to reference instead of reference to target.
    RGBD/CreateOccupancyGrid bool false Create local occupancy grid maps. See "Grid" group for parameters.
    RGBD/MarkerDetection bool false Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See "Marker" group for parameters.
    RGBD/LoopCovLimited bool false Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.
    RGBD/MaxOdomCacheSize int 10 Maximum odometry cache size. Used only in localization mode (when Mem/IncrementalMemory=false). This is used to get smoother localizations and to verify localization transforms (when RGBD/OptimizeMaxError!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.
    RGBD/LocalizationSmoothing bool true Adjust localization constraints based on optimized odometry cache poses (when RGBD/MaxOdomCacheSize>0).
    RGBD/LocalizationPriorError double 0.001 The corresponding variance (error x error) set to priors of the map's poses during localization (when RGBD/MaxOdomCacheSize>0).
    RGBD/LocalizationSecondTryWithoutProximityLinks bool true When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see RGBD/MaxOdomCacheSize). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.
    RGBD/ProximityByTime bool false Detection over all locations in STM.
    RGBD/ProximityBySpace bool true Detection over locations (in Working Memory) near in space.
    RGBD/ProximityMaxGraphDepth int 50 Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.
    RGBD/ProximityMaxPaths int 3 Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.
    RGBD/ProximityPathFilteringRadius float 1 Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.
    RGBD/ProximityPathMaxNeighbors int 0 Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).
    RGBD/ProximityPathRawPosesUsed bool true When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.
    RGBD/ProximityAngle float 45 Maximum angle (degrees) for one-to-one proximity detection.
    RGBD/ProximityOdomGuess bool false Use odometry as motion guess for one-to-one proximity detection.
    RGBD/ProximityGlobalScanMap bool false Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (Mem/IncrementalMemory=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.
    RGBD/ProximityMergedScanCovFactor double 100.0 Covariance factor for one-to-many proximity detection (when RGBD/ProximityPathMaxNeighbors>0 and scans are used).
    +

    +Optimizer

    +

    Graph optimization back-end.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Optimizer/Strategy int 2 with defined(RTABMAP_GTSAM)
    +1 with defined(RTABMAP_G2O)
    +3 with defined(RTABMAP_CERES)
    +0 otherwise     		Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.
    Optimizer/Iterations int 20 with defined(RTABMAP_GTSAM) or defined(RTABMAP_G2O) or defined(RTABMAP_CERES)
    +100 otherwise     		Optimization iterations.
    Optimizer/Epsilon double 0.00001 with defined(RTABMAP_GTSAM)
    +0.0 with defined(RTABMAP_G2O)
    +0.000001 with defined(RTABMAP_CERES)
    +0.00001 otherwise     		Stop optimizing when the error improvement is less than this value.
    Optimizer/VarianceIgnored bool false Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.
    Optimizer/Robust bool false Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).
    Optimizer/PriorsIgnored bool true Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.
    Optimizer/LandmarksIgnored bool false Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.
    Optimizer/GravitySigma float 0.3 with defined(RTABMAP_G2O) \|\| defined(RTABMAP_GTSAM)
    +0.0 otherwise     		Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see Optimizer/Strategy).
    Optimizer/Baseline double 0.075 When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.
    Optimizer/PixelVariance double 1.0 Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.
    Optimizer/DisparityVariance double 1.0 Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).
    Optimizer/RobustKernelDelta double 8 Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.
    +

    +g2o

    + + + + + + + +
    Key Type Default Description
    g2o/Solver int 3 with defined(RTABMAP_ORB_SLAM)
    +0 otherwise     		0=csparse 1=pcg 2=cholmod 3=Eigen
    g2o/Optimizer int 0 0=Levenberg 1=GaussNewton
    +

    +GTSAM

    + + + + + + + + + + + +
    Key Type Default Description
    GTSAM/Optimizer int 1 0=Levenberg 1=GaussNewton 2=Dogleg
    GTSAM/Incremental bool false Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (GTSAM/Optimizer) in this mode.
    GTSAM/IncRelinearizeThreshold double 0.01 Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.
    GTSAM/IncRelinearizeSkip int 1 Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.
    +

    +Odom

    +

    Odometry front-end shared settings.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Odom/Strategy int 0 0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM
    Odom/ResetCountdown int 0 Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.
    Odom/Holonomic bool true If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).
    Odom/FillInfoData bool true Fill info with data (inliers/outliers features).
    Odom/ImageBufferSize unsigned int 1 Data buffer size (0 min inf).
    Odom/FilteringStrategy int 0 0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.
    Odom/ParticleSize unsigned int 400 Number of particles of the filter.
    Odom/ParticleNoiseT float 0.002 Noise (m) of translation components (x,y,z).
    Odom/ParticleLambdaT float 100 Lambda of translation components (x,y,z).
    Odom/ParticleNoiseR float 0.002 Noise (rad) of rotational components (roll,pitch,yaw).
    Odom/ParticleLambdaR float 100 Lambda of rotational components (roll,pitch,yaw).
    Odom/KalmanProcessNoise float 0.001 Process noise covariance value.
    Odom/KalmanMeasurementNoise float 0.01 Process measurement covariance value.
    Odom/GuessMotion bool true Guess next transformation from the last motion computed.
    Odom/GuessSmoothingDelay float 0 Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if Odom/FilteringStrategy is set or the delay is below the odometry rate.
    Odom/KeyFrameThr float 0.3 [Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.
    Odom/VisKeyFrameThr int 150 [Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.
    Odom/ScanKeyFrameThr float 0.9 [Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.
    Odom/ImageDecimation unsigned int 1 Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If Vis/DepthAsMask is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.
    Odom/AlignWithGround bool false Align odometry with the ground on initialization.
    Odom/Deskewing bool true Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).
    +

    +OdomF2M

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomF2M/MaxSize int 2000 [Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.
    OdomF2M/MaxNewFeatures int 0 [Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.
    OdomF2M/InitDepthFactor float 0.05 [Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.
    OdomF2M/FloorThreshold float 0.0 [Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.
    OdomF2M/ScanMaxSize int 2000 [Geometry] Maximum local scan map size.
    OdomF2M/ScanSubtractRadius float 0.05 [Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.
    OdomF2M/ScanSubtractAngle float 45 [Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when OdomF2M/ScanSubtractRadius>0). 0 means any angle.
    OdomF2M/ScanRange float 0 [Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.
    OdomF2M/ValidDepthRatio float 0.75 If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.
    OdomF2M/BundleAdjustment int 1 with defined(RTABMAP_G2O) \|\| defined(RTABMAP_ORB_SLAM)
    +0 otherwise     		Local bundle adjustment. Value matches the Optimizer/Strategy parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.
    OdomF2M/BundleAdjustmentMaxFrames int 10 Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).
    OdomF2M/BundleAdjustmentMinMotion float 0.0 To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.
    OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature int 0 Maximum keyframes per feature for bundle adjustment. 0 means not limit.
    OdomF2M/BundleUpdateFeatureMapOnAllFrames bool false Update 3D local feature map on every frame with bundle adjustment. Recommended if Vis/DepthAsMask=false and Mem/UseOdomFeatures=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).
    +

    +OdomMono

    + + + + + + + + + + + +
    Key Type Default Description
    OdomMono/InitMinFlow float 100 Minimum optical flow required for the initialization step.
    OdomMono/InitMinTranslation float 0.1 Minimum translation required for the initialization step.
    OdomMono/MinTranslation float 0.02 Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.
    OdomMono/MaxVariance float 0.01 Maximum variance to add new points to local map.
    +

    +OdomFovis

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomFovis/FeatureWindowSize int 9 The size of the n x n image patch surrounding each feature, used for keypoint matching.
    OdomFovis/MaxPyramidLevel int 3 The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.
    OdomFovis/MinPyramidLevel int 0 The minimum pyramid level.
    OdomFovis/TargetPixelsPerFeature int 250 Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.
    OdomFovis/FastThreshold int 20 FAST threshold.
    OdomFovis/UseAdaptiveThreshold bool true Use FAST adaptive threshold.
    OdomFovis/FastThresholdAdaptiveGain double 0.005 FAST threshold adaptive gain.
    OdomFovis/UseHomographyInitialization bool true Use homography initialization.
    OdomFovis/UseBucketing bool true
    OdomFovis/BucketWidth int 80
    OdomFovis/BucketHeight int 80
    OdomFovis/MaxKeypointsPerBucket int 25
    OdomFovis/UseImageNormalization bool false
    OdomFovis/InlierMaxReprojectionError double 1.5 The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.
    OdomFovis/CliqueInlierThreshold double 0.1 See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.
    OdomFovis/MinFeaturesForEstimate int 20 Minimum number of features in the inlier set for the motion estimate to be considered valid.
    OdomFovis/MaxMeanReprojectionError double 10.0 Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.
    OdomFovis/UseSubpixelRefinement bool true Specifies whether or not to refine feature matches to subpixel resolution.
    OdomFovis/FeatureSearchWindow int 25 Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.
    OdomFovis/UpdateTargetFeaturesWithRefined bool false When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.
    OdomFovis/StereoRequireMutualMatch bool true
    OdomFovis/StereoMaxDistEpipolarLine double 1.5
    OdomFovis/StereoMaxRefinementDisplacement double 1.0
    OdomFovis/StereoMaxDisparity int 128
    +

    +OdomViso2

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomViso2/RansacIters int 200 Number of RANSAC iterations.
    OdomViso2/InlierThreshold double 2.0 Fundamental matrix inlier threshold.
    OdomViso2/Reweighting bool true Lower border weights (more robust to calibration errors).
    OdomViso2/MatchNmsN int 3 Non-max-suppression: min. distance between maxima (in pixels).
    OdomViso2/MatchNmsTau int 50 Non-max-suppression: interest point peakiness threshold.
    OdomViso2/MatchBinsize int 50 Matching bin width/height (affects efficiency only).
    OdomViso2/MatchRadius int 200 Matching radius (du/dv in pixels).
    OdomViso2/MatchDispTolerance int 2 Disparity tolerance for stereo matches (in pixels).
    OdomViso2/MatchOutlierDispTolerance int 5 Outlier removal: disparity tolerance (in pixels).
    OdomViso2/MatchOutlierFlowTolerance int 5 Outlier removal: flow tolerance (in pixels).
    OdomViso2/MatchMultiStage bool true Multistage matching (denser and faster).
    OdomViso2/MatchHalfResolution bool true Match at half resolution, refine at full resolution.
    OdomViso2/MatchRefinement int 1 Refinement (0=none,1=pixel,2=subpixel).
    OdomViso2/BucketMaxFeatures int 2 Maximal number of features per bucket.
    OdomViso2/BucketWidth double 50 Width of bucket.
    OdomViso2/BucketHeight double 50 Height of bucket.
    +

    +OdomORBSLAM

    + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomORBSLAM/VocPath string "" Path to ORB vocabulary (*.txt).
    OdomORBSLAM/Bf double 0.076 Fake IR projector baseline (m) used only when stereo is not used.
    OdomORBSLAM/ThDepth double 40.0 Close/Far threshold. Baseline times.
    OdomORBSLAM/Fps float 0.0 Camera FPS (0 to estimate from input data).
    OdomORBSLAM/MaxFeatures int 1000 Maximum ORB features extracted per frame.
    OdomORBSLAM/MapSize int 3000 Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.
    OdomORBSLAM/Inertial bool false Enable IMU. Only supported with ORB_SLAM3.
    OdomORBSLAM/GyroNoise double 0.01 IMU gyroscope "white noise".
    OdomORBSLAM/AccNoise double 0.1 IMU accelerometer "white noise".
    OdomORBSLAM/GyroWalk double 0.000001 IMU gyroscope "random walk".
    OdomORBSLAM/AccWalk double 0.0001 IMU accelerometer "random walk".
    OdomORBSLAM/SamplingRate double 0 IMU sampling rate (0 to estimate from input data).
    +

    +OdomOKVIS

    + + + + + +
    Key Type Default Description
    OdomOKVIS/ConfigPath string "" Path of OKVIS config file.
    +

    +OdomLOAM

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomLOAM/Sensor int 2 Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E
    OdomLOAM/ScanPeriod float 0.1 Scan period (s)
    OdomLOAM/Resolution float 0.2 Map resolution
    OdomLOAM/LinVar float 0.01 Linear output variance.
    OdomLOAM/AngVar float 0.01 Angular output variance.
    OdomLOAM/LocalMapping bool true Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.
    +

    +OdomMSCKF

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomMSCKF/GridRow int 4
    OdomMSCKF/GridCol int 5
    OdomMSCKF/GridMinFeatureNum int 3
    OdomMSCKF/GridMaxFeatureNum int 4
    OdomMSCKF/PyramidLevels int 3
    OdomMSCKF/PatchSize int 15
    OdomMSCKF/FastThreshold int 10
    OdomMSCKF/MaxIteration int 30
    OdomMSCKF/TrackPrecision double 0.01
    OdomMSCKF/RansacThreshold double 3
    OdomMSCKF/StereoThreshold double 5
    OdomMSCKF/PositionStdThreshold double 8.0
    OdomMSCKF/RotationThreshold double 0.2618
    OdomMSCKF/TranslationThreshold double 0.4
    OdomMSCKF/TrackingRateThreshold double 0.5
    OdomMSCKF/OptTranslationThreshold double 0
    OdomMSCKF/NoiseGyro double 0.005
    OdomMSCKF/NoiseAcc double 0.05
    OdomMSCKF/NoiseGyroBias double 0.001
    OdomMSCKF/NoiseAccBias double 0.01
    OdomMSCKF/NoiseFeature double 0.035
    OdomMSCKF/InitCovVel double 0.25
    OdomMSCKF/InitCovGyroBias double 0.01
    OdomMSCKF/InitCovAccBias double 0.01
    OdomMSCKF/InitCovExRot double 0.00030462
    OdomMSCKF/InitCovExTrans double 0.000025
    OdomMSCKF/MaxCamStateSize int 20
    +

    +OdomVINSFusion

    + + + + + +
    Key Type Default Description
    OdomVINSFusion/ConfigPath string "" Path of VINS-Fusion config file.
    +

    +OdomOpenVINS

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomOpenVINS/ConfigPath string "" Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.
    OdomOpenVINS/UseStereo bool true If we have more than 1 camera, if we should try to track stereo constraints between pairs.
    OdomOpenVINS/UseKLT bool true If true we will use KLT, otherwise use a ORB descriptor + robust matching.
    OdomOpenVINS/NumPts int 200 Number of points (per camera) we will extract and try to track.
    OdomOpenVINS/MinPxDist int 15 Eistance between features (features near each other provide less information).
    OdomOpenVINS/FiTriangulate1d bool false If we should perform 1d triangulation instead of 3d.
    OdomOpenVINS/FiRefineFeatures bool true If we should perform Levenberg-Marquardt refinement.
    OdomOpenVINS/FiMaxRuns int 5 Max runs for Levenberg-Marquardt.
    OdomOpenVINS/FiMaxBaseline double 40 Max baseline ratio to accept triangulated features.
    OdomOpenVINS/FiMaxCondNumber double 10000 Max condition number of linear triangulation matrix accept triangulated features.
    OdomOpenVINS/UseFEJ bool true If first-estimate Jacobians should be used (enable for good consistency).
    OdomOpenVINS/Integration int 1 0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).
    OdomOpenVINS/CalibCamExtrinsics bool false Bool to determine whether or not to calibrate imu-to-camera pose.
    OdomOpenVINS/CalibCamIntrinsics bool false Bool to determine whether or not to calibrate camera intrinsics.
    OdomOpenVINS/CalibCamTimeoffset bool false Bool to determine whether or not to calibrate camera to IMU time offset.
    OdomOpenVINS/CalibIMUIntrinsics bool false Bool to determine whether or not to calibrate the IMU intrinsics.
    OdomOpenVINS/CalibIMUGSensitivity bool false Bool to determine whether or not to calibrate the Gravity sensitivity.
    OdomOpenVINS/MaxClones int 11 Max clone size of sliding window.
    OdomOpenVINS/MaxSLAM int 50 Max number of estimated SLAM features.
    OdomOpenVINS/MaxSLAMInUpdate int 25 Max number of SLAM features we allow to be included in a single EKF update..
    OdomOpenVINS/MaxMSCKFInUpdate int 50 Max number of MSCKF features we will use at a given image timestep..
    OdomOpenVINS/FeatRepMSCKF int 0 What representation our features are in (msckf features).
    OdomOpenVINS/FeatRepSLAM int 4 What representation our features are in (slam features).
    OdomOpenVINS/DtSLAMDelay double 0.0 Delay, in seconds, that we should wait from init before we start estimating SLAM features.
    OdomOpenVINS/GravityMag double 9.81 Gravity magnitude in the global frame (i.e. should be 9.81 typically).
    OdomOpenVINS/LeftMaskPath string "" Mask for left image.
    OdomOpenVINS/RightMaskPath string "" Mask for right image.
    OdomOpenVINS/InitWindowTime double 2.0 Amount of time we will initialize over (seconds).
    OdomOpenVINS/InitIMUThresh double 1.0 Variance threshold on our acceleration to be classified as moving.
    OdomOpenVINS/InitMaxDisparity double 10.0 Max disparity to consider the platform stationary (dependent on resolution).
    OdomOpenVINS/InitMaxFeatures int 50 How many features to track during initialization (saves on computation).
    OdomOpenVINS/InitDynUse bool false If dynamic initialization should be used.
    OdomOpenVINS/InitDynMLEOptCalib bool false If we should optimize calibration during intialization (not recommended).
    OdomOpenVINS/InitDynMLEMaxIter int 50 How many iterations the MLE refinement should use (zero to skip the MLE).
    OdomOpenVINS/InitDynMLEMaxTime double 0.05 How many seconds the MLE should be completed in.
    OdomOpenVINS/InitDynMLEMaxThreads int 6 How many threads the MLE should use.
    OdomOpenVINS/InitDynNumPose int 6 Number of poses to use within our window time (evenly spaced).
    OdomOpenVINS/InitDynMinDeg double 10.0 Orientation change needed to try to init.
    OdomOpenVINS/InitDynInflationOri double 10.0 What to inflate the recovered q_GtoI covariance by.
    OdomOpenVINS/InitDynInflationVel double 100.0 What to inflate the recovered v_IinG covariance by.
    OdomOpenVINS/InitDynInflationBg double 10.0 What to inflate the recovered bias_g covariance by.
    OdomOpenVINS/InitDynInflationBa double 100.0 What to inflate the recovered bias_a covariance by.
    OdomOpenVINS/InitDynMinRecCond double 1e-15 Reciprocal condition number thresh for info inversion.
    OdomOpenVINS/TryZUPT bool true If we should try to use zero velocity update.
    OdomOpenVINS/ZUPTChi2Multiplier double 0.0 Chi2 multiplier for zero velocity.
    OdomOpenVINS/ZUPTMaxVelodicy double 0.1 Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).
    OdomOpenVINS/ZUPTNoiseMultiplier double 10.0 Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).
    OdomOpenVINS/ZUPTMaxDisparity double 0.5 Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).
    OdomOpenVINS/ZUPTOnlyAtBeginning bool false If we should only use the zupt at the very beginning static initialization phase.
    OdomOpenVINS/AccelerometerNoiseDensity double 0.01 [m/s^2/sqrt(Hz)] (accel "white noise").
    OdomOpenVINS/AccelerometerRandomWalk double 0.001 [m/s^3/sqrt(Hz)] (accel bias diffusion).
    OdomOpenVINS/GyroscopeNoiseDensity double 0.001 [rad/s/sqrt(Hz)] (gyro "white noise").
    OdomOpenVINS/GyroscopeRandomWalk double 0.0001 [rad/s^2/sqrt(Hz)] (gyro bias diffusion).
    OdomOpenVINS/UpMSCKFSigmaPx double 1.0 Pixel noise for MSCKF features.
    OdomOpenVINS/UpMSCKFChi2Multiplier double 1.0 Chi2 multiplier for MSCKF features.
    OdomOpenVINS/UpSLAMSigmaPx double 1.0 Pixel noise for SLAM features.
    OdomOpenVINS/UpSLAMChi2Multiplier double 1.0 Chi2 multiplier for SLAM features.
    +

    +OdomOpen3D

    + + + + + + + +
    Key Type Default Description
    OdomOpen3D/MaxDepth float 3.0 Maximum depth.
    OdomOpen3D/Method int 0 Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.
    +

    +OdomCuVSLAM

    + + + + + +
    Key Type Default Description
    OdomCuVSLAM/MulticamMode int 0 cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.
    +

    +OdomLIOSAM

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    OdomLIOSAM/ConfigPath string "" Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.
    OdomLIOSAM/Sensor int 0 LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox
    OdomLIOSAM/NScan int 16 Number of LiDAR channels (16, 32, 64, 128).
    OdomLIOSAM/HorizonScan int 1800 Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).
    OdomLIOSAM/ImuAccNoise float 0.01 IMU accelerometer white noise.
    OdomLIOSAM/ImuGyrNoise float 0.001 IMU gyroscope white noise.
    OdomLIOSAM/ImuAccBiasN float 0.0002 IMU accelerometer bias noise.
    OdomLIOSAM/ImuGyrBiasN float 0.00003 IMU gyroscope bias noise.
    OdomLIOSAM/ImuGravity float 9.80511 Gravity magnitude.
    OdomLIOSAM/EdgeThreshold float 1.0 Edge feature curvature threshold.
    OdomLIOSAM/SurfThreshold float 0.1 Surface feature curvature threshold.
    OdomLIOSAM/LinVar float 0.01 Linear output variance.
    OdomLIOSAM/AngVar float 0.01 Angular output variance.
    +

    +Reg

    +

    Registration strategy shared by loop closures and proximity detection.

    + + + + + + + + + +
    Key Type Default Description
    Reg/RepeatOnce bool true Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.
    Reg/Strategy int 0 0=Vis, 1=Icp, 2=VisIcp
    Reg/Force3DoF bool false Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.
    +

    +Vis

    +

    Visual registration (feature extraction, matching and PnP).

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Vis/EstimationType int 1 Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)
    Vis/InlierDistance float 0.1 [Vis/EstimationType = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.
    Vis/RefineIterations int 5 [Vis/EstimationType = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.
    Vis/PnPReprojError float 2 [Vis/EstimationType = 1] PnP reprojection error.
    Vis/PnPFlags int 0 [Vis/EstimationType = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P
    Vis/PnPRefineIterations int 0 with defined(RTABMAP_G2O) \|\| defined(RTABMAP_ORB_SLAM)
    +1 otherwise     		[Vis/BundleAdjustment = 1] Refine iterations. Set to 0 if Vis/EstimationType is also used.
    Vis/PnPVarianceMedianRatio int 4 [Vis/EstimationType = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.
    Vis/PnPMaxVariance float 0.0 [Vis/EstimationType = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.
    Vis/PnPSamplingPolicy unsigned int 1 [Vis/EstimationType = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.
    Vis/PnPSplitLinearCovComponents bool false [Vis/EstimationType = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.
    Vis/EpipolarGeometryVar float 0.1 [Vis/EstimationType = 2] Epipolar geometry maximum variance to accept the transformation.
    Vis/MinInliers int 20 Minimum feature correspondences to compute/accept the transformation.
    Vis/MeanInliersDistance float 0.0 Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.
    Vis/MinInliersDistribution float 0.0 Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.
    Vis/Iterations int 300 Maximum iterations to compute the transform.
    Vis/FeatureType int 8 with CV_MAJOR_VERSION &gt; 2 && !defined(HAVE_OPENCV_XFEATURES2D)
    +6 otherwise     		0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat
    Vis/MaxFeatures int 1000 0 no limits.
    Vis/SSC bool false If true, SSC (Suppression via Square Covering) is applied to limit keypoints.
    Vis/MaxDepth float 0 Max depth of the features (0 means no limit).
    Vis/MinDepth float 0 Min depth of the features (0 means no limit).
    Vis/DepthAsMask bool true Use depth image as mask when extracting features.
    Vis/DepthMaskFloorThr float 0.0 Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if Vis/DepthAsMask is false.
    Vis/RoiRatios string 0.0 0.0 0.0 0.0 Region of interest ratios [left, right, top, bottom].
    Vis/SubPixWinSize int 3 See cv::cornerSubPix().
    Vis/SubPixIterations int 0 See cv::cornerSubPix(). 0 disables sub pixel refining.
    Vis/SubPixEps float 0.02 See cv::cornerSubPix().
    Vis/GridRows int 1 Number of rows of the grid used to extract uniformly "@ref param_VisMaxFeatures "Vis/MaxFeatures" / grid cells" features from each cell.
    Vis/GridCols int 1 Number of columns of the grid used to extract uniformly "@ref param_VisMaxFeatures "Vis/MaxFeatures" / grid cells" features from each cell.
    Vis/CorType int 0 Correspondences computation approach: 0=Features Matching, 1=Optical Flow
    Vis/CorNNType int 1 [Vis/CorType=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.
    Vis/CorNNDR float 0.8 [Vis/CorType=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.
    Vis/CorGuessWinSize int 40 [Vis/CorType=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.
    Vis/CorGuessMatchToProjection bool false [Vis/CorType=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.
    Vis/CorFlowWinSize int 16 [Vis/CorType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.
    Vis/CorFlowIterations int 30 [Vis/CorType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.
    Vis/CorFlowEps float 0.01 [Vis/CorType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.
    Vis/CorFlowMaxLevel int 3 [Vis/CorType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.
    Vis/CorFlowUseMinEigenVals bool true [Vis/CorType=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.
    Vis/CorFlowMinEigThreshold float 1e-4 [Vis/CorFlowUseMinEigenVals=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.
    Vis/CorFlowErrorThreshold float 20 [Vis/CorFlowUseMinEigenVals=false] Filter out features with error greater than this threshold.
    Vis/CorFlowGpu bool false [Vis/CorType=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that Vis/CorFlowUseMinEigenVals is not used in the GPU implementation.
    Vis/BundleAdjustment int 1 with defined(RTABMAP_G2O) \|\| defined(RTABMAP_ORB_SLAM)
    +0 otherwise     		Optimization with bundle adjustment. Value matches the Optimizer/Strategy parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.
    +

    +PyMatcher

    + + + + + + + + + + + + + +
    Key Type Default Description
    PyMatcher/Path string "" Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.
    PyMatcher/Iterations int 20 Sinkhorn iterations. Used by SuperGlue.
    PyMatcher/Threshold float 0.2 Used by SuperGlue.
    PyMatcher/Cuda bool true Used by SuperGlue.
    PyMatcher/Model string indoor For SuperGlue, set only "indoor" or "outdoor". For OANet, set path to one of the pth file (e.g., "OANet/model/gl3d/sift-4000/model_best.pth").
    +

    +GMS

    + + + + + + + + + +
    Key Type Default Description
    GMS/WithRotation bool false Take rotation transformation into account.
    GMS/WithScale bool false Take scale transformation into account.
    GMS/ThresholdFactor double 6.0 The higher, the less matches.
    +

    +PyDescriptor

    + + + + + + + +
    Key Type Default Description
    PyDescriptor/Path string "" Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.
    PyDescriptor/Dim int 4096 Descriptor dimension.
    +

    +Icp

    +

    Geometric registration by iterative closest point.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Icp/Strategy int 1 with defined(RTABMAP_POINTMATCHER)
    +0 otherwise     		ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).
    Icp/MaxTranslation float 0.2 Maximum ICP translation correction accepted (m).
    Icp/MaxRotation float 0.78 Maximum ICP rotation correction accepted (rad).
    Icp/VoxelSize float 0.05 Uniform sampling voxel size (0=disabled).
    Icp/DownsamplingStep int 1 Downsampling step size (1=no sampling). This is done before uniform sampling.
    Icp/RangeMin float 0 Minimum range filtering (0=disabled).
    Icp/RangeMax float 0 Maximum range filtering (0=disabled).
    Icp/MaxCorrespondenceDistance float 0.1 with defined(RTABMAP_POINTMATCHER)
    +0.05 otherwise     		Max distance for point correspondences.
    Icp/ReciprocalCorrespondences bool true To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.
    Icp/Iterations int 30 Max iterations.
    Icp/Epsilon float 0 Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.
    Icp/CorrespondenceRatio float 0.1 Ratio of matching correspondences to accept the transform.
    Icp/Force4DoF bool false Limit ICP to x, y, z and yaw DoF. Available if Icp/Strategy > 0.
    Icp/FiltersEnabled int 3 Flag to enable filters: 1="from" cloud only, 2="to" cloud only, 3=both.
    Icp/PointToPlane bool true with defined(RTABMAP_POINTMATCHER)
    +false otherwise     		Use point to plane ICP.
    Icp/PointToPlaneK int 5 Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.
    Icp/PointToPlaneRadius float 0.0 Search radius to compute normals for point to plane if the cloud doesn't have already normals.
    Icp/PointToPlaneGroundNormalsUp float 0.0 Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.
    Icp/PointToPlaneMinComplexity float 0.02 Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from Icp/PointToPlaneLowComplexityStrategy is used. This check is done only when Icp/PointToPlane=true.
    Icp/PointToPlaneComplexityCentered bool false If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility – but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The Icp/PointToPlaneMinComplexity threshold of 0.02 works under either setting.
    Icp/PointToPlaneLowComplexityStrategy int 1 If structural complexity is below Icp/PointToPlaneMinComplexity: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it "as is", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.
    Icp/OutlierRatio float 0.85 Outlier ratio. For libpointmatcher (Icp/Strategy=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (Icp/Strategy=2), sets "finalOverlapRatio". For PCL (Icp/Strategy=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * Icp/MaxCorrespondenceDistance. The value should be between 0 and 1.
    Icp/DebugExportFormat string "" Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are "pcd", "ply" or "vtk". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.
    Icp/PMConfig string "" Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., Icp/VoxelSize, Icp/DownsamplingStep), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters Icp/Iterations, Icp/Epsilon and Icp/MaxCorrespondenceDistance are also ignored if configuration file is set.
    Icp/PMMatcherKnn int 1 KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.
    Icp/PMMatcherEpsilon float 0.0 KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.
    Icp/PMMatcherIntensity bool false KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with Icp/PMMatcherKnn>1.
    Icp/CCSamplingLimit unsigned int 50000 Maximum number of points per cloud (they are randomly resampled below this limit otherwise).
    Icp/CCFilterOutFarthestPoints bool false If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.
    Icp/CCMaxFinalRMS float 0.2 Maximum final RMS error.
    +

    +Stereo

    +

    Stereo correspondence.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Stereo/WinWidth int 15 Window width.
    Stereo/WinHeight int 3 Window height.
    Stereo/Iterations int 30 Maximum iterations.
    Stereo/MaxLevel int 5 Maximum pyramid level.
    Stereo/MinDisparity float 0.5 Minimum disparity.
    Stereo/MaxDisparity float 128.0 Maximum disparity.
    Stereo/OpticalFlow bool true Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.
    Stereo/SSD bool true [Stereo/OpticalFlow=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.
    Stereo/Eps double 0.01 [Stereo/OpticalFlow=true] Epsilon stop criterion.
    Stereo/UseMinEigenVals bool true [Stereo/OpticalFlow=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.
    Stereo/MinEigThreshold double 1e-4 [Stereo/UseMinEigenVals=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.
    Stereo/ErrorThreshold double 50 [Stereo/UseMinEigenVals=false] Filter out features with error greater than this threshold.
    Stereo/Gpu bool false [Stereo/OpticalFlow=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that Stereo/UseMinEigenVals is not used in the GPU implementation.
    Stereo/DenseStrategy int 0 0=cv::StereoBM, 1=cv::StereoSGBM
    +

    +StereoBM

    + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    StereoBM/BlockSize int 15 See cv::StereoBM
    StereoBM/MinDisparity int 0 See cv::StereoBM
    StereoBM/NumDisparities int 128 See cv::StereoBM
    StereoBM/PreFilterSize int 9 See cv::StereoBM
    StereoBM/PreFilterCap int 31 See cv::StereoBM
    StereoBM/UniquenessRatio int 15 See cv::StereoBM
    StereoBM/TextureThreshold int 10 See cv::StereoBM
    StereoBM/SpeckleWindowSize int 100 See cv::StereoBM
    StereoBM/SpeckleRange int 4 See cv::StereoBM
    StereoBM/Disp12MaxDiff int -1 See cv::StereoBM
    +

    +StereoSGBM

    + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    StereoSGBM/BlockSize int 15 See cv::StereoSGBM
    StereoSGBM/MinDisparity int 0 See cv::StereoSGBM
    StereoSGBM/NumDisparities int 128 See cv::StereoSGBM
    StereoSGBM/PreFilterCap int 31 See cv::StereoSGBM
    StereoSGBM/UniquenessRatio int 20 See cv::StereoSGBM
    StereoSGBM/SpeckleWindowSize int 100 See cv::StereoSGBM
    StereoSGBM/SpeckleRange int 4 See cv::StereoSGBM
    StereoSGBM/Disp12MaxDiff int 1 See cv::StereoSGBM
    StereoSGBM/P1 int 2 See cv::StereoSGBM
    StereoSGBM/P2 int 5 See cv::StereoSGBM
    StereoSGBM/Mode int 0 with CV_MAJOR_VERSION &lt; 3
    +2 otherwise     		See cv::StereoSGBM
    +

    +Grid

    +

    Local occupancy grid generation from each node.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Grid/Sensor int 1 Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).
    Grid/DepthDecimation unsigned int 4 [Grid/DepthDecimation=true] Decimation of the depth image before creating cloud.
    Grid/RangeMin float 0.0 Minimum range from sensor.
    Grid/RangeMax float 5.0 Maximum range from sensor. 0=inf.
    Grid/DepthRoiRatios string 0.0 0.0 0.0 0.0 [Grid/Sensor>=1] Region of interest ratios [left, right, top, bottom].
    Grid/FootprintLength float 0.0 Footprint length used to filter points over the footprint of the robot.
    Grid/FootprintWidth float 0.0 Footprint width used to filter points over the footprint of the robot. Footprint length should be set.
    Grid/FootprintHeight float 0.0 Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.
    Grid/ScanDecimation int 1 [Grid/Sensor=0 or 2] Decimation of the laser scan before creating cloud.
    Grid/CellSize float 0.05 Resolution of the occupancy grid.
    Grid/PreVoxelFiltering bool true Input cloud is downsampled by voxel filter (voxel size is Grid/CellSize) before doing segmentation of obstacles and ground.
    Grid/MapFrameProjection bool false Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.
    Grid/NormalsSegmentation bool true Segment ground from obstacles using point normals, otherwise a fast passthrough is used.
    Grid/MaxObstacleHeight float 0.0 Maximum obstacles height (0=disabled).
    Grid/MinGroundHeight float 0.0 Minimum ground height (0=disabled).
    Grid/MaxGroundHeight float 0.0 Maximum ground height (0=disabled). Should be set if Grid/NormalsSegmentation is false.
    Grid/MaxGroundAngle float 45 [Grid/NormalsSegmentation=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.
    Grid/NormalK int 20 [Grid/NormalsSegmentation=true] K neighbors to compute normals.
    Grid/ClusterRadius float 0.1 [Grid/NormalsSegmentation=true] Cluster maximum radius.
    Grid/MinClusterSize int 10 [Grid/NormalsSegmentation=true] Minimum cluster size to project the points.
    Grid/FlatObstacleDetected bool true [Grid/NormalsSegmentation=true] Flat obstacles detected.
    Grid/3D bool true with defined(RTABMAP_OCTOMAP)
    +false otherwise     		A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and Grid/Sensor is 0.
    Grid/GroundIsObstacle bool false [Grid/3D=true] Ground segmentation (Grid/NormalsSegmentation) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).
    Grid/NoiseFilteringRadius float 0.0 Noise filtering radius (0=disabled). Done after segmentation.
    Grid/NoiseFilteringMinNeighbors int 5 Noise filtering minimum neighbors.
    Grid/Scan2dUnknownSpaceFilled bool false Unknown space filled. Only used with 2D laser scans. Use Grid/RangeMax to set maximum range if laser scan max range is to set.
    Grid/RayTracing bool false Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If Grid/3D=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.
    +

    +GridGlobal

    +

    Assembly of the local grids into the global map.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    GridGlobal/UpdateError float 0.01 Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.
    GridGlobal/FootprintRadius float 0.0 Footprint radius (m) used to clear all obstacles under the graph.
    GridGlobal/MinSize float 0.0 Minimum map size (m).
    GridGlobal/Eroded bool false Erode obstacle cells.
    GridGlobal/MaxNodes int 0 Maximum nodes assembled in the map starting from the last node (0=unlimited).
    GridGlobal/AltitudeDelta float 0 Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).
    GridGlobal/OccupancyThr float 0.5 Occupancy threshold (value between 0 and 1).
    GridGlobal/ProbHit float 0.7 Probability of a hit (value between 0.5 and 1).
    GridGlobal/ProbMiss float 0.4 Probability of a miss (value between 0 and 0.5).
    GridGlobal/ProbClampingMin float 0.1192 Probability clamping minimum (value between 0 and 1).
    GridGlobal/ProbClampingMax float 0.971 Probability clamping maximum (value between 0 and 1).
    GridGlobal/FloodFillDepth unsigned int 0 Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.
    +

    +Marker

    +

    Fiducial marker (ArUco/AprilTag) detection and landmarks.

    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    Key Type Default Description
    Marker/Strategy int 0 Marker detection implementation: 0=OpenCV, 1=AprilTag
    Marker/Dictionary int 0 Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21
    Marker/Length float 0 The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.
    Marker/Lengths string "" List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line ("id1 length\|id2 length"). We can also define a range of markers with "id1:id2 length" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on Marker/Length. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set "12 0.08\|14 0.15\|30:40 0.1".
    Marker/MaxDepthError float 0.01 Maximum depth error between all corners of a marker when estimating the marker length (when Marker/Length is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.
    Marker/VarianceLinear float 0.001 Linear variance to set on marker detections. If Marker/VarianceOrientationIgnored is enabled and Optimizer/Strategy=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.
    Marker/VarianceAngular float 0.01 Angular variance to set on marker detections. If Marker/VarianceOrientationIgnored is enabled, it is ignored with Optimizer/Strategy=1 (g2o) and it corresponds to bearing variance with Optimizer/Strategy=2 (GTSAM).
    Marker/VarianceOrientationIgnored bool false When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for Optimizer/Strategy=1 (g2o), only Marker/VarianceLinear needs be set if we ignore orientation. For Optimizer/Strategy=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with Marker/VarianceLinear as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and Marker/VarianceAngular as the variance of the bearing factor (pitch/yaw).
    Marker/MaxRange float 0.0 Maximum range in which markers will be detected. <=0 for unlimited range.
    Marker/MinRange float 0.0 Miniminum range in which markers will be detected. <=0 for unlimited range.
    Marker/Priors string "" World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line ("id1 x y z roll pitch yaw\|id2 x y z roll pitch yaw"). Example: "1 0 0 1 0 0 0\|2 1 0 1 0 0 1.57" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).
    Marker/PriorsVarianceLinear float 0.001 Linear variance to set on marker priors.
    Marker/PriorsVarianceAngular float 0.001 Angular variance to set on marker priors.
    +

    +MarkerAprilTag

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    MarkerAprilTag/NThreads int 1 How many threads should be used?
    MarkerAprilTag/QuadDecimate float 1.0 Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.
    MarkerAprilTag/QuadSigma float 0.0 What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).
    MarkerAprilTag/RefineEdges bool true When true, the edges of the each quad are adjusted to "snap to" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if MarkerAprilTag/QuadDecimate = 1.
    MarkerAprilTag/DecodeSharpening double 0.25 How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.
    MarkerAprilTag/Debug bool false When true, write a variety of debugging images to the working directory where the app started (not Rtabmap/WorkingDirectory) at various stages through the detection process. (Somewhat slow).
    +

    +MarkerOpenCV

    + + + + + +
    Key Type Default Description
    MarkerOpenCV/CornerRefinementMethod int 0 Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is "doCornerRefinement" parameter: set 0 for false and 1 for true.
    +

    +ImuFilter

    + + + + + + + + + + + + + + + +
    Key Type Default Description
    ImuFilter/MadgwickGain double 0.1 Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].
    ImuFilter/MadgwickZeta double 0.0 Gyro drift gain (approx. rad/s), belongs in [-1, 1].
    ImuFilter/ComplementaryGainAcc double 0.01 Gain parameter for the complementary filter, belongs in [0, 1].
    ImuFilter/ComplementaryBiasAlpha double 0.01 Bias estimation gain parameter, belongs in [0, 1].
    ImuFilter/ComplementaryDoBiasEstimation bool true Parameter whether to do bias estimation or not.
    ImuFilter/ComplementaryDoAdpativeGain bool true Parameter whether to do adaptive gain or not.
    +
    +
    +
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
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    43#endif /* RTABMAP_CORE_EXPORT_H */
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    1254#endif /* CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_ */
    + -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::PointXYZIRT Member List
    @@ -88,9 +105,12 @@ $(function() { ring (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT time (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT + -
    -Generated by doxygen 1.9.8 -
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
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    Public Attributes | @@ -173,9 +190,13 @@ Public Attributes
  • corelib/include/rtabmap/core/util3d.h
    • +
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::PointXYZIT Member List
    @@ -89,9 +106,12 @@ $(function() { y (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT z (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html index b5660b25..a30797ce 100644 --- a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html +++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    Public Attributes | @@ -185,9 +202,13 @@ Public Attributes
  • corelib/include/rtabmap/core/lidar/LidarVLP16.h
    • +
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    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    rtabmap::graph::MaxGraphErrors Member List
    @@ -90,9 +107,12 @@ $(function() { linearLinkrtabmap::graph::MaxGraphErrors linearRatiortabmap::graph::MaxGraphErrors + -
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    + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html index 9a4dad99..786c9f41 100644 --- a/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html +++ b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
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    Public Attributes | @@ -97,7 +114,7 @@ Collaboration diagram for rtabmap::graph::MaxGraphErrors:
    -
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    [legend]
    @@ -238,9 +255,13 @@ Public Attributes
  • corelib/include/rtabmap/core/Graph.h
    • + -
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    +
    +

    Public Attributes

    + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    Real-Time Appearance-Based Mapping
    +
    + + + + + + + + + +
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    + +
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    + +
    +
    Command-line tools
    +
    +
    +

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

    +

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

    +

    +Working with a map

    + + + + + + + + + + + + + + + + + + + + + +
    Command What it does
    rtabmap-info Prints a database summary: version, sizes, parameters and per-node statistics. --diff shows only the parameters that differ from the defaults, or from another database.
    rtabmap-export Exports the map: assembled point cloud, mesh or textured mesh (.ply, .pcd, .obj), 2D occupancy grid, poses and camera images. Filtering, decimation, colour and texturing are all options.
    rtabmap-report Reports the statistics recorded in one or several databases: RMSE against ground truth, timings, loop closures. Plots them when built with Qt.
    rtabmap-recovery Repairs a database whose session was not closed properly (e.g. after a crash), by rebuilding it from the nodes and links that can still be read. The original is kept as *.backup.db unless -d is given.
    rtabmap-reprocess Replays the data of a database through a fresh Rtabmap instance, with different parameters, and writes a new database. Several databases can be merged in one run. The way to try a new configuration on recorded data.
    rtabmap-detectMoreLoopClosures Looks for additional loop closures in an existing map, by clustering nodes that are close in the optimized graph, and re-optimizes it.
    rtabmap-globalBundleAdjustment Runs a global bundle adjustment over the whole graph and saves the refined poses.
    rtabmap-reduceGraph Merges nodes of the same location to shrink the graph, keeping the map usable for localization.
    rtabmap-cleanupLocalGrids Clears from the local occupancy grids the space that the assembled global grid shows as empty, so that removed obstacles do not reappear when the map is regenerated.
    +

    +Recording and datasets

    + + + + + + + + + + + + + + + + + +
    Command What it does
    rtabmap-console Runs loop closure detection without a GUI on a directory of images, a video or a database, and reports the loop closures found. Appearance-only: it forces RGBD/Enabled to false and feeds images without a pose, so there is no odometry, no graph optimization and no metric map – unlike the dataset tools below, which run the whole SLAM pipeline.
    rtabmap-dataRecorder Records a live sensor into a database, using a configuration file exported from the GUI preferences.
    rtabmap-kitti_dataset Runs a KITTI odometry sequence (stereo, optionally Velodyne) and reports the KITTI errors against ground truth.
    rtabmap-rgbd_dataset Same for a TUM RGB-D sequence.
    rtabmap-euroc_dataset Same for a EuRoC MAV sequence (stereo and IMU).
    rtabmap-cidsims_dataset Same for a CID-SIMS sequence (RGB-D, IMU and wheel odometry).
    rtabmap-imagesJoiner Joins images of two directories side by side, to build a stereo sequence out of two monocular ones.
    +

    +Sensors and calibration

    +

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

    + + + + + + + + + + + + + + + +
    Command What it does
    rtabmap-camera Streams a USB camera, a video file or a directory of images, and shows what the driver delivers.
    rtabmap-rgbd_camera Same for the RGB-D and stereo drivers (OpenNI, Freenect, RealSense, Kinect for Azure, ZED...), to check a device before mapping with it.
    rtabmap-lidar_viewer Shows the scans of a network lidar (VLP-16).
    rtabmap-calibration Calibrates a camera or a stereo pair from a chessboard, and saves the model RTAB-Map reads.
    rtabmap-odometryViewer Runs Odometry alone on a live sensor and shows the features, the local map and the estimated trajectory. Useful to tune the Odom/ and Vis/ parameters.
    rtabmap-databaseViewer Inspects a database: browse the nodes and their data, the graph and its links, add or remove constraints, re-optimize, regenerate the grids and export.
    +

    +Algorithm evaluation

    + + + + + + + + + + + + + +
    Command What it does
    rtabmap-matcher Registers two images with the visual or ICP pipeline and draws the correspondences. The direct way to compare feature detectors and matching parameters on a hard pair.
    rtabmap-stereoEval Evaluates the stereo correspondence parameters against a ground truth disparity map (Middlebury format).
    rtabmap-epipolar_geometry Shows the epipolar geometry between two images.
    rtabmap-extractObject Extracts an object lying on a plane from a point cloud file.
    rtabmap-vocabularyComparison Compares the nearest-neighbour strategies of the visual dictionary on a saved vocabulary. Built only with the OpenCV non-free module.
    +

    The GUI application itself is rtabmap; everything the tools above do offline is also reachable from its menus.

    +
    +
    +
    + + + + diff --git a/preview/pr-1492/api/latest/topics.html b/preview/pr-1492/api/latest/topics.html index 1439af5c..07aecc4c 100644 --- a/preview/pr-1492/api/latest/topics.html +++ b/preview/pr-1492/api/latest/topics.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -51,6 +56,22 @@ $(function() { +
    + +
    +
    +
    + +
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/topics.js b/preview/pr-1492/api/latest/topics.js new file mode 100644 index 00000000..eb708726 --- /dev/null +++ b/preview/pr-1492/api/latest/topics.js @@ -0,0 +1,28 @@ +var topics = +[ + [ "Region of Interest (ROI) Computation", "group__RoiComputation.html", "group__RoiComputation" ], + [ "PCL to 3D LaserScan", "group__LaserScanFromPointCloud.html", "group__LaserScanFromPointCloud" ], + [ "PCL to 2D LaserScan", "group__LaserScan2dFromPointCloud.html", "group__LaserScan2dFromPointCloud" ], + [ "LaserScan to PCL", "group__LaserScanToPointCloud.html", "group__LaserScanToPointCloud" ], + [ "Range Filtering of PCL Point Clouds", "group__PointCloudRangeFiltering.html", "group__PointCloudRangeFiltering" ], + [ "Split Range Filtering of PCL Point Clouds", "group__PointCloudSplitRangeFiltering.html", "group__PointCloudSplitRangeFiltering" ], + [ "Point Cloud Downsampling", "group__PointCloudDownSampling.html", "group__PointCloudDownSampling" ], + [ "Voxel Filtering", "group__VoxelFiltering.html", "group__VoxelFiltering" ], + [ "Random Sampling", "group__RandomSampling.html", "group__RandomSampling" ], + [ "Pass-through Filtering", "group__PassThrough.html", "group__PassThrough" ], + [ "Crop Box Filtering", "group__CropBox.html", "group__CropBox" ], + [ "Frustum Filtering", "group__FrustumFiltering.html", "group__FrustumFiltering" ], + [ "Remove NaN Points from a Point Cloud", "group__RemoveNaNFromPointCloud.html", "group__RemoveNaNFromPointCloud" ], + [ "Remove NaN Points from a Point Cloud", "group__RemoveNaNNormalsFromPointCloud.html", "group__RemoveNaNNormalsFromPointCloud" ], + [ "Radius Filtering", "group__RadiusFiltering.html", "group__RadiusFiltering" ], + [ "Proportional Radius Filtering", "group__ProportionalRadiusFiltering.html", "group__ProportionalRadiusFiltering" ], + [ "Subtract Filtering", "group__SubtractFiltering.html", "group__SubtractFiltering" ], + [ "Point Normal Filtering", "group__PointNormalFiltering.html", "group__PointNormalFiltering" ], + [ "Point Cloud Cluster Extraction", "group__ExtractClusters.html", "group__ExtractClusters" ], + [ "Point Cloud Indices Extraction", "group__ExtractIndices.html", "group__ExtractIndices" ], + [ "Compute Variance and Correspondences of Two Point Clouds", "group__ComputeVarianceAndCorrespondences.html", "group__ComputeVarianceAndCorrespondences" ], + [ "Compute Structural Complexity of a Point Cloud with Normals", "group__ComputeNormalsComplexity.html", "group__ComputeNormalsComplexity" ], + [ "Transform PCL Point Clouds", "group__TransformPointcloud.html", "group__TransformPointcloud" ], + [ "Transform a single point", "group__TransformPoint.html", "group__TransformPoint" ], + [ "UtiLite", "group__UtiLite.html", null ] +]; \ No newline at end of file diff --git a/preview/pr-1492/api/latest/uResourceGeneratorPage.html b/preview/pr-1492/api/latest/uResourceGeneratorPage.html index 5e87c581..a81a9de8 100644 --- a/preview/pr-1492/api/latest/uResourceGeneratorPage.html +++ b/preview/pr-1492/api/latest/uResourceGeneratorPage.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -50,6 +55,23 @@ $(function() { /* @license-end */ + +
    + +
    +
    +
    + +
    -
    uResourceGenerator
    -

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ ./uresourcegenerator DatabaseSchema.sql
    +

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ rtabmap-res_tool DatabaseSchema.sql
    +

    This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

    #include "DatabaseSchema_sql.h"
    ...
    std::string hex = DATABASESCHEMA_SQL;
    @@ -88,7 +110,7 @@ $(function() {
    uHex2Bytes
    std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)

    The generator can be automated in a CMake build like:

    ADD_CUSTOM_COMMAND(
    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
    -
    COMMAND ${URESOURCEGENERATOR_EXEC} -n my_namespace -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql
    +
    COMMAND ${RTABMAP_RES_TOOL} -n my_namespace -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql
    COMMENT "[Creating database resource]"
    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql
    )
    @@ -97,12 +119,15 @@ $(function() {
    )
    ADD_LIBRARY(mylib ${SRC_FILES} ${RESOURCES})
    ADD_EXECUTABLE(myexecutable ${SRC_FILES} ${RESOURCES})
    -

    The variable URESOURCEGENERATOR_EXEC is set when FIND_PACKAGE(UtiLite) is done, you would need to add FindUtiLite.cmake.

    +

    The tool is installed as rtabmap-res_tool. It is not exported by FIND_PACKAGE(RTABMap), so locate it with FIND_PROGRAM(RTABMAP_RES_TOOL rtabmap-res_tool). Inside RTAB-Map's own build, the res_tool CMake target can be used directly as the COMMAND instead.

    +
    -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util2d_8h_source.html b/preview/pr-1492/api/latest/util2d_8h_source.html index 9536005a..6344c278 100644 --- a/preview/pr-1492/api/latest/util2d_8h_source.html +++ b/preview/pr-1492/api/latest/util2d_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util2d.h
    @@ -126,164 +143,162 @@ $(document).ready(function() { init_codefold(0); });
    39namespace rtabmap
    40{
    41
    -
    -
    45namespace util2d
    -
    46{
    -
    47
    -
    66float RTABMAP_CORE_EXPORT ssd(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    -
    67
    -
    86float RTABMAP_CORE_EXPORT sad(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    -
    87
    -
    120std::vector<cv::Point2f> RTABMAP_CORE_EXPORT calcStereoCorrespondences(
    -
    121 const cv::Mat & leftImage,
    -
    122 const cv::Mat & rightImage,
    -
    123 const std::vector<cv::Point2f> & leftCorners,
    -
    124 std::vector<unsigned char> & status,
    -
    125 cv::Size winSize = cv::Size(6,3),
    -
    126 int maxLevel = 3,
    -
    127 int iterations = 5,
    -
    128 float minDisparity = 0.0f,
    -
    129 float maxDisparity = 64.0f,
    -
    130 bool ssdApproach = true);
    -
    131
    -
    171void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextImg,
    -
    172 cv::InputArray _prevPts, cv::InputOutputArray _nextPts,
    -
    173 cv::OutputArray _status, cv::OutputArray _err,
    -
    174 cv::Size winSize = cv::Size(15,3), int maxLevel = 3,
    -
    175 cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
    -
    176 int flags = 0, double minEigThreshold = 1e-4 );
    -
    177
    -
    207cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages(
    -
    208 const cv::Mat & leftImage,
    -
    209 const cv::Mat & rightImage,
    -
    210 const ParametersMap & parameters = ParametersMap());
    -
    211
    -
    232cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity(const cv::Mat & disparity,
    -
    233 float fx, float baseline,
    -
    234 int type = CV_32FC1); // CV_32FC1 or CV_16UC1
    -
    235
    -
    258cv::Mat RTABMAP_CORE_EXPORT depthFromStereoImages(
    -
    259 const cv::Mat & leftImage,
    -
    260 const cv::Mat & rightImage,
    -
    261 const std::vector<cv::Point2f> & leftCorners,
    -
    262 float fx,
    -
    263 float baseline,
    -
    264 int flowWinSize = 9,
    -
    265 int flowMaxLevel = 4,
    -
    266 int flowIterations = 20,
    -
    267 double flowEps = 0.02);
    -
    268
    -
    293cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences(
    -
    294 const cv::Size & disparitySize,
    -
    295 const std::vector<cv::Point2f> & leftCorners,
    -
    296 const std::vector<cv::Point2f> & rightCorners,
    -
    297 const std::vector<unsigned char> & mask);
    -
    298
    -
    321cv::Mat RTABMAP_CORE_EXPORT depthFromStereoCorrespondences(
    -
    322 const cv::Mat & leftImage,
    -
    323 const std::vector<cv::Point2f> & leftCorners,
    -
    324 const std::vector<cv::Point2f> & rightCorners,
    -
    325 const std::vector<unsigned char> & mask,
    -
    326 float fx, float baseline);
    -
    327
    -
    349cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat & depth32F);
    -
    350
    -
    368cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat(const cv::Mat & depth16U);
    -
    369
    -
    395float RTABMAP_CORE_EXPORT getDepth(
    -
    396 const cv::Mat & depthImage,
    -
    397 float x, float y,
    -
    398 bool smoothing,
    -
    399 float depthErrorRatio = 0.02f, //ratio
    -
    400 bool estWithNeighborsIfNull = false);
    -
    401
    -
    418cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::string & roiRatios);
    -
    419
    -
    428cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::string & roiRatios);
    -
    429
    -
    438cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
    -
    439
    -
    449cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::vector<float> & roiRatios);
    -
    450
    - // end of RoiComputation group
    452
    -
    467cv::Mat RTABMAP_CORE_EXPORT decimate(const cv::Mat & image, int d);
    -
    468
    -
    485cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat & image, int factor, float depthErrorRatio = 0.02f);
    -
    486
    -
    510cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    -
    511 const cv::Mat & depth,
    -
    512 const cv::Mat & depthK,
    -
    513 const cv::Size & colorSize,
    -
    514 const cv::Mat & colorK,
    -
    515 const rtabmap::Transform & transform);
    -
    516cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    -
    517 const cv::Mat & depth,
    -
    518 const cv::Mat & confidence,
    -
    519 const cv::Mat & depthK,
    -
    520 const cv::Size & colorSize,
    -
    521 const cv::Mat & colorK,
    -
    522 const rtabmap::Transform & transform,
    -
    523 cv::Mat & registeredConfidence);
    -
    524
    -
    542cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(
    -
    543 const cv::Mat & depth,
    -
    544 int maximumHoleSize = 1,
    -
    545 float errorRatio = 0.02f);
    -
    546
    -
    574void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(
    -
    575 cv::Mat & depthRegistered,
    -
    576 bool vertical,
    -
    577 bool horizontal,
    -
    578 bool fillDoubleHoles = false);
    -
    579
    -
    603cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(
    -
    604 const cv::Mat & depth,
    -
    605 float sigmaS = 15.0f,
    -
    606 float sigmaR = 0.05f,
    -
    607 bool earlyDivision = false);
    -
    608
    -
    624void RTABMAP_CORE_EXPORT depthBleedingFiltering(
    -
    625 cv::Mat & depth,
    -
    626 float maxDepthError);
    -
    627
    -
    649cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(
    -
    650 const cv::Mat & src,
    -
    651 const cv::Mat & mask,
    -
    652 float clipLowHistPercent=0,
    -
    653 float clipHighHistPercent=0,
    -
    654 float * alphaOut = 0,
    -
    655 float * betaOut = 0);
    -
    656
    -
    675cv::Mat RTABMAP_CORE_EXPORT exposureFusion(
    -
    676 const std::vector<cv::Mat> & images);
    -
    677
    -
    696void RTABMAP_CORE_EXPORT HSVtoRGB( float *r, float *g, float *b, float h, float s, float v );
    -
    697
    -
    717void RTABMAP_CORE_EXPORT NMS(
    -
    718 const std::vector<cv::KeyPoint> & ptsIn,
    -
    719 const cv::Mat & descriptorsIn,
    -
    720 std::vector<cv::KeyPoint> & ptsOut,
    -
    721 cv::Mat & descriptorsOut,
    -
    722 int dist_thresh, int img_width, int img_height);
    -
    723
    -
    752std::vector<int> RTABMAP_CORE_EXPORT SSC(
    -
    753 const std::vector<cv::KeyPoint> & keypoints,
    -
    754 int maxKeypoints,
    -
    755 float tolerance,
    -
    756 int cols,
    -
    757 int rows,
    -
    758 const std::vector<int> & indx = {});
    -
    759
    -
    784bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(
    -
    785 CameraModel & model,
    -
    786 cv::Mat & rgb,
    -
    787 cv::Mat & depth);
    -
    788
    -
    789} // namespace util2d
    -
    -
    790} // namespace rtabmap
    -
    791
    -
    792#endif /* UTIL2D_H_ */
    +
    50namespace util2d
    +
    51{
    +
    52
    +
    71float RTABMAP_CORE_EXPORT ssd(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    +
    72
    +
    91float RTABMAP_CORE_EXPORT sad(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    +
    92
    +
    125std::vector<cv::Point2f> RTABMAP_CORE_EXPORT calcStereoCorrespondences(
    +
    126 const cv::Mat & leftImage,
    +
    127 const cv::Mat & rightImage,
    +
    128 const std::vector<cv::Point2f> & leftCorners,
    +
    129 std::vector<unsigned char> & status,
    +
    130 cv::Size winSize = cv::Size(6,3),
    +
    131 int maxLevel = 3,
    +
    132 int iterations = 5,
    +
    133 float minDisparity = 0.0f,
    +
    134 float maxDisparity = 64.0f,
    +
    135 bool ssdApproach = true);
    +
    136
    +
    176void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextImg,
    +
    177 cv::InputArray _prevPts, cv::InputOutputArray _nextPts,
    +
    178 cv::OutputArray _status, cv::OutputArray _err,
    +
    179 cv::Size winSize = cv::Size(15,3), int maxLevel = 3,
    +
    180 cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
    +
    181 int flags = 0, double minEigThreshold = 1e-4 );
    +
    182
    +
    212cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages(
    +
    213 const cv::Mat & leftImage,
    +
    214 const cv::Mat & rightImage,
    +
    215 const ParametersMap & parameters = ParametersMap());
    +
    216
    +
    237cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity(const cv::Mat & disparity,
    +
    238 float fx, float baseline,
    +
    239 int type = CV_32FC1); // CV_32FC1 or CV_16UC1
    +
    240
    +
    263cv::Mat RTABMAP_CORE_EXPORT depthFromStereoImages(
    +
    264 const cv::Mat & leftImage,
    +
    265 const cv::Mat & rightImage,
    +
    266 const std::vector<cv::Point2f> & leftCorners,
    +
    267 float fx,
    +
    268 float baseline,
    +
    269 int flowWinSize = 9,
    +
    270 int flowMaxLevel = 4,
    +
    271 int flowIterations = 20,
    +
    272 double flowEps = 0.02);
    +
    273
    +
    298cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences(
    +
    299 const cv::Size & disparitySize,
    +
    300 const std::vector<cv::Point2f> & leftCorners,
    +
    301 const std::vector<cv::Point2f> & rightCorners,
    +
    302 const std::vector<unsigned char> & mask);
    +
    303
    +
    326cv::Mat RTABMAP_CORE_EXPORT depthFromStereoCorrespondences(
    +
    327 const cv::Mat & leftImage,
    +
    328 const std::vector<cv::Point2f> & leftCorners,
    +
    329 const std::vector<cv::Point2f> & rightCorners,
    +
    330 const std::vector<unsigned char> & mask,
    +
    331 float fx, float baseline);
    +
    332
    +
    354cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat & depth32F);
    +
    355
    +
    373cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat(const cv::Mat & depth16U);
    +
    374
    +
    400float RTABMAP_CORE_EXPORT getDepth(
    +
    401 const cv::Mat & depthImage,
    +
    402 float x, float y,
    +
    403 bool smoothing,
    +
    404 float depthErrorRatio = 0.02f, //ratio
    +
    405 bool estWithNeighborsIfNull = false);
    +
    406
    +
    423cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::string & roiRatios);
    +
    424
    +
    433cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::string & roiRatios);
    +
    434
    +
    443cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
    +
    444
    +
    454cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::vector<float> & roiRatios);
    +
    455
    + // end of RoiComputation group
    457
    +
    472cv::Mat RTABMAP_CORE_EXPORT decimate(const cv::Mat & image, int d);
    +
    473
    +
    490cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat & image, int factor, float depthErrorRatio = 0.02f);
    +
    491
    +
    515cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    +
    516 const cv::Mat & depth,
    +
    517 const cv::Mat & depthK,
    +
    518 const cv::Size & colorSize,
    +
    519 const cv::Mat & colorK,
    +
    520 const rtabmap::Transform & transform);
    +
    521cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    +
    522 const cv::Mat & depth,
    +
    523 const cv::Mat & confidence,
    +
    524 const cv::Mat & depthK,
    +
    525 const cv::Size & colorSize,
    +
    526 const cv::Mat & colorK,
    +
    527 const rtabmap::Transform & transform,
    +
    528 cv::Mat & registeredConfidence);
    +
    529
    +
    547cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(
    +
    548 const cv::Mat & depth,
    +
    549 int maximumHoleSize = 1,
    +
    550 float errorRatio = 0.02f);
    +
    551
    +
    579void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(
    +
    580 cv::Mat & depthRegistered,
    +
    581 bool vertical,
    +
    582 bool horizontal,
    +
    583 bool fillDoubleHoles = false);
    +
    584
    +
    608cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(
    +
    609 const cv::Mat & depth,
    +
    610 float sigmaS = 15.0f,
    +
    611 float sigmaR = 0.05f,
    +
    612 bool earlyDivision = false);
    +
    613
    +
    629void RTABMAP_CORE_EXPORT depthBleedingFiltering(
    +
    630 cv::Mat & depth,
    +
    631 float maxDepthError);
    +
    632
    +
    654cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(
    +
    655 const cv::Mat & src,
    +
    656 const cv::Mat & mask,
    +
    657 float clipLowHistPercent=0,
    +
    658 float clipHighHistPercent=0,
    +
    659 float * alphaOut = 0,
    +
    660 float * betaOut = 0);
    +
    661
    +
    680cv::Mat RTABMAP_CORE_EXPORT exposureFusion(
    +
    681 const std::vector<cv::Mat> & images);
    +
    682
    +
    701void RTABMAP_CORE_EXPORT HSVtoRGB( float *r, float *g, float *b, float h, float s, float v );
    +
    702
    +
    722void RTABMAP_CORE_EXPORT NMS(
    +
    723 const std::vector<cv::KeyPoint> & ptsIn,
    +
    724 const cv::Mat & descriptorsIn,
    +
    725 std::vector<cv::KeyPoint> & ptsOut,
    +
    726 cv::Mat & descriptorsOut,
    +
    727 int dist_thresh, int img_width, int img_height);
    +
    728
    +
    757std::vector<int> RTABMAP_CORE_EXPORT SSC(
    +
    758 const std::vector<cv::KeyPoint> & keypoints,
    +
    759 int maxKeypoints,
    +
    760 float tolerance,
    +
    761 int cols,
    +
    762 int rows,
    +
    763 const std::vector<int> & indx = {});
    +
    764
    +
    789bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(
    +
    790 CameraModel & model,
    +
    791 cv::Mat & rgb,
    +
    792 cv::Mat & depth);
    +
    793
    +
    794} // namespace util2d
    +
    795} // namespace rtabmap
    +
    796
    +
    797#endif /* UTIL2D_H_ */
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::util2d::computeRoi
    cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat &image, const std::string &roiRatios)
    Computes a region of interest (ROI) in the image using string-defined ratios.
    @@ -313,10 +328,15 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::util2d::interpolate
    cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
    Upsamples a depth image using bilinear interpolation with depth consistency check.
    rtabmap::util2d::fillRegisteredDepthHoles
    void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
    Fill holes in a registered depth image using linear interpolation.
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d_8h_source.html b/preview/pr-1492/api/latest/util3d_8h_source.html index dbcf48b6..f1ef8936 100644 --- a/preview/pr-1492/api/latest/util3d_8h_source.html +++ b/preview/pr-1492/api/latest/util3d_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d.h
    @@ -148,340 +165,340 @@ $(document).ready(function() { init_codefold(0); });
    64};
    65
    -
    66namespace util3d
    -
    67{
    -
    68
    -
    85cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(
    -
    86 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    -
    87 bool bgrOrder = true);
    -
    88
    -
    103cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(
    -
    104 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    -
    105 bool depth16U = true);
    -
    106
    -
    122void RTABMAP_CORE_EXPORT rgbdFromCloud(
    -
    123 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    -
    124 cv::Mat & rgb,
    -
    125 cv::Mat & depth,
    -
    126 bool bgrOrder = true,
    -
    127 bool depth16U = true);
    -
    128
    -
    147pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(
    -
    148 const cv::Mat & depthImage,
    -
    149 float x, float y,
    -
    150 float cx, float cy,
    -
    151 float fx, float fy,
    -
    152 bool smoothing,
    -
    153 float depthErrorRatio = 0.02f);
    -
    154
    -
    171Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(
    -
    172 const cv::Size & imageSize,
    -
    173 float x, float y,
    -
    174 float cx, float cy,
    -
    175 float fx, float fy);
    -
    176
    -
    199RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    -
    200 const cv::Mat & imageDepth,
    -
    201 float cx, float cy,
    -
    202 float fx, float fy,
    -
    203 int decimation = 1,
    -
    204 float maxDepth = 0.0f,
    -
    205 float minDepth = 0.0f,
    -
    206 std::vector<int> * validIndices = 0);
    -
    222pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    -
    223 const cv::Mat & imageDepth,
    -
    224 const CameraModel & model,
    -
    225 int decimation = 1,
    -
    226 float maxDepth = 0.0f,
    -
    227 float minDepth = 0.0f,
    -
    228 std::vector<int> * validIndices = 0);
    -
    229pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    -
    230 const cv::Mat & imageDepth,
    -
    231 const cv::Mat & imageDepthConfidence,
    +
    74namespace util3d
    +
    75{
    +
    76
    +
    93cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(
    +
    94 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    95 bool bgrOrder = true);
    +
    96
    +
    111cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(
    +
    112 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    113 bool depth16U = true);
    +
    114
    +
    130void RTABMAP_CORE_EXPORT rgbdFromCloud(
    +
    131 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    132 cv::Mat & rgb,
    +
    133 cv::Mat & depth,
    +
    134 bool bgrOrder = true,
    +
    135 bool depth16U = true);
    +
    136
    +
    155pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(
    +
    156 const cv::Mat & depthImage,
    +
    157 float x, float y,
    +
    158 float cx, float cy,
    +
    159 float fx, float fy,
    +
    160 bool smoothing,
    +
    161 float depthErrorRatio = 0.02f);
    +
    162
    +
    179Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(
    +
    180 const cv::Size & imageSize,
    +
    181 float x, float y,
    +
    182 float cx, float cy,
    +
    183 float fx, float fy);
    +
    184
    +
    207RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    208 const cv::Mat & imageDepth,
    +
    209 float cx, float cy,
    +
    210 float fx, float fy,
    +
    211 int decimation = 1,
    +
    212 float maxDepth = 0.0f,
    +
    213 float minDepth = 0.0f,
    +
    214 std::vector<int> * validIndices = 0);
    +
    230pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    231 const cv::Mat & imageDepth,
    232 const CameraModel & model,
    233 int decimation = 1,
    234 float maxDepth = 0.0f,
    235 float minDepth = 0.0f,
    -
    236 unsigned char confidenceThr = 0,
    -
    237 std::vector<int> * validIndices = 0);
    -
    238
    -
    264RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    -
    265 const cv::Mat & imageRgb,
    -
    266 const cv::Mat & imageDepth,
    -
    267 float cx, float cy,
    -
    268 float fx, float fy,
    -
    269 int decimation = 1,
    -
    270 float maxDepth = 0.0f,
    -
    271 float minDepth = 0.0f,
    -
    272 std::vector<int> * validIndices = 0);
    -
    273
    -
    295pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    -
    296 const cv::Mat & imageRgb,
    -
    297 const cv::Mat & imageDepth,
    -
    298 const CameraModel & model,
    -
    299 int decimation = 1,
    -
    300 float maxDepth = 0.0f,
    -
    301 float minDepth = 0.0f,
    -
    302 std::vector<int> * validIndices = 0);
    -
    303pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    -
    304 const cv::Mat & imageRgb,
    -
    305 const cv::Mat & imageDepth,
    -
    306 const cv::Mat & imageDepthConfidence,
    -
    307 const CameraModel & model,
    -
    308 int decimation = 1,
    -
    309 float maxDepth = 0.0f,
    -
    310 float minDepth = 0.0f,
    -
    311 unsigned char confidenceThr = 0, // 0=low, 100=high
    -
    312 std::vector<int> * validIndices = 0);
    -
    313
    -
    343pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
    -
    344 const cv::Mat & imageDisparity,
    -
    345 const StereoCameraModel & model,
    -
    346 int decimation = 1,
    -
    347 float maxDepth = 0.0f,
    -
    348 float minDepth = 0.0f,
    -
    349 std::vector<int> * validIndices = 0);
    -
    350
    -
    384pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(
    -
    385 const cv::Mat & imageRgb,
    -
    386 const cv::Mat & imageDisparity,
    -
    387 const StereoCameraModel & model,
    -
    388 int decimation = 1,
    -
    389 float maxDepth = 0.0f,
    -
    390 float minDepth = 0.0f,
    -
    391 std::vector<int> * validIndices = 0);
    -
    392
    -
    429pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(
    -
    430 const cv::Mat & imageLeft,
    -
    431 const cv::Mat & imageRight,
    -
    432 const StereoCameraModel & model,
    -
    433 int decimation = 1,
    -
    434 float maxDepth = 0.0f,
    -
    435 float minDepth = 0.0f,
    -
    436 std::vector<int> * validIndices = 0,
    -
    437 const ParametersMap & parameters = ParametersMap());
    -
    438
    -
    477std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(
    -
    478 const SensorData & sensorData,
    -
    479 int decimation = 1,
    -
    480 float maxDepth = 0.0f,
    -
    481 float minDepth = 0.0f,
    -
    482 std::vector<pcl::IndicesPtr> * validIndices = 0,
    -
    483 const ParametersMap & stereoParameters = ParametersMap(),
    -
    484 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    -
    485 unsigned char confidenceThr = 0); // ignored for stereo
    -
    486
    -
    515pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
    -
    516 const SensorData & sensorData,
    -
    517 int decimation = 1,
    -
    518 float maxDepth = 0.0f,
    -
    519 float minDepth = 0.0f,
    -
    520 std::vector<int> * validIndices = 0,
    -
    521 const ParametersMap & stereoParameters = ParametersMap(),
    -
    522 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    -
    523 unsigned char confidenceThr = 0); // ignored for stereo
    -
    524
    -
    557std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(
    -
    558 const SensorData & sensorData,
    -
    559 int decimation = 1,
    -
    560 float maxDepth = 0.0f,
    -
    561 float minDepth = 0.0f,
    -
    562 std::vector<pcl::IndicesPtr > * validIndices = 0,
    -
    563 const ParametersMap & stereoParameters = ParametersMap(),
    -
    564 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    -
    565 unsigned char confidenceThr = 0); // ignored for stereo
    -
    566
    -
    593pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(
    -
    594 const SensorData & sensorData,
    -
    595 int decimation = 1,
    -
    596 float maxDepth = 0.0f,
    -
    597 float minDepth = 0.0f,
    -
    598 std::vector<int> * validIndices = 0,
    -
    599 const ParametersMap & stereoParameters = ParametersMap(),
    -
    600 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    -
    601 unsigned char confidenceThr = 0); // ignored for stereo
    -
    602
    -
    625pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(
    -
    626 const cv::Mat & depthImage,
    -
    627 float fx,
    -
    628 float fy,
    -
    629 float cx,
    -
    630 float cy,
    -
    631 float maxDepth = 0,
    -
    632 float minDepth = 0,
    -
    633 const Transform & localTransform = Transform::getIdentity());
    -
    653pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(
    -
    654 const cv::Mat & depthImages,
    -
    655 const std::vector<CameraModel> & cameraModels,
    -
    656 float maxDepth,
    -
    657 float minDepth);
    -
    658
    -
    689LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    694LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    699LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    704LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    709LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    714LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    719LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    724LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    729LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    734LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    739LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    744LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    749LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    754LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    759LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    764LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    769LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    770
    -
    775template<typename PointCloud2T>
    -
    776LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
    -
    777
    -
    802LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    807LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    812LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    817LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    822LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    827LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    -
    828
    -
    845pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    846pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    847pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
    -
    848pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    849pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    -
    850pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    851pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    -
    852
    -
    853
    -
    854pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
    -
    855pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
    -
    856pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    -
    857pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
    -
    858pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
    -
    859pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
    +
    236 std::vector<int> * validIndices = 0);
    +
    237pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    238 const cv::Mat & imageDepth,
    +
    239 const cv::Mat & imageDepthConfidence,
    +
    240 const CameraModel & model,
    +
    241 int decimation = 1,
    +
    242 float maxDepth = 0.0f,
    +
    243 float minDepth = 0.0f,
    +
    244 unsigned char confidenceThr = 0,
    +
    245 std::vector<int> * validIndices = 0);
    +
    246
    +
    272RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    273 const cv::Mat & imageRgb,
    +
    274 const cv::Mat & imageDepth,
    +
    275 float cx, float cy,
    +
    276 float fx, float fy,
    +
    277 int decimation = 1,
    +
    278 float maxDepth = 0.0f,
    +
    279 float minDepth = 0.0f,
    +
    280 std::vector<int> * validIndices = 0);
    +
    281
    +
    303pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    304 const cv::Mat & imageRgb,
    +
    305 const cv::Mat & imageDepth,
    +
    306 const CameraModel & model,
    +
    307 int decimation = 1,
    +
    308 float maxDepth = 0.0f,
    +
    309 float minDepth = 0.0f,
    +
    310 std::vector<int> * validIndices = 0);
    +
    311pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    312 const cv::Mat & imageRgb,
    +
    313 const cv::Mat & imageDepth,
    +
    314 const cv::Mat & imageDepthConfidence,
    +
    315 const CameraModel & model,
    +
    316 int decimation = 1,
    +
    317 float maxDepth = 0.0f,
    +
    318 float minDepth = 0.0f,
    +
    319 unsigned char confidenceThr = 0, // 0=low, 100=high
    +
    320 std::vector<int> * validIndices = 0);
    +
    321
    +
    351pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
    +
    352 const cv::Mat & imageDisparity,
    +
    353 const StereoCameraModel & model,
    +
    354 int decimation = 1,
    +
    355 float maxDepth = 0.0f,
    +
    356 float minDepth = 0.0f,
    +
    357 std::vector<int> * validIndices = 0);
    +
    358
    +
    392pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(
    +
    393 const cv::Mat & imageRgb,
    +
    394 const cv::Mat & imageDisparity,
    +
    395 const StereoCameraModel & model,
    +
    396 int decimation = 1,
    +
    397 float maxDepth = 0.0f,
    +
    398 float minDepth = 0.0f,
    +
    399 std::vector<int> * validIndices = 0);
    +
    400
    +
    437pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(
    +
    438 const cv::Mat & imageLeft,
    +
    439 const cv::Mat & imageRight,
    +
    440 const StereoCameraModel & model,
    +
    441 int decimation = 1,
    +
    442 float maxDepth = 0.0f,
    +
    443 float minDepth = 0.0f,
    +
    444 std::vector<int> * validIndices = 0,
    +
    445 const ParametersMap & parameters = ParametersMap());
    +
    446
    +
    485std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(
    +
    486 const SensorData & sensorData,
    +
    487 int decimation = 1,
    +
    488 float maxDepth = 0.0f,
    +
    489 float minDepth = 0.0f,
    +
    490 std::vector<pcl::IndicesPtr> * validIndices = 0,
    +
    491 const ParametersMap & stereoParameters = ParametersMap(),
    +
    492 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    493 unsigned char confidenceThr = 0); // ignored for stereo
    +
    494
    +
    523pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
    +
    524 const SensorData & sensorData,
    +
    525 int decimation = 1,
    +
    526 float maxDepth = 0.0f,
    +
    527 float minDepth = 0.0f,
    +
    528 std::vector<int> * validIndices = 0,
    +
    529 const ParametersMap & stereoParameters = ParametersMap(),
    +
    530 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    531 unsigned char confidenceThr = 0); // ignored for stereo
    +
    532
    +
    565std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(
    +
    566 const SensorData & sensorData,
    +
    567 int decimation = 1,
    +
    568 float maxDepth = 0.0f,
    +
    569 float minDepth = 0.0f,
    +
    570 std::vector<pcl::IndicesPtr > * validIndices = 0,
    +
    571 const ParametersMap & stereoParameters = ParametersMap(),
    +
    572 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    573 unsigned char confidenceThr = 0); // ignored for stereo
    +
    574
    +
    601pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(
    +
    602 const SensorData & sensorData,
    +
    603 int decimation = 1,
    +
    604 float maxDepth = 0.0f,
    +
    605 float minDepth = 0.0f,
    +
    606 std::vector<int> * validIndices = 0,
    +
    607 const ParametersMap & stereoParameters = ParametersMap(),
    +
    608 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    609 unsigned char confidenceThr = 0); // ignored for stereo
    +
    610
    +
    633pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(
    +
    634 const cv::Mat & depthImage,
    +
    635 float fx,
    +
    636 float fy,
    +
    637 float cx,
    +
    638 float cy,
    +
    639 float maxDepth = 0,
    +
    640 float minDepth = 0,
    +
    641 const Transform & localTransform = Transform::getIdentity());
    +
    661pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(
    +
    662 const cv::Mat & depthImages,
    +
    663 const std::vector<CameraModel> & cameraModels,
    +
    664 float maxDepth,
    +
    665 float minDepth);
    +
    666
    +
    697LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    702LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    707LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    712LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    717LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    722LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    727LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    732LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    737LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    742LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    747LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    752LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    757LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    762LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    767LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    772LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    777LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    778
    +
    783template<typename PointCloud2T>
    +
    784LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
    +
    785
    +
    810LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    815LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    820LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    825LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    830LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    835LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    836
    +
    853pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    854pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    855pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    856pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    857pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    +
    858pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    859pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    860
    -
    882void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
    -
    883
    -
    897void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
    -
    898
    -
    921cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    -
    922 const cv::Point2f & pt,
    -
    923 float disparity,
    -
    924 const StereoCameraModel & model);
    -
    925
    -
    944cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    -
    945 const cv::Point2f & pt,
    -
    946 const cv::Mat & disparity,
    -
    947 const StereoCameraModel & model);
    -
    948
    -
    969cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    970 const cv::Size & imageSize,
    -
    971 const cv::Mat & cameraMatrixK,
    -
    972 const cv::Mat & laserScan,
    -
    973 const rtabmap::Transform & cameraTransform);
    -
    974
    -
    995cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    996 const cv::Size & imageSize,
    -
    997 const cv::Mat & cameraMatrixK,
    -
    998 const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    -
    999 const rtabmap::Transform & cameraTransform);
    -
    1000
    -
    1021cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    -
    1022 const cv::Size & imageSize,
    -
    1023 const cv::Mat & cameraMatrixK,
    -
    1024 const pcl::PCLPointCloud2::Ptr laserScan,
    -
    1025 const rtabmap::Transform & cameraTransform);
    -
    1026
    -
    1046void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    -
    1047 cv::Mat & depthRegistered,
    -
    1048 bool verticalDirection,
    -
    1049 bool fillToBorder);
    -
    1050
    -
    1079cv::Mat RTABMAP_CORE_EXPORT filterFloor(
    -
    1080 const cv::Mat & depth,
    -
    1081 const std::vector<CameraModel> & cameraModels,
    -
    1082 float threshold,
    -
    1083 cv::Mat * depthBelow = 0);
    -
    1084
    -
    1105std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    -
    1106 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    -
    1107 const std::map<int, Transform> & cameraPoses,
    -
    1108 const std::map<int, std::vector<CameraModel> > & cameraModels,
    -
    1109 float maxDistance = 0.0f,
    -
    1110 float maxAngle = 0.0f,
    -
    1111 float maxDepthError = 0.0f,
    -
    1112 const std::vector<float> & roiRatios = std::vector<float>(),
    -
    1113 const cv::Mat & projMask = cv::Mat(),
    -
    1114 bool distanceToCamPolicy = false,
    -
    1115 const ProgressState * state = 0);
    -
    1136std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    -
    1137 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    -
    1138 const std::map<int, Transform> & cameraPoses,
    -
    1139 const std::map<int, std::vector<CameraModel> > & cameraModels,
    -
    1140 float maxDistance = 0.0f,
    -
    1141 float maxAngle = 0.0f,
    -
    1142 float maxDepthError = 0.0f,
    -
    1143 const std::vector<float> & roiRatios = std::vector<float>(),
    -
    1144 const cv::Mat & projMask = cv::Mat(),
    -
    1145 bool distanceToCamPolicy = false,
    -
    1146 const ProgressState * state = 0);
    -
    1147
    -
    1157bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
    -
    1158
    -
    1168pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    -
    1169 const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
    -
    1179pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    -
    1180 const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
    -
    1181
    -
    1196pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    -
    1197 const std::vector<pcl::IndicesPtr> & indices);
    -
    1198
    -
    1213pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    -
    1214 const pcl::IndicesPtr & indicesA,
    -
    1215 const pcl::IndicesPtr & indicesB);
    -
    1216
    -
    1228void RTABMAP_CORE_EXPORT savePCDWords(
    -
    1229 const std::string & fileName,
    -
    1230 const std::multimap<int, pcl::PointXYZ> & words,
    -
    1231 const Transform & transform = Transform::getIdentity());
    -
    1232
    -
    1244void RTABMAP_CORE_EXPORT savePCDWords(
    -
    1245 const std::string & fileName,
    -
    1246 const std::multimap<int, cv::Point3f> & words,
    -
    1247 const Transform & transform = Transform::getIdentity());
    -
    1248
    -
    1259cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
    -
    1268pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
    -
    1277RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
    -
    1278
    -
    1289LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
    -
    1290
    -
    1304RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    -
    1305 const std::string & path,
    -
    1306 const Transform & transform = Transform::getIdentity(),
    -
    1307 int downsampleStep = 1,
    -
    1308 float voxelSize = 0.0f);
    -
    1309
    -
    1341LaserScan RTABMAP_CORE_EXPORT deskew(
    -
    1342 const LaserScan & input,
    -
    1343 double inputStamp,
    -
    1344 const rtabmap::Transform & velocity);
    -
    1345
    -
    1346} // namespace util3d
    -
    1347} // namespace rtabmap
    -
    1348
    -
    1349POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
    -
    1350 (float, x, x)
    -
    1351 (float, y, y)
    -
    1352 (float, z, z)
    -
    1353 (float, intensity, intensity)
    -
    1354 (std::uint16_t, ring, ring)
    -
    1355 (float, time, time)
    -
    1356)
    -
    1357
    -
    1358#include "rtabmap/core/impl/util3d.hpp"
    -
    1359
    -
    1360#endif /* UTIL3D_H_ */
    +
    861
    +
    862pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
    +
    863pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
    +
    864pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    865pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
    +
    866pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
    +
    867pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
    +
    868
    +
    890void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
    +
    891
    +
    905void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
    +
    906
    +
    929cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    930 const cv::Point2f & pt,
    +
    931 float disparity,
    +
    932 const StereoCameraModel & model);
    +
    933
    +
    952cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    953 const cv::Point2f & pt,
    +
    954 const cv::Mat & disparity,
    +
    955 const StereoCameraModel & model);
    +
    956
    +
    977cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    978 const cv::Size & imageSize,
    +
    979 const cv::Mat & cameraMatrixK,
    +
    980 const cv::Mat & laserScan,
    +
    981 const rtabmap::Transform & cameraTransform);
    +
    982
    +
    1003cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    1004 const cv::Size & imageSize,
    +
    1005 const cv::Mat & cameraMatrixK,
    +
    1006 const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    +
    1007 const rtabmap::Transform & cameraTransform);
    +
    1008
    +
    1029cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    1030 const cv::Size & imageSize,
    +
    1031 const cv::Mat & cameraMatrixK,
    +
    1032 const pcl::PCLPointCloud2::Ptr laserScan,
    +
    1033 const rtabmap::Transform & cameraTransform);
    +
    1034
    +
    1054void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    +
    1055 cv::Mat & depthRegistered,
    +
    1056 bool verticalDirection,
    +
    1057 bool fillToBorder);
    +
    1058
    +
    1087cv::Mat RTABMAP_CORE_EXPORT filterFloor(
    +
    1088 const cv::Mat & depth,
    +
    1089 const std::vector<CameraModel> & cameraModels,
    +
    1090 float threshold,
    +
    1091 cv::Mat * depthBelow = 0);
    +
    1092
    +
    1113std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1114 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    1115 const std::map<int, Transform> & cameraPoses,
    +
    1116 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1117 float maxDistance = 0.0f,
    +
    1118 float maxAngle = 0.0f,
    +
    1119 float maxDepthError = 0.0f,
    +
    1120 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1121 const cv::Mat & projMask = cv::Mat(),
    +
    1122 bool distanceToCamPolicy = false,
    +
    1123 const ProgressState * state = 0);
    +
    1144std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1145 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    +
    1146 const std::map<int, Transform> & cameraPoses,
    +
    1147 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1148 float maxDistance = 0.0f,
    +
    1149 float maxAngle = 0.0f,
    +
    1150 float maxDepthError = 0.0f,
    +
    1151 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1152 const cv::Mat & projMask = cv::Mat(),
    +
    1153 bool distanceToCamPolicy = false,
    +
    1154 const ProgressState * state = 0);
    +
    1155
    +
    1165bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
    +
    1166
    +
    1176pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1177 const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
    +
    1187pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1188 const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
    +
    1189
    +
    1204pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1205 const std::vector<pcl::IndicesPtr> & indices);
    +
    1206
    +
    1221pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1222 const pcl::IndicesPtr & indicesA,
    +
    1223 const pcl::IndicesPtr & indicesB);
    +
    1224
    +
    1236void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1237 const std::string & fileName,
    +
    1238 const std::multimap<int, pcl::PointXYZ> & words,
    +
    1239 const Transform & transform = Transform::getIdentity());
    +
    1240
    +
    1252void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1253 const std::string & fileName,
    +
    1254 const std::multimap<int, cv::Point3f> & words,
    +
    1255 const Transform & transform = Transform::getIdentity());
    +
    1256
    +
    1267cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
    +
    1276pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
    +
    1285RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
    +
    1286
    +
    1297LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
    +
    1298
    +
    1312RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    +
    1313 const std::string & path,
    +
    1314 const Transform & transform = Transform::getIdentity(),
    +
    1315 int downsampleStep = 1,
    +
    1316 float voxelSize = 0.0f);
    +
    1317
    +
    1349LaserScan RTABMAP_CORE_EXPORT deskew(
    +
    1350 const LaserScan & input,
    +
    1351 double inputStamp,
    +
    1352 const rtabmap::Transform & velocity);
    +
    1353
    +
    1354} // namespace util3d
    +
    1355} // namespace rtabmap
    +
    1356
    +
    1357POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
    +
    1358 (float, x, x)
    +
    1359 (float, y, y)
    +
    1360 (float, z, z)
    +
    1361 (float, intensity, intensity)
    +
    1362 (std::uint16_t, ring, ring)
    +
    1363 (float, time, time)
    +
    1364)
    +
    1365
    +
    1366#include "rtabmap/core/impl/util3d.hpp"
    +
    1367
    +
    1368#endif /* UTIL3D_H_ */
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    @@ -492,12 +509,48 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::util3d::laserScan2dFromPointCloud
    LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
    PointXYZ → LaserScan::kXY
    rtabmap::util3d::laserScanFromPointCloud
    LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
    Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...
    Definition util3d.hpp:37
    rtabmap::util3d::laserScanToPointCloud2
    pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())
    Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...
    +
    rtabmap::util3d::laserScanFromDepthImages
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImages(const cv::Mat &depthImages, const std::vector< CameraModel > &cameraModels, float maxDepth, float minDepth)
    Converts multiple depth images (e.g., from a stereo or multi-camera setup) into a single laser scan (...
    +
    rtabmap::util3d::cloudFromDisparityRGB
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(const cv::Mat &imageRgb, const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a disparity image and an RGB image to a 3D point cloud with color.
    +
    rtabmap::util3d::cloudsRGBFromSensorData
    std::vector< pcl::PointCloud< pcl::PointXYZRGB >::Ptr > RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a point cloud with RGB color data from sensor data.
    +
    rtabmap::util3d::cloudRGBFromSensorData
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a point cloud of type pcl::PointXYZRGB from sensor data.
    +
    rtabmap::util3d::rgbFromCloud
    cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool bgrOrder=true)
    Converts a PCL point cloud with RGBA information to an OpenCV RGB or BGR image.
    +
    rtabmap::util3d::laserScanFromDepthImage
    pcl::PointCloud< pcl::PointXYZ > RTABMAP_CORE_EXPORT laserScanFromDepthImage(const cv::Mat &depthImage, float fx, float fy, float cx, float cy, float maxDepth=0, float minDepth=0, const Transform &localTransform=Transform::getIdentity())
    Converts the middle row of a depth image into a laser scan (point cloud) using camera intrinsics and ...
    +
    rtabmap::util3d::cloudFromStereoImages
    pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(const cv::Mat &imageLeft, const cv::Mat &imageRight, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &parameters=ParametersMap())
    Converts a pair of stereo images (left and right) into a 3D point cloud with RGB color information.
    +
    rtabmap::util3d::projectDisparityTo3D
    cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(const cv::Point2f &pt, float disparity, const StereoCameraModel &model)
    Projects a 2D point from the left image and its disparity into 3D space.
    +
    rtabmap::util3d::cloudFromDepth
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a depth image to a 3D point cloud.
    +
    rtabmap::util3d::projectDepthTo3D
    pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(const cv::Mat &depthImage, float x, float y, float cx, float cy, float fx, float fy, bool smoothing, float depthErrorRatio=0.02f)
    Projects a single depth pixel into 3D space.
    +
    rtabmap::util3d::savePCDWords
    void RTABMAP_CORE_EXPORT savePCDWords(const std::string &fileName, const std::multimap< int, pcl::PointXYZ > &words, const Transform &transform=Transform::getIdentity())
    Saves 3D word points to a PCD file, applying a transform to each point.
    +
    rtabmap::util3d::rgbdFromCloud
    void RTABMAP_CORE_EXPORT rgbdFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, cv::Mat &rgb, cv::Mat &depth, bool bgrOrder=true, bool depth16U=true)
    Converts a PCL point cloud (with RGBA colors) into aligned RGB and depth OpenCV images.
    +
    rtabmap::util3d::loadBINScan
    cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string &fileName)
    Loads a KITTI-style Velodyne binary scan file into an OpenCV matrix.
    +
    rtabmap::util3d::loadBINCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string &fileName)
    Loads a KITTI-style Velodyne binary scan and converts it to a PCL point cloud.
    +
    rtabmap::util3d::projectDepthTo3DRay
    Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(const cv::Size &imageSize, float x, float y, float cx, float cy, float fx, float fy)
    Projects pixel coordinates to a normalized 3D ray in camera coordinates.
    +
    rtabmap::util3d::projectCloudToCamera
    cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(const cv::Size &imageSize, const cv::Mat &cameraMatrixK, const cv::Mat &laserScan, const rtabmap::Transform &cameraTransform)
    Register a point cloud (laser scan) to the camera's frame of reference and return a registered depth ...
    +
    rtabmap::util3d::concatenateClouds
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT concatenateClouds(const std::list< pcl::PointCloud< pcl::PointXYZ >::Ptr > &clouds)
    Concatenates a list of PointXYZ point clouds into a single point cloud.
    +
    rtabmap::util3d::loadCloud
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT loadCloud(const std::string &path, const Transform &transform=Transform::getIdentity(), int downsampleStep=1, float voxelSize=0.0f)
    Loads and optionally transforms/downsamples/voxelizes a point cloud.
    +
    rtabmap::util3d::cloudFromDepthRGB
    RTABMAP_DEPRECATED pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Creates a point cloud from an RGB image and a depth image.
    +
    rtabmap::util3d::fillProjectedCloudHoles
    void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(cv::Mat &depthRegistered, bool verticalDirection, bool fillToBorder)
    Fills holes (missing depth values) in a depth image by interpolating between non-zero values.
    +
    rtabmap::util3d::projectCloudToCameras
    std::vector< std::pair< std::pair< int, int >, pcl::PointXY > > RTABMAP_CORE_EXPORT projectCloudToCameras(const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::map< int, Transform > &cameraPoses, const std::map< int, std::vector< CameraModel > > &cameraModels, float maxDistance=0.0f, float maxAngle=0.0f, float maxDepthError=0.0f, const std::vector< float > &roiRatios=std::vector< float >(), const cv::Mat &projMask=cv::Mat(), bool distanceToCamPolicy=false, const ProgressState *state=0)
    Projects a 3D point cloud to the best camera (NodeID -> CameraIndex) for each point based on a policy...
    +
    rtabmap::util3d::cloudFromSensorData
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a point cloud from sensor data.
    +
    rtabmap::util3d::depthFromCloud
    cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(const pcl::PointCloud< pcl::PointXYZRGBA > &cloud, bool depth16U=true)
    Generates a depth image from a PCL organized point cloud.
    +
    rtabmap::util3d::isFinite
    bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f &pt)
    Checks if all coordinates of a 3D point are finite.
    +
    rtabmap::util3d::getMinMax3D
    void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat &laserScan, cv::Point3f &min, cv::Point3f &max)
    Computes the minimum and maximum 3D points from a laser scan matrix.
    +
    rtabmap::util3d::cloudsFromSensorData
    std::vector< pcl::PointCloud< pcl::PointXYZ >::Ptr > RTABMAP_CORE_EXPORT cloudsFromSensorData(const SensorData &sensorData, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< pcl::IndicesPtr > *validIndices=0, const ParametersMap &stereoParameters=ParametersMap(), const std::vector< float > &roiRatios=std::vector< float >(), unsigned char confidenceThr=0)
    Generates a set of point clouds from sensor data.
    +
    rtabmap::util3d::filterFloor
    cv::Mat RTABMAP_CORE_EXPORT filterFloor(const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float threshold, cv::Mat *depthBelow=0)
    Filters out points below a certain threshold in a depth image based on camera models.
    +
    rtabmap::util3d::deskew
    LaserScan RTABMAP_CORE_EXPORT deskew(const LaserScan &input, double inputStamp, const rtabmap::Transform &velocity)
    Lidar deskewing.
    +
    rtabmap::util3d::cloudFromDisparity
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a disparity image to a 3D point cloud.
    +
    rtabmap::util3d::loadScan
    LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)
    Loads a 3D scan from a file (.pcd, .ply, or .bin format).
    +
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    rtabmap::PointXYZIRT
    This namespace contains 3D point cloud processing utilities.
    Definition util3d.h:58
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d_8hpp_source.html b/preview/pr-1492/api/latest/util3d_8hpp_source.html index 4d1cb56e..677a4f23 100644 --- a/preview/pr-1492/api/latest/util3d_8hpp_source.html +++ b/preview/pr-1492/api/latest/util3d_8hpp_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d.hpp
    @@ -118,7 +135,8 @@ $(document).ready(function() { init_codefold(0); });
    31#include <rtabmap/core/util3d_transforms.h>
    32
    33namespace rtabmap{
    -
    34namespace util3d{
    +
    +
    34namespace util3d{
    35
    36template<typename PointCloud2T>
    @@ -487,6 +505,7 @@ $(document).ready(function() { init_codefold(0); });
    399
    400}
    +
    401}
    402
    403#endif /* UTIL3D_HPP_ */
    @@ -518,9 +537,13 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html b/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html index 90231576..3631095d 100644 --- a/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_correspondences.h
    @@ -135,17 +152,17 @@ $(document).ready(function() { init_codefold(0); });
    48namespace util3d
    49{
    50
    -
    69void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
    +
    69void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
    70 const std::multimap<int, pcl::PointXYZ> & words2,
    71 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    72 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    73
    -
    95void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
    +
    95void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
    96 const std::multimap<int, pcl::PointXYZ> & words2,
    97 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    98 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    99
    -
    126void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    126void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    127 const cv::Mat & depthImage1,
    128 const cv::Mat & depthImage2,
    129 float cx, float cy,
    @@ -154,32 +171,32 @@ $(document).ready(function() { init_codefold(0); });
    132 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    133 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    134
    -
    152void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    152void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    153 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
    154 const pcl::PointCloud<pcl::PointXYZ> & cloud2,
    155 pcl::PointCloud<pcl::PointXYZ> & inliers1,
    156 pcl::PointCloud<pcl::PointXYZ> & inliers2);
    -
    169void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    169void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    170 const pcl::PointCloud<pcl::PointXYZRGB> & cloud1,
    171 const pcl::PointCloud<pcl::PointXYZRGB> & cloud2,
    172 pcl::PointCloud<pcl::PointXYZ> & inliers1,
    173 pcl::PointCloud<pcl::PointXYZ> & inliers2);
    174
    -
    186int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
    +
    186int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
    187 const std::multimap<int, pcl::PointXYZ> & wordsB);
    188
    -
    207void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
    +
    207void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
    208 pcl::PointCloud<pcl::PointXYZ> & inliers2,
    209 float maxDepth,
    210 char depthAxis,
    211 bool removeDuplicates);
    212
    -
    229void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    229void RTABMAP_CORE_EXPORT findCorrespondences(
    230 const std::multimap<int, cv::KeyPoint> & wordsA,
    231 const std::multimap<int, cv::KeyPoint> & wordsB,
    232 std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs);
    233
    -
    250void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    250void RTABMAP_CORE_EXPORT findCorrespondences(
    251 const std::multimap<int, cv::Point3f> & words1,
    252 const std::multimap<int, cv::Point3f> & words2,
    253 std::vector<cv::Point3f> & inliers1,
    @@ -187,7 +204,7 @@ $(document).ready(function() { init_codefold(0); });
    255 float maxDepth,
    256 std::vector<int> * uniqueCorrespondences = 0);
    257
    -
    273void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    273void RTABMAP_CORE_EXPORT findCorrespondences(
    274 const std::map<int, cv::Point3f> & words1,
    275 const std::map<int, cv::Point3f> & words2,
    276 std::vector<cv::Point3f> & inliers1,
    @@ -199,11 +216,20 @@ $(document).ready(function() { init_codefold(0); });
    282} // namespace rtabmap
    283
    284#endif /* UTIL3D_CORRESPONDENCES_H_ */
    +
    rtabmap::util3d::findCorrespondences
    void RTABMAP_CORE_EXPORT findCorrespondences(const std::multimap< int, cv::KeyPoint > &wordsA, const std::multimap< int, cv::KeyPoint > &wordsB, std::list< std::pair< cv::Point2f, cv::Point2f > > &pairs)
    Finds 2D point correspondences between two sets of keypoints based on matching word IDs.
    +
    rtabmap::util3d::extractXYZCorrespondences
    void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
    Extracts 3D point correspondences between two sets of labeled 3D points.
    +
    rtabmap::util3d::filterMaxDepth
    void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
    Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.
    +
    rtabmap::util3d::extractXYZCorrespondencesRANSAC
    void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap< int, pcl::PointXYZ > &words1, const std::multimap< int, pcl::PointXYZ > &words2, pcl::PointCloud< pcl::PointXYZ > &cloud1, pcl::PointCloud< pcl::PointXYZ > &cloud2)
    Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filteri...
    +
    rtabmap::util3d::countUniquePairs
    int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
    Counts the number of unique 3D point correspondences between two sets of word-indexed features.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__features_8h_source.html b/preview/pr-1492/api/latest/util3d__features_8h_source.html index 6f0f0139..1caf73a7 100644 --- a/preview/pr-1492/api/latest/util3d__features_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__features_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_features.h
    @@ -135,30 +152,30 @@ $(document).ready(function() { init_codefold(0); });
    48namespace util3d
    49{
    50
    -
    75std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    +
    75std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    76 const std::vector<cv::KeyPoint> & keypoints,
    77 const cv::Mat & depth,
    78 const std::vector<CameraModel> & cameraModels,
    79 float minDepth = 0,
    80 float maxDepth = 0);
    -
    86std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    +
    86std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    87 const std::vector<cv::KeyPoint> & keypoints,
    88 const cv::Mat & depth,
    -
    89 const CameraModel & cameraModel,
    +
    89 const CameraModel & cameraModel,
    90 float minDepth = 0,
    91 float maxDepth = 0);
    92
    -
    116std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(
    +
    116std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(
    117 const std::vector<cv::KeyPoint> & keypoints,
    118 const cv::Mat & disparity,
    -
    119 const StereoCameraModel & stereoCameraModel,
    +
    119 const StereoCameraModel & stereoCameraModel,
    120 float minDepth = 0,
    121 float maxDepth = 0);
    122
    -
    153std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DStereo(
    +
    153std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DStereo(
    154 const std::vector<cv::Point2f> & leftCorners,
    155 const std::vector<cv::Point2f> & rightCorners,
    -
    156 const StereoCameraModel & model,
    +
    156 const StereoCameraModel & model,
    157 const std::vector<unsigned char> & mask = std::vector<unsigned char>(),
    158 float minDepth = 0,
    159 float maxDepth = 0);
    @@ -166,8 +183,8 @@ $(document).ready(function() { init_codefold(0); });
    161std::map<int, cv::Point3f> RTABMAP_CORE_EXPORT generateWords3DMono(
    162 const std::map<int, cv::KeyPoint> & kpts,
    163 const std::map<int, cv::KeyPoint> & previousKpts,
    -
    164 const CameraModel & cameraModel,
    -
    165 Transform & cameraTransform,
    +
    164 const CameraModel & cameraModel,
    +
    165 Transform & cameraTransform,
    166 float ransacReprojThreshold = 3.0f,
    167 float ransacConfidence = 0.99f,
    168 int varianceMedianRatio = 4,
    @@ -175,7 +192,7 @@ $(document).ready(function() { init_codefold(0); });
    170 double * variance = 0,
    171 std::vector<int> * matchesOut = 0);
    172
    -
    190std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT aggregate(
    +
    190std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT aggregate(
    191 const std::list<int> & wordIds,
    192 const std::vector<cv::KeyPoint> & keypoints);
    193
    @@ -183,11 +200,22 @@ $(document).ready(function() { init_codefold(0); });
    195} // namespace rtabmap
    196
    197#endif /* UTIL3D_FEATURES_H_ */
    +
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    +
    rtabmap::StereoCameraModel
    A class representing a calibrated stereo camera system.
    Definition StereoCameraModel.h:54
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::util3d::generateKeypoints3DDepth
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDepth(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, float minDepth=0, float maxDepth=0)
    Projects 2D keypoints to 3D space using the provided depth image and camera models.
    +
    rtabmap::util3d::generateKeypoints3DStereo
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DStereo(const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
    Computes 3D keypoints from corresponding 2D points in a stereo image pair.
    +
    rtabmap::util3d::aggregate
    std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
    Aggregates word IDs and corresponding keypoints into a multimap.
    +
    rtabmap::util3d::generateKeypoints3DDisparity
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
    Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html index 73280e48..2f6e36e1 100644 --- a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_filtering.h
    @@ -129,8 +146,8 @@ $(document).ready(function() { init_codefold(0); });
    42namespace util3d
    43{
    44
    -
    77LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    -
    78 const LaserScan & scan,
    +
    77LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    78 const LaserScan & scan,
    79 int downsamplingStep,
    80 float rangeMin = 0.0f,
    81 float rangeMax = 0.0f,
    @@ -138,8 +155,8 @@ $(document).ready(function() { init_codefold(0); });
    83 int normalK = 0,
    84 float normalRadius = 0.0f,
    85 float groundNormalsUp = 0.0f);
    -
    90RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    -
    91 const LaserScan & scan,
    +
    90RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    91 const LaserScan & scan,
    92 int downsamplingStep,
    93 float rangeMin,
    94 float rangeMax,
    @@ -148,27 +165,27 @@ $(document).ready(function() { init_codefold(0); });
    97 float normalRadius,
    98 bool forceGroundNormalsUp);
    99
    -
    116LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
    -
    117 const LaserScan & scan,
    +
    116LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
    +
    117 const LaserScan & scan,
    118 float rangeMin,
    119 float rangeMax);
    120
    -
    143pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    143pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    144 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    145 const pcl::IndicesPtr & indices,
    146 float rangeMin,
    147 float rangeMax);
    -
    152pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    152pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    153 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    154 const pcl::IndicesPtr & indices,
    155 float rangeMin,
    156 float rangeMax);
    -
    161pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    161pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    162 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    163 const pcl::IndicesPtr & indices,
    164 float rangeMin,
    165 float rangeMax);
    -
    170pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    170pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    171 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    172 const pcl::IndicesPtr & indices,
    173 float rangeMin,
    @@ -264,24 +281,30 @@ $(document).ready(function() { init_codefold(0); });
    415 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    416 float voxelSize);
    417
    -
    430inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    +
    +
    430inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    431 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    432 float voxelSize)
    433{
    434 return voxelize(cloud, voxelSize);
    435}
    -
    448inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    +
    +
    +
    448inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    449 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    450 float voxelSize)
    451{
    452 return voxelize(cloud, voxelSize);
    453}
    -
    466inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    +
    +
    +
    466inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    467 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    468 float voxelSize)
    469{
    470 return voxelize(cloud, voxelSize);
    471}
    +
    472
    473
    492pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    @@ -713,7 +736,7 @@ $(document).ready(function() { init_codefold(0); });
    1392 float maxAngle = M_PI/4.0f,
    1393 int minNeighborsInRadius = 1);
    1394
    -
    1416pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1416pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    1417 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    1418 const pcl::IndicesPtr & indices,
    1419 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    @@ -722,7 +745,7 @@ $(document).ready(function() { init_codefold(0); });
    1422 int minNeighborsInRadius = 1,
    1423 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    1424
    -
    1452pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1452pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    1453 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    1454 const pcl::IndicesPtr & indices,
    1455 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    @@ -901,13 +924,13 @@ $(document).ready(function() { init_codefold(0); });
    1809 bool negative,
    1810 bool keepOrganized);
    1811
    -
    1832pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1832pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    1833 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    1834 const pcl::IndicesPtr & indices,
    1835 float distanceThreshold,
    1836 int maxIterations = 100,
    1837 pcl::ModelCoefficients * coefficientsOut = 0);
    -
    1838pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1838pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    1839 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    1840 float distanceThreshold,
    1841 int maxIterations = 100,
    @@ -935,11 +958,20 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::util3d::removeNaNNormalsFromPointCloud
    pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
    Removes points with NaN normal values from a point cloud of type pcl::PointNormal.
    rtabmap::util3d::subtractFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
    Subtract filtering for point cloud of type pcl::PointXYZ, returning filtered indices.
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    +
    rtabmap::util3d::subtractAdaptiveFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearchRatio=0.01, int minNeighborsInRadius=1, const Eigen::Vector3f &viewpoint=Eigen::Vector3f(0, 0, 0))
    Performs adaptive radius-based subtraction filtering on a point cloud.
    +
    rtabmap::util3d::commonFiltering
    LaserScan RTABMAP_CORE_EXPORT commonFiltering(const LaserScan &scan, int downsamplingStep, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalK=0, float normalRadius=0.0f, float groundNormalsUp=0.0f)
    Applies a common set of filters to a LaserScan, including downsampling, range limits,...
    +
    rtabmap::util3d::uniformSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    DEPRECATED: Use voxelize() instead.
    Definition util3d_filtering.h:430
    +
    rtabmap::util3d::extractPlane
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
    Extracts the indices of the inliers that belong to a plane using RANSAC.
    +
    rtabmap::util3d::rangeFiltering
    LaserScan RTABMAP_CORE_EXPORT rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
    Filters a LaserScan data on a minimum and maximum Euclidean range.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__mapping_8h_source.html b/preview/pr-1492/api/latest/util3d__mapping_8h_source.html index b9a3c281..81f25414 100644 --- a/preview/pr-1492/api/latest/util3d__mapping_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__mapping_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_mapping.h
    @@ -130,8 +147,7 @@ $(document).ready(function() { init_codefold(0); });
    43namespace util3d
    44{
    45
    -
    46// Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.
    -
    47RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    47RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    48 const cv::Mat & scan, // in /base_link frame
    49 cv::Mat & empty,
    50 cv::Mat & occupied,
    @@ -139,8 +155,7 @@ $(document).ready(function() { init_codefold(0); });
    52 bool unknownSpaceFilled = false,
    53 float scanMaxRange = 0.0f);
    54
    -
    55// Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.
    -
    56RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    56RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    57 const cv::Mat & scan, // in /base_link frame
    58 const cv::Point3f & viewpoint, // /base_link -> /base_scan
    59 cv::Mat & empty,
    @@ -149,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
    62 bool unknownSpaceFilled = false,
    63 float scanMaxRange = 0.0f);
    64
    -
    92void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    92void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    93 const cv::Mat & scanHit, // in /base_link frame
    94 const cv::Mat & scanNoHit, // in /base_link frame
    95 const cv::Point3f & viewpoint, // /base_link -> /base_scan
    @@ -159,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
    99 bool unknownSpaceFilled = false,
    100 float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
    101
    -
    138cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(
    +
    138cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(
    139 const std::map<int, Transform> & poses,
    140 const std::map<int, std::pair<cv::Mat, cv::Mat> > & occupancy,
    141 float cellSize,
    @@ -169,8 +184,7 @@ $(document).ready(function() { init_codefold(0); });
    145 bool erode = false,
    146 float footprintRadius = 0.0f);
    147
    -
    148// Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.
    -
    149RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    149RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    150 const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
    151 float cellSize,
    152 bool unknownSpaceFilled,
    @@ -179,8 +193,7 @@ $(document).ready(function() { init_codefold(0); });
    155 float minMapSize = 0.0f,
    156 float scanMaxRange = 0.0f);
    157
    -
    158// Use interface with cv::Mat scans.
    -
    159RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    159RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    160 const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
    161 const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
    162 float cellSize,
    @@ -190,7 +203,7 @@ $(document).ready(function() { init_codefold(0); });
    166 float minMapSize = 0.0f,
    167 float scanMaxRange = 0.0f);
    168
    -
    204cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    204cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    205 const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
    206 const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
    207 float cellSize,
    @@ -200,26 +213,26 @@ $(document).ready(function() { init_codefold(0); });
    211 float minMapSize = 0.0f,
    212 float scanMaxRange = 0.0f);
    213
    -
    235void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i & start,
    +
    235void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i & start,
    236 const cv::Point2i & end,
    237 cv::Mat & grid,
    238 bool stopOnObstacle);
    239
    -
    263cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
    +
    263cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
    264
    -
    293cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
    +
    293cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
    294
    -
    312cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat & map);
    +
    312cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat & map);
    313
    314// templated methods
    315
    327template<typename PointT>
    -
    328typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    +
    328typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    329 const typename pcl::PointCloud<PointT> & cloud);
    330
    331
    362template<typename PointT>
    -
    363void segmentObstaclesFromGround(
    +
    363void segmentObstaclesFromGround(
    364 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    365 const pcl::IndicesPtr & indices,
    366 pcl::IndicesPtr & ground,
    @@ -249,14 +262,14 @@ $(document).ready(function() { init_codefold(0); });
    394 float groundNormalsUp = 0);
    395
    412template<typename PointT>
    -
    413void occupancy2DFromGroundObstacles(
    +
    413void occupancy2DFromGroundObstacles(
    414 const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
    415 const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
    416 cv::Mat & ground,
    417 cv::Mat & obstacles,
    418 float cellSize);
    423template<typename PointT>
    -
    424void occupancy2DFromGroundObstacles(
    +
    424void occupancy2DFromGroundObstacles(
    425 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    426 const pcl::IndicesPtr & groundIndices,
    427 const pcl::IndicesPtr & obstaclesIndices,
    @@ -265,7 +278,7 @@ $(document).ready(function() { init_codefold(0); });
    430 float cellSize);
    431
    458template<typename PointT>
    -
    459void occupancy2DFromCloud3D(
    +
    459void occupancy2DFromCloud3D(
    460 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    461 const pcl::IndicesPtr & indices,
    462 cv::Mat & ground,
    @@ -276,7 +289,7 @@ $(document).ready(function() { init_codefold(0); });
    467 bool segmentFlatObstacles = false,
    468 float maxGroundHeight = 0.0f);
    473template<typename PointT>
    -
    474void occupancy2DFromCloud3D(
    +
    474void occupancy2DFromCloud3D(
    475 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    476 cv::Mat & ground,
    477 cv::Mat & obstacles,
    @@ -292,11 +305,25 @@ $(document).ready(function() { init_codefold(0); });
    487#include "rtabmap/core/impl/util3d_mapping.hpp"
    488
    489#endif /* UTIL3D_MAPPING_H_ */
    +
    rtabmap::util3d::rayTrace
    void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i &start, const cv::Point2i &end, cv::Mat &grid, bool stopOnObstacle)
    Performs a 2D ray tracing operation between two points on a grid map.
    +
    rtabmap::util3d::projectCloudOnXYPlane
    pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)
    Projects a point cloud onto the XY plane by setting all Z coordinates to zero.
    Definition util3d_mapping.hpp:41
    +
    rtabmap::util3d::occupancy2DFromLaserScan
    RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)
    +
    rtabmap::util3d::occupancy2DFromCloud3D
    void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
    Generates 2D ground and obstacle occupancy data from a 3D point cloud.
    Definition util3d_mapping.hpp:309
    +
    rtabmap::util3d::create2DMapFromOccupancyLocalMaps
    cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(const std::map< int, Transform > &poses, const std::map< int, std::pair< cv::Mat, cv::Mat > > &occupancy, float cellSize, float &xMin, float &yMin, float minMapSize=0.0f, bool erode=false, float footprintRadius=0.0f)
    Creates a 2D occupancy grid map from local occupancy data.
    +
    rtabmap::util3d::erodeMap
    cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat &map)
    Performs erosion on an occupancy grid map to reduce small noisy obstacles.
    +
    rtabmap::util3d::occupancy2DFromGroundObstacles
    void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...
    Definition util3d_mapping.hpp:234
    +
    rtabmap::util3d::convertImage8U2Map
    cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)
    Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).
    +
    rtabmap::util3d::convertMap2Image8U
    cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)
    Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).
    +
    rtabmap::util3d::create2DMap
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html b/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html index 6927e836..64cd647e 100644 --- a/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html +++ b/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_mapping.hpp
    @@ -125,7 +142,8 @@ $(document).ready(function() { init_codefold(0); });
    38namespace util3d{
    39
    40template<typename PointT>
    -
    41typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    +
    +
    41typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    42 const typename pcl::PointCloud<PointT> & cloud)
    43{
    44 typename pcl::PointCloud<PointT>::Ptr output(new pcl::PointCloud<PointT>);
    @@ -136,6 +154,7 @@ $(document).ready(function() { init_codefold(0); });
    49 }
    50 return output;
    51}
    +
    52
    53template<typename PointT>
    54void segmentObstaclesFromGround(
    @@ -227,11 +246,11 @@ $(document).ready(function() { init_codefold(0); });
    140 centroid[2] <= biggestSurfaceMax[2] ||
    141 (maxGroundHeight==0.0f && !segmentFlatObstacles))
    142 {
    -
    143 ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
    +
    143 ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
    144 }
    145 else if(flatObstacles)
    146 {
    -
    147 *flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
    +
    147 *flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
    148 }
    149 }
    150 }
    @@ -259,7 +278,7 @@ $(document).ready(function() { init_codefold(0); });
    172 if(indices->size())
    173 {
    174 notObstacles = util3d::extractIndices(cloud, indices, true);
    -
    175 notObstacles = util3d::concatenate(notObstacles, ground);
    +
    175 notObstacles = util3d::concatenate(notObstacles, ground);
    176 }
    177 pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, notObstacles, true);
    178
    @@ -279,14 +298,15 @@ $(document).ready(function() { init_codefold(0); });
    192 minClusterSize);
    193
    194 // merge indices
    -
    195 obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
    +
    195 obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
    196 }
    197 }
    198 }
    199}
    200
    201template<typename PointT>
    -
    202void segmentObstaclesFromGround(
    +
    +
    202void segmentObstaclesFromGround(
    203 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    204 pcl::IndicesPtr & ground,
    205 pcl::IndicesPtr & obstacles,
    @@ -316,9 +336,11 @@ $(document).ready(function() { init_codefold(0); });
    229 viewPoint,
    230 groundNormalsUp);
    231}
    +
    232
    233template<typename PointT>
    -
    234void occupancy2DFromGroundObstacles(
    +
    +
    234void occupancy2DFromGroundObstacles(
    235 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    236 const pcl::IndicesPtr & groundIndices,
    237 const pcl::IndicesPtr & obstaclesIndices,
    @@ -346,9 +368,11 @@ $(document).ready(function() { init_codefold(0); });
    259 obstacles,
    260 cellSize);
    261}
    +
    262
    263template<typename PointT>
    -
    264void occupancy2DFromGroundObstacles(
    +
    +
    264void occupancy2DFromGroundObstacles(
    265 const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
    266 const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
    267 cv::Mat & ground,
    @@ -360,7 +384,7 @@ $(document).ready(function() { init_codefold(0); });
    273 {
    274 //project on XY plane
    275 typename pcl::PointCloud<PointT>::Ptr groundCloudProjected;
    -
    276 groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
    +
    276 groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
    277 //voxelize to grid cell size
    278 groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);
    279
    @@ -378,7 +402,7 @@ $(document).ready(function() { init_codefold(0); });
    291 {
    292 //project on XY plane
    293 typename pcl::PointCloud<PointT>::Ptr obstaclesCloudProjected;
    -
    294 obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
    +
    294 obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
    295 //voxelize to grid cell size
    296 obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);
    297
    @@ -391,9 +415,11 @@ $(document).ready(function() { init_codefold(0); });
    304 }
    305 }
    306}
    +
    307
    308template<typename PointT>
    -
    309void occupancy2DFromCloud3D(
    +
    +
    309void occupancy2DFromCloud3D(
    310 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    311 const pcl::IndicesPtr & indices,
    312 cv::Mat & ground,
    @@ -430,9 +456,11 @@ $(document).ready(function() { init_codefold(0); });
    343 obstacles,
    344 cellSize);
    345}
    +
    346
    347template<typename PointT>
    -
    348void occupancy2DFromCloud3D(
    +
    +
    348void occupancy2DFromCloud3D(
    349 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    350 cv::Mat & ground,
    351 cv::Mat & obstacles,
    @@ -445,6 +473,7 @@ $(document).ready(function() { init_codefold(0); });
    358 pcl::IndicesPtr indices(new std::vector<int>);
    359 occupancy2DFromCloud3D<PointT>(cloud, indices, ground, obstacles, cellSize, groundNormalAngle, minClusterSize, segmentFlatObstacles, maxGroundHeight);
    360}
    +
    361
    362}
    363}
    @@ -455,11 +484,19 @@ $(document).ready(function() { init_codefold(0); });
    rtabmap::util3d::passThrough
    pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
    Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
    rtabmap::util3d::normalFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
    Point normal filtering for point cloud of type pcl::PointXYZ.
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    +
    rtabmap::util3d::projectCloudOnXYPlane
    pcl::PointCloud< PointT >::Ptr projectCloudOnXYPlane(const typename pcl::PointCloud< PointT > &cloud)
    Projects a point cloud onto the XY plane by setting all Z coordinates to zero.
    Definition util3d_mapping.hpp:41
    +
    rtabmap::util3d::occupancy2DFromCloud3D
    void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
    Generates 2D ground and obstacle occupancy data from a 3D point cloud.
    Definition util3d_mapping.hpp:309
    +
    rtabmap::util3d::occupancy2DFromGroundObstacles
    void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...
    Definition util3d_mapping.hpp:234
    +
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html b/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html index c8f1b67d..eaf93341 100644 --- a/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_motion_estimation.h
    @@ -126,14 +143,14 @@ $(document).ready(function() { init_codefold(0); });
    39namespace util3d
    40{
    41
    -
    100void RTABMAP_CORE_EXPORT setRansacDeterministicSeed(bool enable);
    -
    101
    -
    103bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled();
    -
    104
    -
    105Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    65void RTABMAP_CORE_EXPORT setRansacDeterministicSeed(bool enable);
    +
    66
    +
    68bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled();
    +
    69
    +
    105Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    106 const std::map<int, cv::Point3f> & words3A,
    107 const std::map<int, cv::KeyPoint> & words2B,
    -
    108 const CameraModel & cameraModel,
    +
    108 const CameraModel & cameraModel,
    109 int minInliers = 10,
    110 int iterations = 100,
    111 double reprojError = 5.,
    @@ -141,14 +158,14 @@ $(document).ready(function() { init_codefold(0); });
    113 int pnpRefineIterations = 1,
    114 int varianceMedianRatio = 4,
    115 float maxVariance = 0,
    -
    116 const Transform & guess = Transform::getIdentity(),
    +
    116 const Transform & guess = Transform::getIdentity(),
    117 const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
    118 cv::Mat * covariance = 0, // mean reproj error if words3B is not set
    119 std::vector<int> * matchesOut = 0,
    120 std::vector<int> * inliersOut = 0,
    121 bool splitLinearCovarianceComponents = false);
    122
    -
    157Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    157Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    158 const std::map<int, cv::Point3f> & words3A,
    159 const std::map<int, cv::KeyPoint> & words2B,
    160 const std::vector<CameraModel> & cameraModels,
    @@ -160,13 +177,13 @@ $(document).ready(function() { init_codefold(0); });
    166 int refineIterations,
    167 int varianceMedianRatio,
    168 float maxVariance,
    -
    169 const Transform & guess,
    +
    169 const Transform & guess,
    170 const std::map<int, cv::Point3f> & words3B,
    171 cv::Mat * covariance,
    172 std::vector<std::vector<int> > * matchesOut,
    173 std::vector<std::vector<int> > * inliersOut,
    174 bool splitLinearCovarianceComponents);
    -
    179Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    179Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    180 const std::map<int, cv::Point3f> & words3A,
    181 const std::map<int, cv::KeyPoint> & words2B,
    182 const std::vector<CameraModel> & cameraModels,
    @@ -178,14 +195,14 @@ $(document).ready(function() { init_codefold(0); });
    188 int pnpRefineIterations = 1,
    189 int varianceMedianRatio = 4,
    190 float maxVariance = 0,
    -
    191 const Transform & guess = Transform::getIdentity(),
    +
    191 const Transform & guess = Transform::getIdentity(),
    192 const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
    193 cv::Mat * covariance = 0, // mean reproj error if words3B is not set
    194 std::vector<int> * matchesOut = 0,
    195 std::vector<int> * inliersOut = 0,
    196 bool splitLinearCovarianceComponents = false);
    197
    -
    219Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(
    +
    219Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(
    220 const std::map<int, cv::Point3f> & words3A,
    221 const std::map<int, cv::Point3f> & words3B,
    222 int minInliers = 10,
    @@ -196,7 +213,7 @@ $(document).ready(function() { init_codefold(0); });
    227 std::vector<int> * matchesOut = 0,
    228 std::vector<int> * inliersOut = 0);
    229
    -
    260void RTABMAP_CORE_EXPORT solvePnPRansac(
    +
    260void RTABMAP_CORE_EXPORT solvePnPRansac(
    261 const std::vector<cv::Point3f> & objectPoints,
    262 const std::vector<cv::Point2f> & imagePoints,
    263 const cv::Mat & cameraMatrix,
    @@ -216,12 +233,23 @@ $(document).ready(function() { init_codefold(0); });
    277} // namespace rtabmap
    278
    279#endif /* UTIL3D_TRANSFORMS_H_ */
    +
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    +
    rtabmap::util3d::setRansacDeterministicSeed
    void RTABMAP_CORE_EXPORT setRansacDeterministicSeed(bool enable)
    Toggle a deterministic seed for OpenGV's internal RANSAC RNG.
    +
    rtabmap::util3d::estimateMotion3DTo3D
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::Point3f > &words3B, int minInliers=10, double inliersDistance=0.1, int iterations=100, int refineIterations=5, cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0)
    Estimates the 3D rigid transformation between two sets of 3D points.
    +
    rtabmap::util3d::estimateMotion3DTo2D
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)
    Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.
    +
    rtabmap::util3d::solvePnPRansac
    void RTABMAP_CORE_EXPORT solvePnPRansac(const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)
    Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
    +
    rtabmap::util3d::ransacDeterministicSeedEnabled
    bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled()
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__registration_8h_source.html b/preview/pr-1492/api/latest/util3d__registration_8h_source.html index 18a6b467..4c19b38b 100644 --- a/preview/pr-1492/api/latest/util3d__registration_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__registration_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_registration.h
    @@ -132,11 +149,11 @@ $(document).ready(function() { init_codefold(0); });
    45 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    46 float maxDistance);
    47
    -
    68Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
    +
    68Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
    69 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
    70 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
    71
    -
    101Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
    +
    101Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
    102 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
    103 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
    104 double inlierThreshold = 0.02,
    @@ -177,7 +194,7 @@ $(document).ready(function() { init_codefold(0); });
    181 int & correspondencesOut,
    182 bool reciprocal);
    183
    -
    209Transform RTABMAP_CORE_EXPORT icp(
    +
    209Transform RTABMAP_CORE_EXPORT icp(
    210 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
    211 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    212 double maxCorrespondenceDistance,
    @@ -188,7 +205,7 @@ $(document).ready(function() { init_codefold(0); });
    217 bool icp2D = false,
    218 float ransacOutlierRatio = 0.0f,
    219 int * iterationsDone = nullptr);
    -
    228Transform RTABMAP_CORE_EXPORT icp(
    +
    228Transform RTABMAP_CORE_EXPORT icp(
    229 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
    230 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
    231 double maxCorrespondenceDistance,
    @@ -200,7 +217,7 @@ $(document).ready(function() { init_codefold(0); });
    237 float ransacOutlierRatio = 0.0f,
    238 int * iterationsDone = nullptr);
    239
    -
    265Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    265Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    266 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
    267 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
    268 double maxCorrespondenceDistance,
    @@ -211,7 +228,7 @@ $(document).ready(function() { init_codefold(0); });
    273 bool icp2D = false,
    274 float ransacOutlierRatio = 0.0f,
    275 int * iterationsDone = nullptr);
    -
    284Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    284Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    285 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
    286 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
    287 double maxCorrespondenceDistance,
    @@ -229,11 +246,19 @@ $(document).ready(function() { init_codefold(0); });
    299#endif /* UTIL3D_REGISTRATION_H_ */
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::util3d::computeVarianceAndCorrespondences
    void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
    Compute with variance and correspondences of pcl::PointNormal point cloud type.
    +
    rtabmap::util3d::transformFromXYZCorrespondencesSVD
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
    Estimates the rigid 3D transformation between two point clouds using SVD.
    +
    rtabmap::util3d::icpPointToPlane
    Transform RTABMAP_CORE_EXPORT icpPointToPlane(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.
    +
    rtabmap::util3d::transformFromXYZCorrespondences
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
    Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.
    +
    rtabmap::util3d::icp
    Transform RTABMAP_CORE_EXPORT icp(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting t...
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__surface_8h_source.html b/preview/pr-1492/api/latest/util3d__surface_8h_source.html index 6e989c5f..fa82cd36 100644 --- a/preview/pr-1492/api/latest/util3d__surface_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__surface_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_surface.h
    @@ -139,7 +156,7 @@ $(document).ready(function() { init_codefold(0); });
    52namespace util3d
    53{
    54
    -
    64void RTABMAP_CORE_EXPORT createPolygonIndexes(
    +
    64void RTABMAP_CORE_EXPORT createPolygonIndexes(
    65 const std::vector<pcl::Vertices> & polygons,
    66 int cloudSize,
    67 std::vector<std::set<int> > & neighborPolygons,
    @@ -226,7 +243,7 @@ $(document).ready(function() { init_codefold(0); });
    148 float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
    149 int minClusterSize = 50, // minimum size of polygons clusters textured
    150 const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
    -
    151 const ProgressState * state = 0,
    +
    151 const ProgressState * state = 0,
    152 std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
    153 bool distanceToCamPolicy = false);
    154pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(
    @@ -239,11 +256,11 @@ $(document).ready(function() { init_codefold(0); });
    161 float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
    162 int minClusterSize = 50, // minimum size of polygons clusters textured
    163 const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
    -
    164 const ProgressState * state = 0,
    +
    164 const ProgressState * state = 0,
    165 std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
    166 bool distanceToCamPolicy = false);
    167
    -
    171void RTABMAP_CORE_EXPORT cleanTextureMesh(
    +
    171void RTABMAP_CORE_EXPORT cleanTextureMesh(
    172 pcl::TextureMesh & textureMesh,
    173 int minClusterSize);
    174
    @@ -271,18 +288,18 @@ $(document).ready(function() { init_codefold(0); });
    196 const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
    197#endif
    198 cv::Mat & textures,
    -
    199 bool mergeTextures = false);
    +
    199 bool mergeTextures = false);
    200
    201pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(
    202 const cv::Mat & cloudMat,
    203 const std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);
    204
    -
    209cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    +
    209cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    210 pcl::TextureMesh & mesh,
    211 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    212 const std::map<int, CameraModel> & calibrations, // Should match images
    -
    213 const Memory * memory = 0, // Should be set if images are not set
    -
    214 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    213 const Memory * memory = 0, // Should be set if images are not set
    +
    214 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    215 int textureSize = 4096,
    216 int textureCount = 1,
    217 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
    @@ -294,18 +311,18 @@ $(document).ready(function() { init_codefold(0); });
    223 int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
    224 int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
    225 bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
    -
    226 const ProgressState * state = 0,
    +
    226 const ProgressState * state = 0,
    227 unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
    228 bool clearVertexColorUnderTexture = true,
    229 std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
    230 std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
    231 std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
    -
    232cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    +
    232cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    233 pcl::TextureMesh & mesh,
    234 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    235 const std::map<int, std::vector<CameraModel> > & calibrations, // Should match images
    -
    236 const Memory * memory = 0, // Should be set if images are not set
    -
    237 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    236 const Memory * memory = 0, // Should be set if images are not set
    +
    237 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    238 int textureSize = 4096,
    239 int textureCount = 1,
    240 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
    @@ -317,7 +334,7 @@ $(document).ready(function() { init_codefold(0); });
    246 int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
    247 int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
    248 bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
    -
    249 const ProgressState * state = 0,
    +
    249 const ProgressState * state = 0,
    250 unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
    251 bool clearVertexColorUnderTexture = true,
    252 std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
    @@ -335,8 +352,8 @@ $(document).ready(function() { init_codefold(0); });
    264 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, // required output of util3d::createTextureMesh()
    265 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    266 const std::map<int, std::vector<CameraModel> > & cameraModels, // Should match images
    -
    267 const Memory * memory = 0, // Should be set if images are not set
    -
    268 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    267 const Memory * memory = 0, // Should be set if images are not set
    +
    268 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    269 int textureSize = 8192,
    270 const std::string & textureFormat = "jpg", // png, jpg
    271 const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(), // optional output of util3d::mergeTextures()
    @@ -344,7 +361,7 @@ $(document).ready(function() { init_codefold(0); });
    273 const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), // optional output of util3d::mergeTextures()
    274 bool gainRGB = true);
    275
    -
    302bool RTABMAP_CORE_EXPORT multiBandTexturing(
    +
    302bool RTABMAP_CORE_EXPORT multiBandTexturing(
    303 const std::string & outputOBJPath,
    304 const pcl::PCLPointCloud2 & cloud,
    305 const std::vector<pcl::Vertices> & polygons,
    @@ -352,8 +369,8 @@ $(document).ready(function() { init_codefold(0); });
    307 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,
    308 const std::map<int, cv::Mat> & images,
    309 const std::map<int, std::vector<CameraModel> > & cameraModels,
    -
    310 const Memory * memory = 0,
    -
    311 const DBDriver * dbDriver = 0,
    +
    310 const Memory * memory = 0,
    +
    311 const DBDriver * dbDriver = 0,
    312 unsigned int textureSize = 8192,
    313 unsigned int textureDownscale = 2,
    314 const std::string & nbContrib = "1 5 10 0",
    @@ -596,7 +613,7 @@ $(document).ready(function() { init_codefold(0); });
    604 int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
    605 ProgressState * progressState = 0);
    606
    -
    629bool RTABMAP_CORE_EXPORT intersectRayTriangle(
    +
    629bool RTABMAP_CORE_EXPORT intersectRayTriangle(
    630 const Eigen::Vector3f & p,
    631 const Eigen::Vector3f & dir,
    632 const Eigen::Vector3f & v0,
    @@ -632,16 +649,26 @@ $(document).ready(function() { init_codefold(0); });
    662#include "rtabmap/core/impl/util3d_surface.hpp"
    663
    664#endif /* UTIL3D_SURFACE_H_ */
    +
    rtabmap::DBDriver
    Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
    Definition DBDriver.h:72
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    +
    rtabmap::Memory
    Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
    Definition Memory.h:102
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    rtabmap::util3d::computeNormalsComplexity
    float RTABMAP_CORE_EXPORT computeNormalsComplexity(const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
    Computes the complexity of surface normals in a point cloud of type LaserScan.
    +
    rtabmap::util3d::cleanTextureMesh
    void RTABMAP_CORE_EXPORT cleanTextureMesh(pcl::TextureMesh &textureMesh, int minClusterSize)
    +
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    +
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    +
    rtabmap::util3d::mergeTextures
    cv::Mat RTABMAP_CORE_EXPORT mergeTextures(pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html b/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html index 9d877ac3..2e12b9c4 100644 --- a/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html +++ b/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_surface.hpp
    @@ -276,7 +293,7 @@ $(document).ready(function() { init_codefold(0); });
    189 // filter polygons
    190 std::vector<std::set<int> > neighbors;
    191 std::vector<std::set<int> > vertexToPolygons;
    -
    192 util3d::createPolygonIndexes(mesh->polygons,
    +
    192 util3d::createPolygonIndexes(mesh->polygons,
    193 mesh->cloud.height*mesh->cloud.width,
    194 neighbors,
    195 vertexToPolygons);
    @@ -417,7 +434,7 @@ $(document).ready(function() { init_codefold(0); });
    330 UASSERT(vert.vertices.size()==3);
    331 float d;
    332 Eigen::Vector3f n;
    -
    333 if (intersectRayTriangle(origin, dir,
    +
    333 if (intersectRayTriangle(origin, dir,
    334 cloud.at(vert.vertices.at(0)).getVector3fMap(),
    335 cloud.at(vert.vertices.at(1)).getVector3fMap(),
    336 cloud.at(vert.vertices.at(2)).getVector3fMap(), d, n) &&
    @@ -443,11 +460,17 @@ $(document).ready(function() { init_codefold(0); });
    UConversion.h
    Some conversion functions.
    uFormat
    std::string UTILITE_EXPORT uFormat(const char *fmt,...)
    UASSERT
    #define UASSERT(condition)
    Definition ULogger.h:66
    +
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    +
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/api/latest/util3d__transforms_8h_source.html b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html index 3a4bbf58..5dc0532c 100644 --- a/preview/pr-1492/api/latest/util3d__transforms_8h_source.html +++ b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html @@ -10,6 +10,10 @@ + + + + @@ -27,6 +31,7 @@
    RTAB-Map 0.23.10
    +
    Real-Time Appearance-Based Mapping
    @@ -55,6 +60,23 @@ $(function() { $(document).ready(function() { init_codefold(0); }); /* @license-end */ + +
    + +
    +
    +
    + +
    - -
    util3d_transforms.h
    @@ -129,9 +146,9 @@ $(document).ready(function() { init_codefold(0); });
    42namespace util3d
    43{
    44
    -
    75LaserScan RTABMAP_CORE_EXPORT transformLaserScan(
    -
    76 const LaserScan & laserScan,
    -
    77 const Transform & transform);
    +
    75LaserScan RTABMAP_CORE_EXPORT transformLaserScan(
    +
    76 const LaserScan & laserScan,
    +
    77 const Transform & transform);
    78
    95pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    96 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    @@ -206,14 +223,20 @@ $(document).ready(function() { init_codefold(0); });
    251} // namespace rtabmap
    252
    253#endif /* UTIL3D_TRANSFORMS_H_ */
    +
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    rtabmap::util3d::transformPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
    Transforms pcl::PointXYZ point cloud type.
    +
    rtabmap::util3d::transformLaserScan
    LaserScan RTABMAP_CORE_EXPORT transformLaserScan(const LaserScan &laserScan, const Transform &transform)
    Applies a 3D transform to all points (and normals if present) in a LaserScan.
    + -
    -Generated by doxygen 1.9.8 -
    + diff --git a/preview/pr-1492/index.html b/preview/pr-1492/index.html index f188beb4..0ae01c33 100644 --- a/preview/pr-1492/index.html +++ b/preview/pr-1492/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping @@ -120,6 +120,7 @@
  • Installation instructions.
  • Tutorials.
  • Tools.
    • +
  • C++ API documentation of the rtabmap library.
  • For ROS users, take a look to rtabmap page on the ROS wiki for a package overview. See also SetupOnYourRobot to know how to integrate RTAB-Map on your robot.
    • diff --git a/preview/pr-1492/index.md b/preview/pr-1492/index.md index 525cee8d..99229662 100644 --- a/preview/pr-1492/index.md +++ b/preview/pr-1492/index.md @@ -34,6 +34,7 @@ * [Installation](https://github.com/introlab/rtabmap/wiki/Installation) instructions. * [Tutorials](https://github.com/introlab/rtabmap/wiki/Tutorials). * [Tools](https://github.com/introlab/rtabmap/wiki/Tools). +* [C++ API documentation]({{ site.baseurl }}/api/) of the rtabmap library. * For **ROS** users, take a look to [rtabmap](http://wiki.ros.org/rtabmap) page on the ROS wiki for a package overview. See also [SetupOnYourRobot](http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) to know how to integrate RTAB-Map on your robot.