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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -123,9 +144,12 @@ float RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>
<dl class="section return"><dt>Returns</dt><dd>A float value between 0 and 1 representing the complexity of the normal distribution. Returns 0 if not enough valid normals are available.</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Invalid normals (containing NaN or Inf) are automatically filtered out. The result is the smallest eigenvalue (2nd in 2D, 3rd in 3D) scaled by the number of dimensions (2 or 3), so that it is normalized against the unit-norm normals. </dd></dl>
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