From a716b3674c2a0ac3ac9d36752d30f3e121385395 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Fri, 11 Sep 2026 07:17:46 +0000 Subject: [PATCH] Update documentation (latest) 2fbbe19d707e6b9fada74bc6b74c284117197a1c --- api/latest/FlannIndex_8h_source.html | 81 +- api/latest/Parameters_8h_source.html | 1569 ++++---- api/latest/VWDictionary_8h_source.html | 46 +- .../classrtabmap_1_1FlannIndex-members.html | 4 +- api/latest/classrtabmap_1_1FlannIndex.html | 38 +- api/latest/classrtabmap_1_1FlannIndex.js | 4 +- .../classrtabmap_1_1Parameters-members.html | 2237 +++++------ api/latest/classrtabmap_1_1Parameters.html | 3388 +++++++++-------- api/latest/functions_d.html | 1 + api/latest/functions_func_d.html | 1 + api/latest/functions_func_k.html | 3 +- api/latest/functions_func_r.html | 2 +- api/latest/functions_func_t.html | 1 + api/latest/functions_k.html | 3 +- api/latest/functions_r.html | 2 +- api/latest/functions_t.html | 1 + api/latest/navtreedata.js | 2 +- api/latest/navtreeindex4.js | 24 +- api/latest/parameters.html | 42 +- api/latest/search/all_13.js | 2 +- api/latest/search/all_14.js | 2 +- api/latest/search/all_15.js | 977 ++--- api/latest/search/all_6.js | 1051 ++--- api/latest/search/all_d.js | 1129 +++--- api/latest/search/all_e.js | 2 +- api/latest/search/functions_10.js | 2 +- api/latest/search/functions_11.js | 2 +- api/latest/search/functions_12.js | 977 ++--- api/latest/search/functions_3.js | 1037 ++--- api/latest/search/functions_a.js | 977 ++--- api/latest/search/functions_b.js | 2 +- index.html | 2 +- 32 files changed, 6871 insertions(+), 6740 deletions(-) diff --git a/api/latest/FlannIndex_8h_source.html b/api/latest/FlannIndex_8h_source.html index 71672372..0a07b9cb 100644 --- a/api/latest/FlannIndex_8h_source.html +++ b/api/latest/FlannIndex_8h_source.html @@ -202,49 +202,50 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
181
189 void removePoint(unsigned int index);
190
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205 void knnSearch(
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206 const cv::Mat & query,
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207 cv::Mat & indices,
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208 cv::Mat & dists,
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209 int knn,
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210 int checks = 32,
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211 float eps = 0.0,
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212 bool sorted = true) const;
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213
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229 void radiusSearch(
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230 const cv::Mat & query,
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231 std::vector<std::vector<size_t> > & indices,
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232 std::vector<std::vector<float> > & dists,
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233 float radius,
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234 int maxNeighbors = 0,
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235 int checks = 32,
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236 float eps = 0.0,
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237 bool sorted = true) const;
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238
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239private:
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240 void * index_; // rtflann backend
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241 NanoFlannIndex * nanoIndex_; // nanoflann backend, only one of the two is set
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242 unsigned int nextIndex_;
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243 int featuresType_;
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244 int featuresDim_;
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245 bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
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246 float rebalancingFactor_;
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247 flann_algorithm_t algorithm_;
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248
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249 // keep feature in memory until the tree is rebuilt
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250 // (in case the word is deleted when removed from the VWDictionary)
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251 std::map<int, cv::Mat> addedDescriptors_;
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252 std::list<int> removedIndexes_;
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253};
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206 void knnSearch(
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207 const cv::Mat & query,
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208 cv::Mat & indices,
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209 cv::Mat & dists,
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210 int knn,
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211 int checks = 32,
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212 float eps = 0.0,
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213 bool sorted = true,
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214 int cores = 1) const;
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231 void radiusSearch(
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232 const cv::Mat & query,
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233 std::vector<std::vector<size_t> > & indices,
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234 std::vector<std::vector<float> > & dists,
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235 float radius,
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236 int maxNeighbors = 0,
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237 int checks = 32,
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238 float eps = 0.0,
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239 bool sorted = true,
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240 int cores = 1) const;
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241
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242private:
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243 void * index_; // rtflann backend
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244 NanoFlannIndex * nanoIndex_; // nanoflann backend, only one of the two is set
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245 unsigned int nextIndex_;
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246 int featuresType_;
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247 int featuresDim_;
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248 bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
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249 float rebalancingFactor_;
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250 flann_algorithm_t algorithm_;
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251
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252 // keep feature in memory until the tree is rebuilt
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253 // (in case the word is deleted when removed from the VWDictionary)
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254 std::map<int, cv::Mat> addedDescriptors_;
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255 std::list<int> removedIndexes_;
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256};
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254
-
255} /* namespace rtabmap */
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256
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257#endif /* CORELIB_SRC_FLANNINDEX_H_ */
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257
+
258} /* namespace rtabmap */
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259
+
260#endif /* CORELIB_SRC_FLANNINDEX_H_ */
rtabmap::FlannIndex
Nearest neighbor index over a set of features.
Definition FlannIndex.h:56
rtabmap::FlannIndex::loadIndex
bool loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)
Load an index from a raw buffer, see the overload above.
rtabmap::FlannIndex::serializeIndex
std::vector< unsigned char > serializeIndex(bool computeChecksum=true) const
Serialize the index, to be given back to loadIndex()
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rtabmap::FlannIndex::radiusSearch
void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const
Search the neighbors of each query within a radius.
+
rtabmap::FlannIndex::radiusSearch
void radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const
Search the neighbors of each query within a radius.
rtabmap::FlannIndex::isBuilt
bool isBuilt()
rtabmap::FlannIndex::memoryUsed
size_t memoryUsed() const
rtabmap::FlannIndex::release
void release()
Drop the index and everything it holds, back to the state of a new one.
@@ -255,8 +256,8 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
rtabmap::FlannIndex::flann_algorithm_t
flann_algorithm_t
The index structure built by buildIndex()
Definition FlannIndex.h:76
rtabmap::FlannIndex::addPoints
std::vector< unsigned int > addPoints(const cv::Mat &features)
Add features to the index.
rtabmap::FlannIndex::buildIndex
void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)
Build the index over the given features, releasing any previous one.
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rtabmap::FlannIndex::knnSearch
void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const
Search the k nearest neighbors of each query.
rtabmap::FlannIndex::featuresType
int featuresType() const
Definition FlannIndex.h:169
+
rtabmap::FlannIndex::knnSearch
void knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const
Search the k nearest neighbors of each query.
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/Parameters_8h_source.html b/api/latest/Parameters_8h_source.html index 00a8ae78..89421507 100644 --- a/api/latest/Parameters_8h_source.html +++ b/api/latest/Parameters_8h_source.html @@ -283,794 +283,795 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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 only rebuilt when too many of its features have been removed, see \"%s\").", kKpFlannRebalancingFactor().c_str()));
258 RTABMAP_PARAM(Kp, FlannRebalancingFactor, float, 2.0, uFormat("Rebuild the incremental FLANN index (see \"%s\") once the ratio (factor-1)/factor of its features has been removed, e.g. half of them for a factor of 2. Rebuilding frees the memory of the removed features and speeds up the searches. Features are mostly removed when memory management is enabled (\"%s\" or \"%s\"). Set to 1 to never rebuild, which also uses less memory as the features don't have to be referenced one by one.", kKpIncrementalFlann().c_str(), kRtabmapTimeThr().c_str(), kRtabmapMemoryThr().c_str()));
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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()));
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260 RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
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261 RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
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262 RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
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263 RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
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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()));
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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.)");
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266#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
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267 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
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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
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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.");
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273 RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
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274 RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
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275 RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
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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).");
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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.");
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279 RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
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280 RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
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281 RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
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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()));
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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()));
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284
-
285 //Database
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286 RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
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287 RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000,
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288 "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). "
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289 "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.");
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290 RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3,
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291 "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. "
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292 "0=DELETE (SQLite default): journal file deleted after each commit. "
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293 "1=TRUNCATE: journal truncated to zero length. "
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294 "2=PERSIST: journal file kept, header zeroed after commit. "
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295 "3=MEMORY: journal in RAM only; faster, weaker crash safety. "
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296 "4=OFF: no journal; fastest, risk of corruption on crash.");
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297 RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0,
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298 "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. "
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299 "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. "
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300 "1=NORMAL: sync at critical moments (common SQLite default with WAL). "
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301 "2=FULL (SQLite safest default): sync after every commit; slowest.");
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302 RTABMAP_PARAM(DbSqlite3, TempStore, int, 2,
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303 "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. "
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304 "0=DEFAULT: SQLite compile-time default (often on-disk temp files). "
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305 "1=FILE: temporary files in the system temp directory. "
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306 "2=MEMORY: temporary data in RAM when possible.");
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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).");
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308
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309 // Keypoints descriptors/detectors
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310 RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
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311 RTABMAP_PARAM(SURF, HessianThreshold, float, 500, "Threshold for hessian keypoint detector used in SURF.");
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312 RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
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313 RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
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314 RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
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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.");
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316 RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
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317
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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.");
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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()));
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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).");
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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.");
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322 RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
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323 RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
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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.");
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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.");
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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()));
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327 RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
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328
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329 RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
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330
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331 RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
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332 RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
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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.");
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334 RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
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335 RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
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336 RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
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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.");
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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.");
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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.");
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340
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341 RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
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342 RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
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343 RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
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344 RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
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345 RTABMAP_PARAM(GFTT, K, double, 0.04, "");
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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.");
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347
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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.");
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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).");
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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.");
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351 RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
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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).");
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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.");
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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.");
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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.");
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356
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357 RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true, "Enable orientation normalization.");
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358 RTABMAP_PARAM(FREAK, ScaleNormalized, bool, true, "Enable scale normalization.");
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359 RTABMAP_PARAM(FREAK, PatternScale, float, 22, "Scaling of the description pattern.");
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360 RTABMAP_PARAM(FREAK, NOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
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361
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362 RTABMAP_PARAM(BRISK, Thresh, int, 30, "FAST/AGAST detection threshold score.");
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363 RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
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364 RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
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365
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366 RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
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367 RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
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368 RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept keypoint.");
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369 RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
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370 RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
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371 RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
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372
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373 RTABMAP_PARAM_STR(SuperPoint, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
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374 RTABMAP_PARAM(SuperPoint, Threshold, float, 0.010, "Detector response threshold to accept keypoint.");
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375 RTABMAP_PARAM(SuperPoint, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
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376 RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
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377 RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
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378
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379 RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "", "[Required] SuperPoint weights file (*.pth).");
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380 RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "", "[Required] SuperPoint python model file (superpoint_pytorch.py).");
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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 1e-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 RTABMAP_PARAM(Bayes, SparsePrediction, bool, true, uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str());
-
394
-
395 // Verify hypotheses
-
396 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()));
-
397 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
-
398 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
-
399 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
-
400
-
401 // RGB-D SLAM
-
402 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.");
-
403 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()));
-
404 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()));
-
405 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
-
406 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
-
407 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()));
-
408 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).");
-
409 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).");
-
410 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()));
-
411 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()));
-
412 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
-
413 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
-
414 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()));
-
415 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
-
416 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.");
-
417 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
-
418 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
-
419 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:#\".");
-
420 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).");
-
421 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.");
-
422 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
-
423 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
-
424 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()));
-
425 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()));
-
426 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
-
427 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
-
428 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
-
429 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
-
430 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.");
-
431 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.");
-
432 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()));
-
433 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
-
434 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()));
-
435 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()));
-
436
-
437 // Local/Proximity loop closure detection
-
438 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
-
439 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
-
440 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.");
-
441 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
-
442 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.");
-
443 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).");
-
444 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.");
-
445 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
-
446 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
-
447 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()));
-
448 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()));
-
449
-
450 // Graph optimization
-
451#ifdef RTABMAP_GTSAM
-
452 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
453 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
454 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
455#else
-
456#ifdef RTABMAP_G2O
-
457 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
458 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
459 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
-
460#else
-
461#ifdef RTABMAP_CERES
-
462 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
463 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
-
464 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
-
465#else
-
466 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
-
467 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
-
468 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
-
469#endif
+
259 RTABMAP_PARAM(Kp, FlannThreads, int, 1, "Number of threads used for FLANN kNN search (batched queries). Set to 0 for all available.");
+
260 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()));
+
261 RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
+
262 RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
+
263 RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
+
264 RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
265 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()));
+
266 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.)");
+
267#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
268 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
269 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");
+
270#else
+
271 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");
+
272#endif
+
273 RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
+
274 RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
+
275 RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
276 RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
+
277 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).");
+
278 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());
+
279 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.");
+
280 RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
281 RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
282 RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
+
283 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()));
+
284 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()));
+
285
+
286 //Database
+
287 RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
+
288 RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000,
+
289 "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). "
+
290 "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.");
+
291 RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3,
+
292 "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. "
+
293 "0=DELETE (SQLite default): journal file deleted after each commit. "
+
294 "1=TRUNCATE: journal truncated to zero length. "
+
295 "2=PERSIST: journal file kept, header zeroed after commit. "
+
296 "3=MEMORY: journal in RAM only; faster, weaker crash safety. "
+
297 "4=OFF: no journal; fastest, risk of corruption on crash.");
+
298 RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0,
+
299 "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. "
+
300 "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. "
+
301 "1=NORMAL: sync at critical moments (common SQLite default with WAL). "
+
302 "2=FULL (SQLite safest default): sync after every commit; slowest.");
+
303 RTABMAP_PARAM(DbSqlite3, TempStore, int, 2,
+
304 "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. "
+
305 "0=DEFAULT: SQLite compile-time default (often on-disk temp files). "
+
306 "1=FILE: temporary files in the system temp directory. "
+
307 "2=MEMORY: temporary data in RAM when possible.");
+
308 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).");
+
309
+
310 // Keypoints descriptors/detectors
+
311 RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
+
312 RTABMAP_PARAM(SURF, HessianThreshold, float, 500, "Threshold for hessian keypoint detector used in SURF.");
+
313 RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
+
314 RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
+
315 RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
+
316 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.");
+
317 RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
+
318
+
319 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.");
+
320 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()));
+
321 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).");
+
322 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.");
+
323 RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
+
324 RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
+
325 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.");
+
326 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.");
+
327 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()));
+
328 RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
+
329
+
330 RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
+
331
+
332 RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
+
333 RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
+
334 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.");
+
335 RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
+
336 RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
337 RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
338 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.");
+
339 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.");
+
340 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.");
+
341
+
342 RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
+
343 RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
+
344 RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
+
345 RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
+
346 RTABMAP_PARAM(GFTT, K, double, 0.04, "");
+
347 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.");
+
348
+
349 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.");
+
350 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).");
+
351 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.");
+
352 RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
+
353 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).");
+
354 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.");
+
355 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.");
+
356 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.");
+
357
+
358 RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true, "Enable orientation normalization.");
+
359 RTABMAP_PARAM(FREAK, ScaleNormalized, bool, true, "Enable scale normalization.");
+
360 RTABMAP_PARAM(FREAK, PatternScale, float, 22, "Scaling of the description pattern.");
+
361 RTABMAP_PARAM(FREAK, NOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
+
362
+
363 RTABMAP_PARAM(BRISK, Thresh, int, 30, "FAST/AGAST detection threshold score.");
+
364 RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
+
365 RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
+
366
+
367 RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
+
368 RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
+
369 RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept keypoint.");
+
370 RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
+
371 RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
+
372 RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
+
373
+
374 RTABMAP_PARAM_STR(SuperPoint, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
+
375 RTABMAP_PARAM(SuperPoint, Threshold, float, 0.010, "Detector response threshold to accept keypoint.");
+
376 RTABMAP_PARAM(SuperPoint, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
377 RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
+
378 RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
379
+
380 RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "", "[Required] SuperPoint weights file (*.pth).");
+
381 RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "", "[Required] SuperPoint python model file (superpoint_pytorch.py).");
+
382 RTABMAP_PARAM(SuperPointRpautrat, Threshold, float, 0.005, "Detector response threshold to accept keypoint.");
+
383 RTABMAP_PARAM(SuperPointRpautrat, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
384 RTABMAP_PARAM(SuperPointRpautrat, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
+
385 RTABMAP_PARAM(SuperPointRpautrat, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
386
+
387 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.");
+
388 RTABMAP_PARAM(PyDetector, Cuda, bool, true, "Use cuda.");
+
389
+
390 // BayesFilter
+
391 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).");
+
392 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1e-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.");
+
393 RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
+
394 RTABMAP_PARAM(Bayes, SparsePrediction, bool, true, uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str());
+
395
+
396 // Verify hypotheses
+
397 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()));
+
398 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
+
399 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
+
400 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
+
401
+
402 // RGB-D SLAM
+
403 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.");
+
404 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()));
+
405 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()));
+
406 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
+
407 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
+
408 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()));
+
409 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).");
+
410 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).");
+
411 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()));
+
412 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()));
+
413 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
+
414 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
+
415 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()));
+
416 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
+
417 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.");
+
418 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
+
419 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
+
420 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:#\".");
+
421 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).");
+
422 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.");
+
423 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
+
424 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
+
425 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()));
+
426 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()));
+
427 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
+
428 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
+
429 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
+
430 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
+
431 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.");
+
432 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.");
+
433 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()));
+
434 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
435 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()));
+
436 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()));
+
437
+
438 // Local/Proximity loop closure detection
+
439 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
+
440 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
+
441 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.");
+
442 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
+
443 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.");
+
444 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).");
+
445 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.");
+
446 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
+
447 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
+
448 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()));
+
449 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()));
+
450
+
451 // Graph optimization
+
452#ifdef RTABMAP_GTSAM
+
453 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
454 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
455 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
456#else
+
457#ifdef RTABMAP_G2O
+
458 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
459 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
460 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
+
461#else
+
462#ifdef RTABMAP_CERES
+
463 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
464 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
465 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
+
466#else
+
467 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
468 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
+
469 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
470#endif
471#endif
-
472 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.");
-
473 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
-
474 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
-
475 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
-
476#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
-
477 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()));
-
478#else
-
479 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()));
-
480#endif
-
481
-
482#ifdef RTABMAP_ORB_SLAM
-
483 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
484#else
-
485 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
-
486#endif
-
487 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
-
488
-
489 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.");
-
490 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.");
-
491 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).");
-
492 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.");
-
493
-
494 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
-
495 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()));
-
496 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.");
-
497 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
-
498
-
499 // Odometry
-
500 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");
-
501 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.");
-
502 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)).");
-
503 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
-
504 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
-
505 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
-
506 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
-
507 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
-
508 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
-
509 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
-
510 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
-
511 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
-
512 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
-
513 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
-
514 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()));
-
515 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.");
-
516 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.");
-
517 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.");
-
518 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()));
-
519 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
-
520 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).");
-
521
-
522 // Odometry Frame-to-Map
-
523 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.");
-
524 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.");
-
525 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
-
526 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.");
-
527 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
-
528 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.");
-
529 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());
-
530 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.");
-
531 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.");
-
532#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
533 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()));
-
534#else
-
535 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()));
-
536#endif
-
537 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
-
538 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.");
-
539 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
-
540 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()));
-
541
-
542 // Odometry Mono
-
543 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
-
544 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
-
545 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.");
-
546 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
-
547
-
548 // Odometry Fovis
-
549 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
-
550 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
-
551 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
-
552 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.");
-
553 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
-
554 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
-
555 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
-
556 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
-
557
-
558 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
-
559 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
-
560 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
-
561 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
-
562 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
-
563
-
564 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.");
-
565 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.");
-
566 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
-
567 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
-
568 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
-
569 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.");
-
570 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.");
-
571
-
572 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
-
573 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
-
574 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
-
575 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
-
576
-
577 // Odometry viso2
-
578 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
-
579 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
-
580 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
-
581 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
-
582 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
-
583 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
-
584 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
-
585 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
-
586 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
-
587 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
-
588 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
-
589 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
-
590 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
-
591 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
-
592 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
-
593 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
-
594
-
595 // Odometry ORB_SLAM
-
596 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
-
597 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
-
598 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
-
599 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
-
600 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
-
601 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
-
602 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
-
603 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
-
604 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
-
605 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
-
606 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
-
607 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
-
608
+
472#endif
+
473 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.");
+
474 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
+
475 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
+
476 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
+
477#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
+
478 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()));
+
479#else
+
480 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()));
+
481#endif
+
482
+
483#ifdef RTABMAP_ORB_SLAM
+
484 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
485#else
+
486 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
487#endif
+
488 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
+
489
+
490 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.");
+
491 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.");
+
492 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).");
+
493 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.");
+
494
+
495 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
+
496 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()));
+
497 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.");
+
498 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
+
499
+
500 // Odometry
+
501 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");
+
502 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.");
+
503 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)).");
+
504 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
+
505 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
506 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
+
507 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
+
508 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
+
509 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
+
510 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
+
511 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
+
512 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
+
513 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
+
514 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
+
515 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()));
+
516 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.");
+
517 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.");
+
518 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.");
+
519 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()));
+
520 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
+
521 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).");
+
522
+
523 // Odometry Frame-to-Map
+
524 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.");
+
525 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.");
+
526 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
+
527 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.");
+
528 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
+
529 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.");
+
530 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());
+
531 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.");
+
532 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.");
+
533#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
534 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()));
+
535#else
+
536 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()));
+
537#endif
+
538 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
+
539 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.");
+
540 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
+
541 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()));
+
542
+
543 // Odometry Mono
+
544 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
+
545 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
+
546 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.");
+
547 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
+
548
+
549 // Odometry Fovis
+
550 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
+
551 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
+
552 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
+
553 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.");
+
554 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
+
555 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
+
556 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
+
557 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
+
558
+
559 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
+
560 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
+
561 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
+
562 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
+
563 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
+
564
+
565 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.");
+
566 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.");
+
567 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
+
568 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
+
569 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
+
570 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.");
+
571 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.");
+
572
+
573 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
+
574 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
+
575 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
+
576 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
+
577
+
578 // Odometry viso2
+
579 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
+
580 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
+
581 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
+
582 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
+
583 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
+
584 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
+
585 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
+
586 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
+
587 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
+
588 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
+
589 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
+
590 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
+
591 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
+
592 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
+
593 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
+
594 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
+
595
+
596 // Odometry ORB_SLAM
+
597 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
+
598 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
+
599 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
+
600 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
+
601 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
+
602 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
+
603 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
+
604 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
+
605 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
+
606 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
+
607 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
+
608 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
609
-
610 // Odometry OKVIS
-
611 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
-
612
-
613 // Odometry LOAM
-
614 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
-
615 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
-
616 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
-
617 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
-
618 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
-
619 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
-
620
-
621 // Odometry MSCKF_VIO
-
622 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
-
623 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
-
624 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
-
625 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
-
626 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
-
627 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
-
628 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
-
629 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
-
630 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
-
631 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
-
632 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
-
633 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
-
634 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
-
635 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
-
636 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
-
637 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
-
638 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
-
639 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
-
640 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
-
641 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
-
642 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
-
643 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
-
644 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
-
645 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
-
646 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
-
647 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
-
648 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
-
649
-
650 // Odometry VINS-Fusion
-
651 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
-
652
-
653 // Odometry OpenVINS
-
654 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.");
-
655 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
-
656 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
-
657 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
-
658 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
-
659 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
-
660 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
-
661 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
-
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
-
663 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
-
664
-
665 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
-
666 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
-
667 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
-
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
-
669 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
-
670 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
-
671 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
-
672 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
-
673 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
-
674 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
-
675 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
-
676 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
-
677 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
-
678 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
-
679 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
-
680 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
-
681 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
-
682
-
683 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
-
684 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
-
685 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
-
686 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
-
687 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
-
688 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
-
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
-
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
-
691 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
-
692 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
-
693 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
-
694 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
-
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
-
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
-
697 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
-
698 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
-
699
-
700 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
-
701 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
-
702 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).");
-
703 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
-
704 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).");
-
705 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
-
706
-
707 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
-
708 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
-
709 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
-
710 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
-
711 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
-
712 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
-
713 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
-
714 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
-
715
-
716 // Odometry Open3D
-
717 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
-
718 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
-
719
-
720 // Odometry cuVSLAM
-
721 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
-
722
-
723 // Odometry LIO-SAM
-
724 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.");
-
725 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
-
726 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
-
727 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
-
728 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
-
729 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
-
730 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
-
731 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
-
732 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
-
733 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
-
734 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
-
735 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
-
736 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
-
737
-
738 // Common registration parameters
-
739 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.");
-
740 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
-
741 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.");
-
742
-
743 // Visual registration parameters
-
744 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
-
745 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
-
746 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()));
-
747 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
-
748 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
-
749#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
750 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()));
-
751#else
-
752 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()));
-
753#endif
-
754 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()));
-
755 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()));
-
756 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());
-
757 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());
-
758
-
759 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
-
760 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
-
761 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.");
-
762 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.");
-
763
-
764 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
-
765#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
-
766 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
-
767 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");
-
768#else
-
769 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");
-
770#endif
-
771 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
-
772 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
-
773 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
-
774 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
-
775 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
-
776 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()));
-
777 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
-
778 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
-
779 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
-
780 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
-
781 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()));
-
782 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()));
-
783 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
-
784 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()));
-
785 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
-
786 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()));
-
787 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()));
-
788 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
789 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
790 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
791 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
-
792 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()));
-
793 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()));
-
794 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
-
795 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()));
-
796 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
-
797 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()));
-
798#else
-
799 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()));
-
800#endif
-
801
-
802 // Features matching approaches
-
803 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.");
-
804 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
-
805 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
-
806 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
-
807 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\").");
-
808
-
809 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
-
810 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
-
811 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
-
812
-
813 // Global descriptor approaches
-
814 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.");
-
815 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
-
816
-
817 // ICP registration parameters
-
818#ifdef RTABMAP_POINTMATCHER
-
819 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
820#else
-
821 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
-
822#endif
-
823 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
-
824 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
-
825 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
-
826 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
-
827 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
-
828 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
-
829#ifdef RTABMAP_POINTMATCHER
-
830 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
-
831#else
-
832 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
-
833#endif
-
834 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.");
-
835 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
-
836 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.");
-
837 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
-
838 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
-
839 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
-
840#ifdef RTABMAP_POINTMATCHER
-
841 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
-
842#else
-
843 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
-
844#endif
-
845 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
-
846 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
-
847 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.");
-
848 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()));
-
849 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()));
-
850 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()));
-
851 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()));
-
852 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.");
-
853
-
854 // libpointmatcher
-
855 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());
-
856 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.");
-
857 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.");
-
858 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()));
-
859
-
860 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
-
861 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
-
862 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
-
863
-
864 // Stereo disparity
-
865 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
-
866 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
-
867 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
-
868 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
-
869 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
-
870 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
-
871 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
-
872 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()));
-
873 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
-
874 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()));
-
875 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()));
-
876 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
-
877 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()));
-
878
-
879 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
-
880
-
881 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
-
882 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
-
883 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
-
884 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
-
885 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
-
886 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
-
887 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
-
888 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
-
889 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
-
890 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
-
891
-
892 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
-
893 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
-
894 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
-
895 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
-
896 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
-
897 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
-
898 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
-
899 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
-
900 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
-
901 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
-
902#if CV_MAJOR_VERSION < 3
-
903 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
-
904#else
-
905 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
-
906#endif
-
907
-
908 // Occupancy Grid
-
909 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).");
-
910 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
-
911 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
-
912 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
-
913 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()));
-
914 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
-
915 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
-
916 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.");
-
917 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
-
918 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
-
919 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()));
-
920 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.");
-
921 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
-
922 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
-
923 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
-
924 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
-
925 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()));
-
926 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
-
927 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
-
928 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
-
929 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
-
930#ifdef RTABMAP_OCTOMAP
-
931 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()));
-
932#else
-
933 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()));
-
934#endif
-
935 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()));
-
936 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
-
937 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
-
938 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()));
-
939 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()));
-
940 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.");
-
941 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
-
942 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
-
943 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
-
944 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
-
945 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).");
-
946 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
-
947 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
-
948 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
-
949 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
-
950 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
-
951 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.");
-
952
-
953 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
-
954 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");
-
955 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.");
-
956 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());
-
957 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()));
-
958 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()));
-
959 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()));
-
960 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()));
-
961 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
-
962 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
-
963 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).");
-
964 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
-
965 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
-
966
-
967 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
-
968 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.");
-
969 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).");
-
970 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()));
-
971 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.");
-
972 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()));
-
973
-
974 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.");
-
975
-
976 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].");
-
977 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
-
978
-
979 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
-
980 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
-
981 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
-
982 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
-
983
-
984public:
-
985 virtual ~Parameters();
-
986
-
-
991 static const ParametersMap & getDefaultParameters()
-
992 {
-
993 return parameters_;
-
994 }
+
610
+
611 // Odometry OKVIS
+
612 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
+
613
+
614 // Odometry LOAM
+
615 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+
616 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
+
617 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
+
618 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
+
619 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
+
620 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
621
+
622 // Odometry MSCKF_VIO
+
623 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
+
624 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
+
625 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
+
626 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
+
627 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
+
628 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
+
629 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
+
630 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
+
631 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
+
632 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
+
633 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
+
634 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
+
635 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
+
636 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
+
637 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
+
638 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
+
639 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
+
640 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
+
641 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
+
642 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
+
643 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
+
644 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
+
645 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
+
646 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
+
647 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
+
648 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
+
649 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
+
650
+
651 // Odometry VINS-Fusion
+
652 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
+
653
+
654 // Odometry OpenVINS
+
655 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.");
+
656 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+
657 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+
658 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
+
659 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
+
660 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
+
661 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
+
662 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
+
663 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
+
664 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
665
+
666 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
+
667 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+
668 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
+
669 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
+
670 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
+
671 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
+
672 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+
673 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
+
674 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
+
675 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
+
676 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
+
677 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
+
678 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
+
679 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+
680 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+
681 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
+
682 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
+
683
+
684 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
+
685 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
+
686 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
+
687 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
+
688 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
+
689 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
+
690 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
+
691 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
+
692 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
+
693 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
+
694 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
+
695 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
+
696 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
+
697 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
+
698 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
+
699 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
+
700
+
701 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
+
702 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
+
703 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).");
+
704 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+
705 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).");
+
706 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
+
707
+
708 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+
709 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+
710 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+
711 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+
712 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
+
713 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
+
714 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
+
715 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
+
716
+
717 // Odometry Open3D
+
718 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
+
719 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
+
720
+
721 // Odometry cuVSLAM
+
722 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
723
+
724 // Odometry LIO-SAM
+
725 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.");
+
726 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+
727 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
+
728 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+
729 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
+
730 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
+
731 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
+
732 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
+
733 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
+
734 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
+
735 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
+
736 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
+
737 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
+
738
+
739 // Common registration parameters
+
740 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.");
+
741 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
+
742 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.");
+
743
+
744 // Visual registration parameters
+
745 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
+
746 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
+
747 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()));
+
748 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
+
749 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
+
750#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
751 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()));
+
752#else
+
753 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()));
+
754#endif
+
755 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()));
+
756 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()));
+
757 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());
+
758 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());
+
759
+
760 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+
761 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
+
762 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.");
+
763 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.");
+
764
+
765 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
+
766#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
767 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
768 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");
+
769#else
+
770 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");
+
771#endif
+
772 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
+
773 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
774 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
+
775 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
+
776 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
+
777 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()));
+
778 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
779 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
780 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
781 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
+
782 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()));
+
783 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()));
+
784 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
+
785 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()));
+
786 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
+
787 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()));
+
788 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()));
+
789 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
790 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
791 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
792 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
793 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()));
+
794 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()));
+
795 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+
796 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()));
+
797 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
798 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()));
+
799#else
+
800 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()));
+
801#endif
+
802
+
803 // Features matching approaches
+
804 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.");
+
805 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
+
806 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
+
807 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
+
808 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\").");
+
809
+
810 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
+
811 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
+
812 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
+
813
+
814 // Global descriptor approaches
+
815 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.");
+
816 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
+
817
+
818 // ICP registration parameters
+
819#ifdef RTABMAP_POINTMATCHER
+
820 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
821#else
+
822 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
823#endif
+
824 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
+
825 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
+
826 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
+
827 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+
828 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
+
829 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
+
830#ifdef RTABMAP_POINTMATCHER
+
831 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
+
832#else
+
833 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
+
834#endif
+
835 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.");
+
836 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
+
837 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.");
+
838 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
+
839 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
+
840 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
+
841#ifdef RTABMAP_POINTMATCHER
+
842 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
+
843#else
+
844 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
+
845#endif
+
846 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+
847 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+
848 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.");
+
849 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()));
+
850 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()));
+
851 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()));
+
852 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()));
+
853 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.");
+
854
+
855 // libpointmatcher
+
856 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());
+
857 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.");
+
858 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.");
+
859 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()));
+
860
+
861 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
+
862 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
+
863 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
+
864
+
865 // Stereo disparity
+
866 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
+
867 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
+
868 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
+
869 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
+
870 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
+
871 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
+
872 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
+
873 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()));
+
874 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
+
875 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()));
+
876 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()));
+
877 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+
878 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()));
+
879
+
880 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
+
881
+
882 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
+
883 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
+
884 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
+
885 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
+
886 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
+
887 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
+
888 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
+
889 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
+
890 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
+
891 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
+
892
+
893 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
+
894 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
+
895 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
+
896 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
+
897 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
+
898 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
+
899 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
+
900 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
+
901 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
+
902 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
+
903#if CV_MAJOR_VERSION < 3
+
904 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
+
905#else
+
906 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
+
907#endif
+
908
+
909 // Occupancy Grid
+
910 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).");
+
911 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
+
912 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
+
913 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
+
914 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()));
+
915 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
+
916 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
+
917 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.");
+
918 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
+
919 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
+
920 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()));
+
921 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.");
+
922 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
+
923 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
+
924 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
+
925 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
+
926 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()));
+
927 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+
928 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
+
929 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
+
930 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
+
931#ifdef RTABMAP_OCTOMAP
+
932 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()));
+
933#else
+
934 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()));
+
935#endif
+
936 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()));
+
937 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
+
938 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
+
939 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()));
+
940 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()));
+
941 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.");
+
942 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
+
943 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
+
944 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
+
945 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
+
946 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).");
+
947 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
+
948 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
+
949 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
+
950 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
+
951 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
+
952 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.");
+
953
+
954 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+
955 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");
+
956 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.");
+
957 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());
+
958 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()));
+
959 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()));
+
960 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()));
+
961 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()));
+
962 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
+
963 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
+
964 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).");
+
965 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
+
966 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
+
967
+
968 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
+
969 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.");
+
970 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).");
+
971 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()));
+
972 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.");
+
973 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()));
+
974
+
975 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.");
+
976
+
977 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].");
+
978 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
979
+
980 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
+
981 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
+
982 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
+
983 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
+
984
+
985public:
+
986 virtual ~Parameters();
+
987
+
+
992 static const ParametersMap & getDefaultParameters()
+
993 {
+
994 return parameters_;
+
995 }
-
995
-
1000 static std::string getType(const std::string & paramKey);
-
1001
-
1006 static std::string getDescription(const std::string & paramKey);
-
1007
-
1008 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
-
1009 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
-
1010 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
-
1011 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
-
1012 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
-
1013 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
-
1014 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
-
1015
-
1016 static const char * showUsage();
-
1017 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
-
1018
-
1019 static std::string getVersion();
-
1020 static std::string getDefaultDatabaseName();
-
1021
-
1022 static std::string serialize(const ParametersMap & parameters);
-
1023 static ParametersMap deserialize(const std::string & parameters);
-
1024
-
1025 static bool isFeatureParameter(const std::string & param);
-
1026 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
-
1027 static ParametersMap getDefaultParameters(const std::string & group);
-
1032 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
-
1033
-
1034 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
-
1035 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
-
1036 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
-
1037
-
1042 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
-
1043
-
1047 static const ParametersMap & getBackwardCompatibilityMap();
-
1048
-
1049 static std::string createDefaultWorkingDirectory();
-
1050
-
1051private:
-
1052 Parameters();
-
1053
-
1054private:
-
1055 static ParametersMap parameters_;
-
1056 static ParametersMap parametersType_;
-
1057 static ParametersMap descriptions_;
-
1058 static Parameters instance_;
-
1059
-
1060 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
-
1061 static ParametersMap backwardCompatibilityMap_;
-
1062};
+
996
+
1001 static std::string getType(const std::string & paramKey);
+
1002
+
1007 static std::string getDescription(const std::string & paramKey);
+
1008
+
1009 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
+
1010 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
+
1011 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
+
1012 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
+
1013 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
+
1014 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
+
1015 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
+
1016
+
1017 static const char * showUsage();
+
1018 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
+
1019
+
1020 static std::string getVersion();
+
1021 static std::string getDefaultDatabaseName();
+
1022
+
1023 static std::string serialize(const ParametersMap & parameters);
+
1024 static ParametersMap deserialize(const std::string & parameters);
+
1025
+
1026 static bool isFeatureParameter(const std::string & param);
+
1027 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
+
1028 static ParametersMap getDefaultParameters(const std::string & group);
+
1033 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
+
1034
+
1035 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
+
1036 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
+
1037 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
+
1038
+
1043 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
+
1044
+
1048 static const ParametersMap & getBackwardCompatibilityMap();
+
1049
+
1050 static std::string createDefaultWorkingDirectory();
+
1051
+
1052private:
+
1053 Parameters();
+
1054
+
1055private:
+
1056 static ParametersMap parameters_;
+
1057 static ParametersMap parametersType_;
+
1058 static ParametersMap descriptions_;
+
1059 static Parameters instance_;
+
1060
+
1061 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
+
1062 static ParametersMap backwardCompatibilityMap_;
+
1063};
-
1063
-
1064}
-
1065
-
1066#endif /* PARAMETERS_H_ */
+
1064
+
1065}
+
1066
+
1067#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
@@ -1082,7 +1083,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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:991
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:992
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()
diff --git a/api/latest/VWDictionary_8h_source.html b/api/latest/VWDictionary_8h_source.html index 4957d602..9a0f3c34 100644 --- a/api/latest/VWDictionary_8h_source.html +++ b/api/latest/VWDictionary_8h_source.html @@ -306,42 +306,44 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
492
496 float _rebalancingFactor;
497
-
501 bool _byteToFloat;
+
501 int _flannThreads;
502
-
509 float _nndrRatio;
-
510
-
514 std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
+
506 bool _byteToFloat;
+
507
+
514 float _nndrRatio;
515
-
519 std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
+
519 std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
520
-
524 bool _newWordsComparedTogether;
+
524 std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
525
-
529 bool _serializeWithChecksum;
+
529 bool _newWordsComparedTogether;
530
-
534 int _lastWordId;
+
534 bool _serializeWithChecksum;
535
-
539 bool useDistanceL1_;
+
539 int _lastWordId;
540
-
544 FlannIndex * _flannIndex;
+
544 bool useDistanceL1_;
545
-
549 cv::Mat _dataTree;
+
549 FlannIndex * _flannIndex;
550
-
554 bool _modified;
+
554 cv::Mat _dataTree;
555
-
559 NNStrategy _strategy;
+
559 bool _modified;
560
-
564 std::map<int ,int> _mapIndexId;
+
564 NNStrategy _strategy;
565
-
569 std::map<int ,int> _mapIdIndex;
+
569 std::map<int ,int> _mapIndexId;
570
-
575 std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>
-
579 std::set<int> _notIndexedWords;
-
580
-
584 std::set<int> _removedIndexedWords;
-
585};
+
574 std::map<int ,int> _mapIdIndex;
+
575
+
580 std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>
+
584 std::set<int> _notIndexedWords;
+
585
+
589 std::set<int> _removedIndexedWords;
+
590};
-
586
-
587} // namespace rtabmap
+
591
+
592} // namespace rtabmap
rtabmap::FlannIndex
Nearest neighbor index over a set of features.
Definition FlannIndex.h:56
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
rtabmap::VWDictionary::getNextId
int getNextId()
Get the next available visual word ID.
diff --git a/api/latest/classrtabmap_1_1FlannIndex-members.html b/api/latest/classrtabmap_1_1FlannIndex-members.html index d0ff4a0c..5e355402 100644 --- a/api/latest/classrtabmap_1_1FlannIndex-members.html +++ b/api/latest/classrtabmap_1_1FlannIndex-members.html @@ -116,12 +116,12 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1FlannIndex.html',''); FlannIndex() (defined in rtabmap::FlannIndex)rtabmap::FlannIndex indexedFeatures() constrtabmap::FlannIndex isBuilt()rtabmap::FlannIndex - knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) constrtabmap::FlannIndex + knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true, int cores=1) constrtabmap::FlannIndex loadIndex(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)rtabmap::FlannIndex loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)rtabmap::FlannIndex memoryUsed() constrtabmap::FlannIndex NANOFLANN_INDEX_KDTREE_SINGLE enum valuertabmap::FlannIndex - radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) constrtabmap::FlannIndex + radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true, int cores=1) constrtabmap::FlannIndex release()rtabmap::FlannIndex removePoint(unsigned int index)rtabmap::FlannIndex serializeIndex(bool computeChecksum=true) constrtabmap::FlannIndex diff --git a/api/latest/classrtabmap_1_1FlannIndex.html b/api/latest/classrtabmap_1_1FlannIndex.html index 3694187d..5322932e 100644 --- a/api/latest/classrtabmap_1_1FlannIndex.html +++ b/api/latest/classrtabmap_1_1FlannIndex.html @@ -160,12 +160,12 @@ bool loadIndex (const void removePoint (unsigned int index)  Remove an indexed feature, by the index addPoints() gave for it.
  -void knnSearch (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const - Search the k nearest neighbors of each query.
-  -void radiusSearch (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const - Search the neighbors of each query within a radius.
-  +void knnSearch (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const + Search the k nearest neighbors of each query.
+  +void radiusSearch (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true, int cores=1) const + Search the neighbors of each query within a radius.
+ 

Detailed Description

Nearest neighbor index over a set of features.

@@ -510,8 +510,8 @@ bool loadIndex (const
- -

◆ knnSearch()

+ +

◆ knnSearch()

@@ -556,7 +556,13 @@ bool loadIndex (const bool  - sorted = true  + sorted = true, + + + + + int  + cores = 1  @@ -576,14 +582,15 @@ bool loadIndex (const checksNumber of leaves an approximate search visits, the exact structures ignoring it epsSearch for eps-approximate neighbors sortedGive the neighbors back by increasing distance + coresThreads for the batch search (0 = all available)
- -

◆ radiusSearch()

+ +

◆ radiusSearch()

@@ -634,7 +641,13 @@ bool loadIndex (const bool  - sorted = true  + sorted = true, + + + + + int  + cores = 1  @@ -655,6 +668,7 @@ bool loadIndex (const checksNumber of leaves an approximate search visits, the exact structures ignoring it epsSearch for eps-approximate neighbors sortedGive the neighbors back by increasing distance + coresThreads for the batch search (0 = all available) diff --git a/api/latest/classrtabmap_1_1FlannIndex.js b/api/latest/classrtabmap_1_1FlannIndex.js index 28c48ad1..a86ad66b 100644 --- a/api/latest/classrtabmap_1_1FlannIndex.js +++ b/api/latest/classrtabmap_1_1FlannIndex.js @@ -19,6 +19,6 @@ var classrtabmap_1_1FlannIndex = [ "featuresDim", "classrtabmap_1_1FlannIndex.html#a8191e3ba9cc7a5361443430171691df3", null ], [ "addPoints", "classrtabmap_1_1FlannIndex.html#a8bd8312e92376d6bf2885907f5d93c68", null ], [ "removePoint", "classrtabmap_1_1FlannIndex.html#a7d78d049ac4afb9f90fc0705506a6ce0", null ], - [ "knnSearch", "classrtabmap_1_1FlannIndex.html#accf263b21aaacf3d00e6e73ccef5cc75", null ], - [ "radiusSearch", "classrtabmap_1_1FlannIndex.html#a37bb608ab9ae1e7db35c2681a0c17eb5", null ] + [ "knnSearch", "classrtabmap_1_1FlannIndex.html#aee58e859aa067646b4c6ffd63b593928", null ], + [ "radiusSearch", "classrtabmap_1_1FlannIndex.html#a28052e827934cfbc6a9ce14f8b5714df", null ] ]; \ No newline at end of file diff --git a/api/latest/classrtabmap_1_1Parameters-members.html b/api/latest/classrtabmap_1_1Parameters-members.html index 8985870f..84b1cd99 100644 --- a/api/latest/classrtabmap_1_1Parameters-members.html +++ b/api/latest/classrtabmap_1_1Parameters-members.html @@ -234,634 +234,636 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1Parameters.html',''); 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 - 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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 - kBayesSparsePrediction()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 + defaultKpFlannThreads()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 + kBayesSparsePrediction()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 + 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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 + typeKpFlannThreads()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
diff --git a/api/latest/classrtabmap_1_1Parameters.html b/api/latest/classrtabmap_1_1Parameters.html index 8aa6a705..86f9ed4f 100644 --- a/api/latest/classrtabmap_1_1Parameters.html +++ b/api/latest/classrtabmap_1_1Parameters.html @@ -722,6 +722,15 @@ Static Public Member Functions static std::string typeKpFlannRebalancingFactor ()  Type of parameter Kp/FlannRebalancingFactor , as a string: float .
  +static std::string kKpFlannThreads () + Key of parameter Kp/FlannThreads : "Number of threads used for FLANN kNN search (batched queries). Set to 0 for all available." Default value: 1 ( int ).
+  +static int defaultKpFlannThreads () + Default value of parameter Kp/FlannThreads : 1 .
+  +static std::string typeKpFlannThreads () + Type of parameter Kp/FlannThreads , as a string: int .
+  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 ).
  @@ -5735,7 +5744,7 @@ static std::string 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:991
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:992
See also
getDefaultParameters()
The Parameter reference page, which lists every parameter with its type, default value and description.
@@ -11656,6 +11665,93 @@ The Parameter reference page, which lis

Definition at line 258 of file Parameters.h.

+ + + +

◆ kKpFlannThreads()

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

Key of parameter Kp/FlannThreads : "Number of threads used for FLANN kNN search (batched queries). Set to 0 for all available." Default value: 1 ( int ).

+ +

Definition at line 259 of file Parameters.h.

+ +
+
+ +

◆ defaultKpFlannThreads()

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

Default value of parameter Kp/FlannThreads : 1 .

+ +

Definition at line 259 of file Parameters.h.

+ +
+
+ +

◆ typeKpFlannThreads()

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

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

+ +

Definition at line 259 of file Parameters.h.

+
@@ -11683,7 +11779,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 260 of file Parameters.h.

@@ -11712,7 +11808,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/ByteToFloat : false .

-

Definition at line 259 of file Parameters.h.

+

Definition at line 260 of file Parameters.h.

@@ -11741,7 +11837,7 @@ The Parameter reference page, which lis

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

-

Definition at line 259 of file Parameters.h.

+

Definition at line 260 of file Parameters.h.

@@ -11770,7 +11866,7 @@ The Parameter reference page, which lis

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

-

Definition at line 260 of file Parameters.h.

+

Definition at line 261 of file Parameters.h.

@@ -11799,7 +11895,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/MaxDepth : 0 .

-

Definition at line 260 of file Parameters.h.

+

Definition at line 261 of file Parameters.h.

@@ -11828,7 +11924,7 @@ The Parameter reference page, which lis

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

-

Definition at line 260 of file Parameters.h.

+

Definition at line 261 of file Parameters.h.

@@ -11857,7 +11953,7 @@ The Parameter reference page, which lis

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

-

Definition at line 261 of file Parameters.h.

+

Definition at line 262 of file Parameters.h.

@@ -11886,7 +11982,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/MinDepth : 0 .

-

Definition at line 261 of file Parameters.h.

+

Definition at line 262 of file Parameters.h.

@@ -11915,7 +12011,7 @@ The Parameter reference page, which lis

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

-

Definition at line 261 of file Parameters.h.

+

Definition at line 262 of file Parameters.h.

@@ -11944,7 +12040,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 263 of file Parameters.h.

@@ -11973,7 +12069,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/MaxFeatures : 500 .

-

Definition at line 262 of file Parameters.h.

+

Definition at line 263 of file Parameters.h.

@@ -12002,7 +12098,7 @@ The Parameter reference page, which lis

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

-

Definition at line 262 of file Parameters.h.

+

Definition at line 263 of file Parameters.h.

@@ -12031,7 +12127,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 264 of file Parameters.h.

@@ -12060,7 +12156,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/SSC : false .

-

Definition at line 263 of file Parameters.h.

+

Definition at line 264 of file Parameters.h.

@@ -12089,7 +12185,7 @@ The Parameter reference page, which lis

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

-

Definition at line 263 of file Parameters.h.

+

Definition at line 264 of file Parameters.h.

@@ -12118,7 +12214,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 265 of file Parameters.h.

@@ -12147,7 +12243,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/BadSignRatio : 0.5 .

-

Definition at line 264 of file Parameters.h.

+

Definition at line 265 of file Parameters.h.

@@ -12176,7 +12272,7 @@ The Parameter reference page, which lis

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

-

Definition at line 264 of file Parameters.h.

+

Definition at line 265 of file Parameters.h.

@@ -12205,7 +12301,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 266 of file Parameters.h.

@@ -12234,7 +12330,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/NndrRatio : 0.8 .

-

Definition at line 265 of file Parameters.h.

+

Definition at line 266 of file Parameters.h.

@@ -12263,7 +12359,7 @@ The Parameter reference page, which lis

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

-

Definition at line 265 of file Parameters.h.

+

Definition at line 266 of file Parameters.h.

@@ -12292,7 +12388,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 271 of file Parameters.h.

@@ -12321,7 +12417,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/DetectorStrategy : 6 .

-

Definition at line 270 of file Parameters.h.

+

Definition at line 271 of file Parameters.h.

@@ -12350,7 +12446,7 @@ The Parameter reference page, which lis

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

-

Definition at line 270 of file Parameters.h.

+

Definition at line 271 of file Parameters.h.

@@ -12379,7 +12475,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 273 of file Parameters.h.

@@ -12408,7 +12504,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/TfIdfLikelihoodUsed : true .

-

Definition at line 272 of file Parameters.h.

+

Definition at line 273 of file Parameters.h.

@@ -12437,7 +12533,7 @@ The Parameter reference page, which lis

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

-

Definition at line 272 of file Parameters.h.

+

Definition at line 273 of file Parameters.h.

@@ -12466,7 +12562,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 274 of file Parameters.h.

@@ -12495,7 +12591,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/Parallelized : true .

-

Definition at line 273 of file Parameters.h.

+

Definition at line 274 of file Parameters.h.

@@ -12524,7 +12620,7 @@ The Parameter reference page, which lis

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

-

Definition at line 273 of file Parameters.h.

+

Definition at line 274 of file Parameters.h.

@@ -12553,7 +12649,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 275 of file Parameters.h.

@@ -12582,7 +12678,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/RoiRatios : "0.0 0.0 0.0 0.0" .

-

Definition at line 274 of file Parameters.h.

+

Definition at line 275 of file Parameters.h.

@@ -12611,7 +12707,7 @@ The Parameter reference page, which lis

Type of parameter Kp/RoiRatios , as a string: string.

-

Definition at line 274 of file Parameters.h.

+

Definition at line 275 of file Parameters.h.

@@ -12640,7 +12736,7 @@ The Parameter reference page, which lis

Key of parameter Kp/DictionaryPath : "Path of the pre-computed dictionary" Default value: "" (string).

-

Definition at line 275 of file Parameters.h.

+

Definition at line 276 of file Parameters.h.

@@ -12669,7 +12765,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/DictionaryPath : "" .

-

Definition at line 275 of file Parameters.h.

+

Definition at line 276 of file Parameters.h.

@@ -12698,7 +12794,7 @@ The Parameter reference page, which lis

Type of parameter Kp/DictionaryPath , as a string: string.

-

Definition at line 275 of file Parameters.h.

+

Definition at line 276 of file Parameters.h.

@@ -12727,7 +12823,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 277 of file Parameters.h.

@@ -12756,7 +12852,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/NewWordsComparedTogether : true .

-

Definition at line 276 of file Parameters.h.

+

Definition at line 277 of file Parameters.h.

@@ -12785,7 +12881,7 @@ The Parameter reference page, which lis

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

-

Definition at line 276 of file Parameters.h.

+

Definition at line 277 of file Parameters.h.

@@ -12814,7 +12910,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 278 of file Parameters.h.

@@ -12843,7 +12939,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/FlannIndexSaved : false .

-

Definition at line 277 of file Parameters.h.

+

Definition at line 278 of file Parameters.h.

@@ -12872,7 +12968,7 @@ The Parameter reference page, which lis

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

-

Definition at line 277 of file Parameters.h.

+

Definition at line 278 of file Parameters.h.

@@ -12901,7 +12997,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 279 of file Parameters.h.

@@ -12930,7 +13026,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/SerializeWithChecksum : true .

-

Definition at line 278 of file Parameters.h.

+

Definition at line 279 of file Parameters.h.

@@ -12959,7 +13055,7 @@ The Parameter reference page, which lis

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

-

Definition at line 278 of file Parameters.h.

+

Definition at line 279 of file Parameters.h.

@@ -12988,7 +13084,7 @@ The Parameter reference page, which lis

Key of parameter Kp/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

-

Definition at line 279 of file Parameters.h.

+

Definition at line 280 of file Parameters.h.

@@ -13017,7 +13113,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/SubPixWinSize : 3 .

-

Definition at line 279 of file Parameters.h.

+

Definition at line 280 of file Parameters.h.

@@ -13046,7 +13142,7 @@ The Parameter reference page, which lis

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

-

Definition at line 279 of file Parameters.h.

+

Definition at line 280 of file Parameters.h.

@@ -13075,7 +13171,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 281 of file Parameters.h.

@@ -13104,7 +13200,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/SubPixIterations : 0 .

-

Definition at line 280 of file Parameters.h.

+

Definition at line 281 of file Parameters.h.

@@ -13133,7 +13229,7 @@ The Parameter reference page, which lis

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

-

Definition at line 280 of file Parameters.h.

+

Definition at line 281 of file Parameters.h.

@@ -13162,7 +13258,7 @@ The Parameter reference page, which lis

Key of parameter Kp/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( double ).

-

Definition at line 281 of file Parameters.h.

+

Definition at line 282 of file Parameters.h.

@@ -13191,7 +13287,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/SubPixEps : 0.02 .

-

Definition at line 281 of file Parameters.h.

+

Definition at line 282 of file Parameters.h.

@@ -13220,7 +13316,7 @@ The Parameter reference page, which lis

Type of parameter Kp/SubPixEps , as a string: double .

-

Definition at line 281 of file Parameters.h.

+

Definition at line 282 of file Parameters.h.

@@ -13249,7 +13345,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 283 of file Parameters.h.

@@ -13278,7 +13374,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/GridRows : 1 .

-

Definition at line 282 of file Parameters.h.

+

Definition at line 283 of file Parameters.h.

@@ -13307,7 +13403,7 @@ The Parameter reference page, which lis

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

-

Definition at line 282 of file Parameters.h.

+

Definition at line 283 of file Parameters.h.

@@ -13336,7 +13432,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 284 of file Parameters.h.

@@ -13365,7 +13461,7 @@ The Parameter reference page, which lis

Default value of parameter Kp/GridCols : 1 .

-

Definition at line 283 of file Parameters.h.

+

Definition at line 284 of file Parameters.h.

@@ -13394,7 +13490,7 @@ The Parameter reference page, which lis

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

-

Definition at line 283 of file Parameters.h.

+

Definition at line 284 of file Parameters.h.

@@ -13423,7 +13519,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 287 of file Parameters.h.

@@ -13452,7 +13548,7 @@ The Parameter reference page, which lis

Default value of parameter DbSqlite3/InMemory : false .

-

Definition at line 286 of file Parameters.h.

+

Definition at line 287 of file Parameters.h.

@@ -13481,7 +13577,7 @@ The Parameter reference page, which lis

Type of parameter DbSqlite3/InMemory , as a string: bool .

-

Definition at line 286 of file Parameters.h.

+

Definition at line 287 of file Parameters.h.

@@ -13510,7 +13606,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 290 of file Parameters.h.

@@ -13539,7 +13635,7 @@ The Parameter reference page, which lis

Default value of parameter DbSqlite3/CacheSize : 10000 .

-

Definition at line 289 of file Parameters.h.

+

Definition at line 290 of file Parameters.h.

@@ -13568,7 +13664,7 @@ The Parameter reference page, which lis

Type of parameter DbSqlite3/CacheSize , as a string: unsigned int .

-

Definition at line 289 of file Parameters.h.

+

Definition at line 290 of file Parameters.h.

@@ -13597,7 +13693,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 297 of file Parameters.h.

@@ -13626,7 +13722,7 @@ The Parameter reference page, which lis

Default value of parameter DbSqlite3/JournalMode : 3 .

-

Definition at line 296 of file Parameters.h.

+

Definition at line 297 of file Parameters.h.

@@ -13655,7 +13751,7 @@ The Parameter reference page, which lis

Type of parameter DbSqlite3/JournalMode , as a string: int .

-

Definition at line 296 of file Parameters.h.

+

Definition at line 297 of file Parameters.h.

@@ -13684,7 +13780,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 302 of file Parameters.h.

@@ -13713,7 +13809,7 @@ The Parameter reference page, which lis

Default value of parameter DbSqlite3/Synchronous : 0 .

-

Definition at line 301 of file Parameters.h.

+

Definition at line 302 of file Parameters.h.

@@ -13742,7 +13838,7 @@ The Parameter reference page, which lis

Type of parameter DbSqlite3/Synchronous , as a string: int .

-

Definition at line 301 of file Parameters.h.

+

Definition at line 302 of file Parameters.h.

@@ -13771,7 +13867,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 307 of file Parameters.h.

@@ -13800,7 +13896,7 @@ The Parameter reference page, which lis

Default value of parameter DbSqlite3/TempStore : 2 .

-

Definition at line 306 of file Parameters.h.

+

Definition at line 307 of file Parameters.h.

@@ -13829,7 +13925,7 @@ The Parameter reference page, which lis

Type of parameter DbSqlite3/TempStore , as a string: int .

-

Definition at line 306 of file Parameters.h.

+

Definition at line 307 of file Parameters.h.

@@ -13858,7 +13954,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 308 of file Parameters.h.

@@ -13887,7 +13983,7 @@ The Parameter reference page, which lis

Default value of parameter Db/TargetVersion : "" .

-

Definition at line 307 of file Parameters.h.

+

Definition at line 308 of file Parameters.h.

@@ -13916,7 +14012,7 @@ The Parameter reference page, which lis

Type of parameter Db/TargetVersion , as a string: string.

-

Definition at line 307 of file Parameters.h.

+

Definition at line 308 of file Parameters.h.

@@ -13945,7 +14041,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 311 of file Parameters.h.

@@ -13974,7 +14070,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/Extended : false .

-

Definition at line 310 of file Parameters.h.

+

Definition at line 311 of file Parameters.h.

@@ -14003,7 +14099,7 @@ The Parameter reference page, which lis

Type of parameter SURF/Extended , as a string: bool .

-

Definition at line 310 of file Parameters.h.

+

Definition at line 311 of file Parameters.h.

@@ -14032,7 +14128,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 312 of file Parameters.h.

@@ -14061,7 +14157,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/HessianThreshold : 500 .

-

Definition at line 311 of file Parameters.h.

+

Definition at line 312 of file Parameters.h.

@@ -14090,7 +14186,7 @@ The Parameter reference page, which lis

Type of parameter SURF/HessianThreshold , as a string: float .

-

Definition at line 311 of file Parameters.h.

+

Definition at line 312 of file Parameters.h.

@@ -14119,7 +14215,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 313 of file Parameters.h.

@@ -14148,7 +14244,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/Octaves : 4 .

-

Definition at line 312 of file Parameters.h.

+

Definition at line 313 of file Parameters.h.

@@ -14177,7 +14273,7 @@ The Parameter reference page, which lis

Type of parameter SURF/Octaves , as a string: int .

-

Definition at line 312 of file Parameters.h.

+

Definition at line 313 of file Parameters.h.

@@ -14206,7 +14302,7 @@ The Parameter reference page, which lis

Key of parameter SURF/OctaveLayers : "Number of octave layers within each octave." Default value: 2 ( int ).

-

Definition at line 313 of file Parameters.h.

+

Definition at line 314 of file Parameters.h.

@@ -14235,7 +14331,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/OctaveLayers : 2 .

-

Definition at line 313 of file Parameters.h.

+

Definition at line 314 of file Parameters.h.

@@ -14264,7 +14360,7 @@ The Parameter reference page, which lis

Type of parameter SURF/OctaveLayers , as a string: int .

-

Definition at line 313 of file Parameters.h.

+

Definition at line 314 of file Parameters.h.

@@ -14293,7 +14389,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 315 of file Parameters.h.

@@ -14322,7 +14418,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/Upright : false .

-

Definition at line 314 of file Parameters.h.

+

Definition at line 315 of file Parameters.h.

@@ -14351,7 +14447,7 @@ The Parameter reference page, which lis

Type of parameter SURF/Upright , as a string: bool .

-

Definition at line 314 of file Parameters.h.

+

Definition at line 315 of file Parameters.h.

@@ -14380,7 +14476,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 316 of file Parameters.h.

@@ -14409,7 +14505,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/GpuVersion : false .

-

Definition at line 315 of file Parameters.h.

+

Definition at line 316 of file Parameters.h.

@@ -14438,7 +14534,7 @@ The Parameter reference page, which lis

Type of parameter SURF/GpuVersion , as a string: bool .

-

Definition at line 315 of file Parameters.h.

+

Definition at line 316 of file Parameters.h.

@@ -14467,7 +14563,7 @@ The Parameter reference page, which lis

Key of parameter SURF/GpuKeypointsRatio : "Used with SURF GPU." Default value: 0.01 ( float ).

-

Definition at line 316 of file Parameters.h.

+

Definition at line 317 of file Parameters.h.

@@ -14496,7 +14592,7 @@ The Parameter reference page, which lis

Default value of parameter SURF/GpuKeypointsRatio : 0.01 .

-

Definition at line 316 of file Parameters.h.

+

Definition at line 317 of file Parameters.h.

@@ -14525,7 +14621,7 @@ The Parameter reference page, which lis

Type of parameter SURF/GpuKeypointsRatio , as a string: float .

-

Definition at line 316 of file Parameters.h.

+

Definition at line 317 of file Parameters.h.

@@ -14554,7 +14650,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 319 of file Parameters.h.

@@ -14583,7 +14679,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/NOctaveLayers : 3 .

-

Definition at line 318 of file Parameters.h.

+

Definition at line 319 of file Parameters.h.

@@ -14612,7 +14708,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/NOctaveLayers , as a string: int .

-

Definition at line 318 of file Parameters.h.

+

Definition at line 319 of file Parameters.h.

@@ -14641,7 +14737,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 320 of file Parameters.h.

@@ -14670,7 +14766,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/ContrastThreshold : 0.04 .

-

Definition at line 319 of file Parameters.h.

+

Definition at line 320 of file Parameters.h.

@@ -14699,7 +14795,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/ContrastThreshold , as a string: double .

-

Definition at line 319 of file Parameters.h.

+

Definition at line 320 of file Parameters.h.

@@ -14728,7 +14824,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 321 of file Parameters.h.

@@ -14757,7 +14853,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/EdgeThreshold : 10 .

-

Definition at line 320 of file Parameters.h.

+

Definition at line 321 of file Parameters.h.

@@ -14786,7 +14882,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/EdgeThreshold , as a string: double .

-

Definition at line 320 of file Parameters.h.

+

Definition at line 321 of file Parameters.h.

@@ -14815,7 +14911,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 322 of file Parameters.h.

@@ -14844,7 +14940,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/Sigma : 1.6 .

-

Definition at line 321 of file Parameters.h.

+

Definition at line 322 of file Parameters.h.

@@ -14873,7 +14969,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/Sigma , as a string: double .

-

Definition at line 321 of file Parameters.h.

+

Definition at line 322 of file Parameters.h.

@@ -14902,7 +14998,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 323 of file Parameters.h.

@@ -14931,7 +15027,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/PreciseUpscale : false .

-

Definition at line 322 of file Parameters.h.

+

Definition at line 323 of file Parameters.h.

@@ -14960,7 +15056,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/PreciseUpscale , as a string: bool .

-

Definition at line 322 of file Parameters.h.

+

Definition at line 323 of file Parameters.h.

@@ -14989,7 +15085,7 @@ The Parameter reference page, which lis

Key of parameter SIFT/RootSIFT : "Apply RootSIFT normalization of the descriptors." Default value: false ( bool ).

-

Definition at line 323 of file Parameters.h.

+

Definition at line 324 of file Parameters.h.

@@ -15018,7 +15114,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/RootSIFT : false .

-

Definition at line 323 of file Parameters.h.

+

Definition at line 324 of file Parameters.h.

@@ -15047,7 +15143,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/RootSIFT , as a string: bool .

-

Definition at line 323 of file Parameters.h.

+

Definition at line 324 of file Parameters.h.

@@ -15076,7 +15172,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 325 of file Parameters.h.

@@ -15105,7 +15201,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/Gpu : false .

-

Definition at line 324 of file Parameters.h.

+

Definition at line 325 of file Parameters.h.

@@ -15134,7 +15230,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/Gpu , as a string: bool .

-

Definition at line 324 of file Parameters.h.

+

Definition at line 325 of file Parameters.h.

@@ -15163,7 +15259,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 326 of file Parameters.h.

@@ -15192,7 +15288,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/GaussianThreshold : 2.0 .

-

Definition at line 325 of file Parameters.h.

+

Definition at line 326 of file Parameters.h.

@@ -15221,7 +15317,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/GaussianThreshold , as a string: float .

-

Definition at line 325 of file Parameters.h.

+

Definition at line 326 of file Parameters.h.

@@ -15250,7 +15346,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 327 of file Parameters.h.

@@ -15279,7 +15375,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/MaxGaussianThreshold : 0.0 .

-

Definition at line 326 of file Parameters.h.

+

Definition at line 327 of file Parameters.h.

@@ -15308,7 +15404,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/MaxGaussianThreshold , as a string: float .

-

Definition at line 326 of file Parameters.h.

+

Definition at line 327 of file Parameters.h.

@@ -15337,7 +15433,7 @@ The Parameter reference page, which lis

Key of parameter SIFT/Upscale : "CudaSift: Whether to enable upscaling." Default value: false ( bool ).

-

Definition at line 327 of file Parameters.h.

+

Definition at line 328 of file Parameters.h.

@@ -15366,7 +15462,7 @@ The Parameter reference page, which lis

Default value of parameter SIFT/Upscale : false .

-

Definition at line 327 of file Parameters.h.

+

Definition at line 328 of file Parameters.h.

@@ -15395,7 +15491,7 @@ The Parameter reference page, which lis

Type of parameter SIFT/Upscale , as a string: bool .

-

Definition at line 327 of file Parameters.h.

+

Definition at line 328 of file Parameters.h.

@@ -15424,7 +15520,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 330 of file Parameters.h.

@@ -15453,7 +15549,7 @@ The Parameter reference page, which lis

Default value of parameter BRIEF/Bytes : 32 .

-

Definition at line 329 of file Parameters.h.

+

Definition at line 330 of file Parameters.h.

@@ -15482,7 +15578,7 @@ The Parameter reference page, which lis

Type of parameter BRIEF/Bytes , as a string: int .

-

Definition at line 329 of file Parameters.h.

+

Definition at line 330 of file Parameters.h.

@@ -15511,7 +15607,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 332 of file Parameters.h.

@@ -15540,7 +15636,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/Threshold : 20 .

-

Definition at line 331 of file Parameters.h.

+

Definition at line 332 of file Parameters.h.

@@ -15569,7 +15665,7 @@ The Parameter reference page, which lis

Type of parameter FAST/Threshold , as a string: int .

-

Definition at line 331 of file Parameters.h.

+

Definition at line 332 of file Parameters.h.

@@ -15598,7 +15694,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 333 of file Parameters.h.

@@ -15627,7 +15723,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/NonmaxSuppression : true .

-

Definition at line 332 of file Parameters.h.

+

Definition at line 333 of file Parameters.h.

@@ -15656,7 +15752,7 @@ The Parameter reference page, which lis

Type of parameter FAST/NonmaxSuppression , as a string: bool .

-

Definition at line 332 of file Parameters.h.

+

Definition at line 333 of file Parameters.h.

@@ -15685,7 +15781,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 334 of file Parameters.h.

@@ -15714,7 +15810,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/Gpu : false .

-

Definition at line 333 of file Parameters.h.

+

Definition at line 334 of file Parameters.h.

@@ -15743,7 +15839,7 @@ The Parameter reference page, which lis

Type of parameter FAST/Gpu , as a string: bool .

-

Definition at line 333 of file Parameters.h.

+

Definition at line 334 of file Parameters.h.

@@ -15772,7 +15868,7 @@ The Parameter reference page, which lis

Key of parameter FAST/GpuKeypointsRatio : "Used with FAST GPU." Default value: 0.05 ( double ).

-

Definition at line 334 of file Parameters.h.

+

Definition at line 335 of file Parameters.h.

@@ -15801,7 +15897,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/GpuKeypointsRatio : 0.05 .

-

Definition at line 334 of file Parameters.h.

+

Definition at line 335 of file Parameters.h.

@@ -15830,7 +15926,7 @@ The Parameter reference page, which lis

Type of parameter FAST/GpuKeypointsRatio , as a string: double .

-

Definition at line 334 of file Parameters.h.

+

Definition at line 335 of file Parameters.h.

@@ -15859,7 +15955,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 336 of file Parameters.h.

@@ -15888,7 +15984,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/MinThreshold : 7 .

-

Definition at line 335 of file Parameters.h.

+

Definition at line 336 of file Parameters.h.

@@ -15917,7 +16013,7 @@ The Parameter reference page, which lis

Type of parameter FAST/MinThreshold , as a string: int .

-

Definition at line 335 of file Parameters.h.

+

Definition at line 336 of file Parameters.h.

@@ -15946,7 +16042,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 337 of file Parameters.h.

@@ -15975,7 +16071,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/MaxThreshold : 200 .

-

Definition at line 336 of file Parameters.h.

+

Definition at line 337 of file Parameters.h.

@@ -16004,7 +16100,7 @@ The Parameter reference page, which lis

Type of parameter FAST/MaxThreshold , as a string: int .

-

Definition at line 336 of file Parameters.h.

+

Definition at line 337 of file Parameters.h.

@@ -16033,7 +16129,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 338 of file Parameters.h.

@@ -16062,7 +16158,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/GridRows : 0 .

-

Definition at line 337 of file Parameters.h.

+

Definition at line 338 of file Parameters.h.

@@ -16091,7 +16187,7 @@ The Parameter reference page, which lis

Type of parameter FAST/GridRows , as a string: int .

-

Definition at line 337 of file Parameters.h.

+

Definition at line 338 of file Parameters.h.

@@ -16120,7 +16216,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 339 of file Parameters.h.

@@ -16149,7 +16245,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/GridCols : 0 .

-

Definition at line 338 of file Parameters.h.

+

Definition at line 339 of file Parameters.h.

@@ -16178,7 +16274,7 @@ The Parameter reference page, which lis

Type of parameter FAST/GridCols , as a string: int .

-

Definition at line 338 of file Parameters.h.

+

Definition at line 339 of file Parameters.h.

@@ -16207,7 +16303,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 340 of file Parameters.h.

@@ -16236,7 +16332,7 @@ The Parameter reference page, which lis

Default value of parameter FAST/CV : 0 .

-

Definition at line 339 of file Parameters.h.

+

Definition at line 340 of file Parameters.h.

@@ -16265,7 +16361,7 @@ The Parameter reference page, which lis

Type of parameter FAST/CV , as a string: int .

-

Definition at line 339 of file Parameters.h.

+

Definition at line 340 of file Parameters.h.

@@ -16294,7 +16390,7 @@ The Parameter reference page, which lis

Key of parameter GFTT/QualityLevel : "" Default value: 0.001 ( double ).

-

Definition at line 341 of file Parameters.h.

+

Definition at line 342 of file Parameters.h.

@@ -16323,7 +16419,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/QualityLevel : 0.001 .

-

Definition at line 341 of file Parameters.h.

+

Definition at line 342 of file Parameters.h.

@@ -16352,7 +16448,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/QualityLevel , as a string: double .

-

Definition at line 341 of file Parameters.h.

+

Definition at line 342 of file Parameters.h.

@@ -16381,7 +16477,7 @@ The Parameter reference page, which lis

Key of parameter GFTT/MinDistance : "" Default value: 7 ( double ).

-

Definition at line 342 of file Parameters.h.

+

Definition at line 343 of file Parameters.h.

@@ -16410,7 +16506,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/MinDistance : 7 .

-

Definition at line 342 of file Parameters.h.

+

Definition at line 343 of file Parameters.h.

@@ -16439,7 +16535,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/MinDistance , as a string: double .

-

Definition at line 342 of file Parameters.h.

+

Definition at line 343 of file Parameters.h.

@@ -16468,7 +16564,7 @@ The Parameter reference page, which lis

Key of parameter GFTT/BlockSize : "" Default value: 3 ( int ).

-

Definition at line 343 of file Parameters.h.

+

Definition at line 344 of file Parameters.h.

@@ -16497,7 +16593,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/BlockSize : 3 .

-

Definition at line 343 of file Parameters.h.

+

Definition at line 344 of file Parameters.h.

@@ -16526,7 +16622,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/BlockSize , as a string: int .

-

Definition at line 343 of file Parameters.h.

+

Definition at line 344 of file Parameters.h.

@@ -16555,7 +16651,7 @@ The Parameter reference page, which lis

Key of parameter GFTT/UseHarrisDetector : "" Default value: false ( bool ).

-

Definition at line 344 of file Parameters.h.

+

Definition at line 345 of file Parameters.h.

@@ -16584,7 +16680,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/UseHarrisDetector : false .

-

Definition at line 344 of file Parameters.h.

+

Definition at line 345 of file Parameters.h.

@@ -16613,7 +16709,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/UseHarrisDetector , as a string: bool .

-

Definition at line 344 of file Parameters.h.

+

Definition at line 345 of file Parameters.h.

@@ -16642,7 +16738,7 @@ The Parameter reference page, which lis

Key of parameter GFTT/K : "" Default value: 0.04 ( double ).

-

Definition at line 345 of file Parameters.h.

+

Definition at line 346 of file Parameters.h.

@@ -16671,7 +16767,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/K : 0.04 .

-

Definition at line 345 of file Parameters.h.

+

Definition at line 346 of file Parameters.h.

@@ -16700,7 +16796,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/K , as a string: double .

-

Definition at line 345 of file Parameters.h.

+

Definition at line 346 of file Parameters.h.

@@ -16729,7 +16825,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 347 of file Parameters.h.

@@ -16758,7 +16854,7 @@ The Parameter reference page, which lis

Default value of parameter GFTT/Gpu : false .

-

Definition at line 346 of file Parameters.h.

+

Definition at line 347 of file Parameters.h.

@@ -16787,7 +16883,7 @@ The Parameter reference page, which lis

Type of parameter GFTT/Gpu , as a string: bool .

-

Definition at line 346 of file Parameters.h.

+

Definition at line 347 of file Parameters.h.

@@ -16816,7 +16912,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 349 of file Parameters.h.

@@ -16845,7 +16941,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/ScaleFactor : 2 .

-

Definition at line 348 of file Parameters.h.

+

Definition at line 349 of file Parameters.h.

@@ -16874,7 +16970,7 @@ The Parameter reference page, which lis

Type of parameter ORB/ScaleFactor , as a string: float .

-

Definition at line 348 of file Parameters.h.

+

Definition at line 349 of file Parameters.h.

@@ -16903,7 +16999,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 350 of file Parameters.h.

@@ -16932,7 +17028,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/NLevels : 3 .

-

Definition at line 349 of file Parameters.h.

+

Definition at line 350 of file Parameters.h.

@@ -16961,7 +17057,7 @@ The Parameter reference page, which lis

Type of parameter ORB/NLevels , as a string: int .

-

Definition at line 349 of file Parameters.h.

+

Definition at line 350 of file Parameters.h.

@@ -16990,7 +17086,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 351 of file Parameters.h.

@@ -17019,7 +17115,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/EdgeThreshold : 19 .

-

Definition at line 350 of file Parameters.h.

+

Definition at line 351 of file Parameters.h.

@@ -17048,7 +17144,7 @@ The Parameter reference page, which lis

Type of parameter ORB/EdgeThreshold , as a string: int .

-

Definition at line 350 of file Parameters.h.

+

Definition at line 351 of file Parameters.h.

@@ -17077,7 +17173,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 352 of file Parameters.h.

@@ -17106,7 +17202,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/FirstLevel : 0 .

-

Definition at line 351 of file Parameters.h.

+

Definition at line 352 of file Parameters.h.

@@ -17135,7 +17231,7 @@ The Parameter reference page, which lis

Type of parameter ORB/FirstLevel , as a string: int .

-

Definition at line 351 of file Parameters.h.

+

Definition at line 352 of file Parameters.h.

@@ -17164,7 +17260,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 353 of file Parameters.h.

@@ -17193,7 +17289,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/WTA_K : 2 .

-

Definition at line 352 of file Parameters.h.

+

Definition at line 353 of file Parameters.h.

@@ -17222,7 +17318,7 @@ The Parameter reference page, which lis

Type of parameter ORB/WTA_K , as a string: int .

-

Definition at line 352 of file Parameters.h.

+

Definition at line 353 of file Parameters.h.

@@ -17251,7 +17347,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 354 of file Parameters.h.

@@ -17280,7 +17376,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/ScoreType : 0 .

-

Definition at line 353 of file Parameters.h.

+

Definition at line 354 of file Parameters.h.

@@ -17309,7 +17405,7 @@ The Parameter reference page, which lis

Type of parameter ORB/ScoreType , as a string: int .

-

Definition at line 353 of file Parameters.h.

+

Definition at line 354 of file Parameters.h.

@@ -17338,7 +17434,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 355 of file Parameters.h.

@@ -17367,7 +17463,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/PatchSize : 31 .

-

Definition at line 354 of file Parameters.h.

+

Definition at line 355 of file Parameters.h.

@@ -17396,7 +17492,7 @@ The Parameter reference page, which lis

Type of parameter ORB/PatchSize , as a string: int .

-

Definition at line 354 of file Parameters.h.

+

Definition at line 355 of file Parameters.h.

@@ -17425,7 +17521,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 356 of file Parameters.h.

@@ -17454,7 +17550,7 @@ The Parameter reference page, which lis

Default value of parameter ORB/Gpu : false .

-

Definition at line 355 of file Parameters.h.

+

Definition at line 356 of file Parameters.h.

@@ -17483,7 +17579,7 @@ The Parameter reference page, which lis

Type of parameter ORB/Gpu , as a string: bool .

-

Definition at line 355 of file Parameters.h.

+

Definition at line 356 of file Parameters.h.

@@ -17512,7 +17608,7 @@ The Parameter reference page, which lis

Key of parameter FREAK/OrientationNormalized : "Enable orientation normalization." Default value: true ( bool ).

-

Definition at line 357 of file Parameters.h.

+

Definition at line 358 of file Parameters.h.

@@ -17541,7 +17637,7 @@ The Parameter reference page, which lis

Default value of parameter FREAK/OrientationNormalized : true .

-

Definition at line 357 of file Parameters.h.

+

Definition at line 358 of file Parameters.h.

@@ -17570,7 +17666,7 @@ The Parameter reference page, which lis

Type of parameter FREAK/OrientationNormalized , as a string: bool .

-

Definition at line 357 of file Parameters.h.

+

Definition at line 358 of file Parameters.h.

@@ -17599,7 +17695,7 @@ The Parameter reference page, which lis

Key of parameter FREAK/ScaleNormalized : "Enable scale normalization." Default value: true ( bool ).

-

Definition at line 358 of file Parameters.h.

+

Definition at line 359 of file Parameters.h.

@@ -17628,7 +17724,7 @@ The Parameter reference page, which lis

Default value of parameter FREAK/ScaleNormalized : true .

-

Definition at line 358 of file Parameters.h.

+

Definition at line 359 of file Parameters.h.

@@ -17657,7 +17753,7 @@ The Parameter reference page, which lis

Type of parameter FREAK/ScaleNormalized , as a string: bool .

-

Definition at line 358 of file Parameters.h.

+

Definition at line 359 of file Parameters.h.

@@ -17686,7 +17782,7 @@ The Parameter reference page, which lis

Key of parameter FREAK/PatternScale : "Scaling of the description pattern." Default value: 22 ( float ).

-

Definition at line 359 of file Parameters.h.

+

Definition at line 360 of file Parameters.h.

@@ -17715,7 +17811,7 @@ The Parameter reference page, which lis

Default value of parameter FREAK/PatternScale : 22 .

-

Definition at line 359 of file Parameters.h.

+

Definition at line 360 of file Parameters.h.

@@ -17744,7 +17840,7 @@ The Parameter reference page, which lis

Type of parameter FREAK/PatternScale , as a string: float .

-

Definition at line 359 of file Parameters.h.

+

Definition at line 360 of file Parameters.h.

@@ -17773,7 +17869,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 361 of file Parameters.h.

@@ -17802,7 +17898,7 @@ The Parameter reference page, which lis

Default value of parameter FREAK/NOctaves : 4 .

-

Definition at line 360 of file Parameters.h.

+

Definition at line 361 of file Parameters.h.

@@ -17831,7 +17927,7 @@ The Parameter reference page, which lis

Type of parameter FREAK/NOctaves , as a string: int .

-

Definition at line 360 of file Parameters.h.

+

Definition at line 361 of file Parameters.h.

@@ -17860,7 +17956,7 @@ The Parameter reference page, which lis

Key of parameter BRISK/Thresh : "FAST/AGAST detection threshold score." Default value: 30 ( int ).

-

Definition at line 362 of file Parameters.h.

+

Definition at line 363 of file Parameters.h.

@@ -17889,7 +17985,7 @@ The Parameter reference page, which lis

Default value of parameter BRISK/Thresh : 30 .

-

Definition at line 362 of file Parameters.h.

+

Definition at line 363 of file Parameters.h.

@@ -17918,7 +18014,7 @@ The Parameter reference page, which lis

Type of parameter BRISK/Thresh , as a string: int .

-

Definition at line 362 of file Parameters.h.

+

Definition at line 363 of file Parameters.h.

@@ -17947,7 +18043,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 364 of file Parameters.h.

@@ -17976,7 +18072,7 @@ The Parameter reference page, which lis

Default value of parameter BRISK/Octaves : 3 .

-

Definition at line 363 of file Parameters.h.

+

Definition at line 364 of file Parameters.h.

@@ -18005,7 +18101,7 @@ The Parameter reference page, which lis

Type of parameter BRISK/Octaves , as a string: int .

-

Definition at line 363 of file Parameters.h.

+

Definition at line 364 of file Parameters.h.

@@ -18034,7 +18130,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 365 of file Parameters.h.

@@ -18063,7 +18159,7 @@ The Parameter reference page, which lis

Default value of parameter BRISK/PatternScale : 1 .

-

Definition at line 364 of file Parameters.h.

+

Definition at line 365 of file Parameters.h.

@@ -18092,7 +18188,7 @@ The Parameter reference page, which lis

Type of parameter BRISK/PatternScale , as a string: float .

-

Definition at line 364 of file Parameters.h.

+

Definition at line 365 of file Parameters.h.

@@ -18121,7 +18217,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 367 of file Parameters.h.

@@ -18150,7 +18246,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/Extended : false .

-

Definition at line 366 of file Parameters.h.

+

Definition at line 367 of file Parameters.h.

@@ -18179,7 +18275,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/Extended , as a string: bool .

-

Definition at line 366 of file Parameters.h.

+

Definition at line 367 of file Parameters.h.

@@ -18208,7 +18304,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 368 of file Parameters.h.

@@ -18237,7 +18333,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/Upright : false .

-

Definition at line 367 of file Parameters.h.

+

Definition at line 368 of file Parameters.h.

@@ -18266,7 +18362,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/Upright , as a string: bool .

-

Definition at line 367 of file Parameters.h.

+

Definition at line 368 of file Parameters.h.

@@ -18295,7 +18391,7 @@ The Parameter reference page, which lis

Key of parameter KAZE/Threshold : "Detector response threshold to accept keypoint." Default value: 0.001 ( float ).

-

Definition at line 368 of file Parameters.h.

+

Definition at line 369 of file Parameters.h.

@@ -18324,7 +18420,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/Threshold : 0.001 .

-

Definition at line 368 of file Parameters.h.

+

Definition at line 369 of file Parameters.h.

@@ -18353,7 +18449,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/Threshold , as a string: float .

-

Definition at line 368 of file Parameters.h.

+

Definition at line 369 of file Parameters.h.

@@ -18382,7 +18478,7 @@ The Parameter reference page, which lis

Key of parameter KAZE/NOctaves : "Maximum octave evolution of the image." Default value: 4 ( int ).

-

Definition at line 369 of file Parameters.h.

+

Definition at line 370 of file Parameters.h.

@@ -18411,7 +18507,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/NOctaves : 4 .

-

Definition at line 369 of file Parameters.h.

+

Definition at line 370 of file Parameters.h.

@@ -18440,7 +18536,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/NOctaves , as a string: int .

-

Definition at line 369 of file Parameters.h.

+

Definition at line 370 of file Parameters.h.

@@ -18469,7 +18565,7 @@ The Parameter reference page, which lis

Key of parameter KAZE/NOctaveLayers : "Default number of sublevels per scale level." Default value: 4 ( int ).

-

Definition at line 370 of file Parameters.h.

+

Definition at line 371 of file Parameters.h.

@@ -18498,7 +18594,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/NOctaveLayers : 4 .

-

Definition at line 370 of file Parameters.h.

+

Definition at line 371 of file Parameters.h.

@@ -18527,7 +18623,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/NOctaveLayers , as a string: int .

-

Definition at line 370 of file Parameters.h.

+

Definition at line 371 of file Parameters.h.

@@ -18556,7 +18652,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 372 of file Parameters.h.

@@ -18585,7 +18681,7 @@ The Parameter reference page, which lis

Default value of parameter KAZE/Diffusivity : 1 .

-

Definition at line 371 of file Parameters.h.

+

Definition at line 372 of file Parameters.h.

@@ -18614,7 +18710,7 @@ The Parameter reference page, which lis

Type of parameter KAZE/Diffusivity , as a string: int .

-

Definition at line 371 of file Parameters.h.

+

Definition at line 372 of file Parameters.h.

@@ -18643,7 +18739,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 374 of file Parameters.h.

@@ -18672,7 +18768,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPoint/ModelPath : "" .

-

Definition at line 373 of file Parameters.h.

+

Definition at line 374 of file Parameters.h.

@@ -18701,7 +18797,7 @@ The Parameter reference page, which lis

Type of parameter SuperPoint/ModelPath , as a string: string.

-

Definition at line 373 of file Parameters.h.

+

Definition at line 374 of file Parameters.h.

@@ -18730,7 +18826,7 @@ The Parameter reference page, which lis

Key of parameter SuperPoint/Threshold : "Detector response threshold to accept keypoint." Default value: 0.010 ( float ).

-

Definition at line 374 of file Parameters.h.

+

Definition at line 375 of file Parameters.h.

@@ -18759,7 +18855,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPoint/Threshold : 0.010 .

-

Definition at line 374 of file Parameters.h.

+

Definition at line 375 of file Parameters.h.

@@ -18788,7 +18884,7 @@ The Parameter reference page, which lis

Type of parameter SuperPoint/Threshold , as a string: float .

-

Definition at line 374 of file Parameters.h.

+

Definition at line 375 of file Parameters.h.

@@ -18817,7 +18913,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 376 of file Parameters.h.

@@ -18846,7 +18942,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPoint/NMS : true .

-

Definition at line 375 of file Parameters.h.

+

Definition at line 376 of file Parameters.h.

@@ -18875,7 +18971,7 @@ The Parameter reference page, which lis

Type of parameter SuperPoint/NMS , as a string: bool .

-

Definition at line 375 of file Parameters.h.

+

Definition at line 376 of file Parameters.h.

@@ -18904,7 +19000,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 377 of file Parameters.h.

@@ -18933,7 +19029,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPoint/NMSRadius : 4 .

-

Definition at line 376 of file Parameters.h.

+

Definition at line 377 of file Parameters.h.

@@ -18962,7 +19058,7 @@ The Parameter reference page, which lis

Type of parameter SuperPoint/NMSRadius , as a string: int .

-

Definition at line 376 of file Parameters.h.

+

Definition at line 377 of file Parameters.h.

@@ -18991,7 +19087,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 378 of file Parameters.h.

@@ -19020,7 +19116,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPoint/Cuda : true .

-

Definition at line 377 of file Parameters.h.

+

Definition at line 378 of file Parameters.h.

@@ -19049,7 +19145,7 @@ The Parameter reference page, which lis

Type of parameter SuperPoint/Cuda , as a string: bool .

-

Definition at line 377 of file Parameters.h.

+

Definition at line 378 of file Parameters.h.

@@ -19078,7 +19174,7 @@ The Parameter reference page, which lis

Key of parameter SuperPointRpautrat/WeightsPath : "[Required] SuperPoint weights file (*.pth)." Default value: "" (string).

-

Definition at line 379 of file Parameters.h.

+

Definition at line 380 of file Parameters.h.

@@ -19107,7 +19203,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/WeightsPath : "" .

-

Definition at line 379 of file Parameters.h.

+

Definition at line 380 of file Parameters.h.

@@ -19136,7 +19232,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/WeightsPath , as a string: string.

-

Definition at line 379 of file Parameters.h.

+

Definition at line 380 of file Parameters.h.

@@ -19165,7 +19261,7 @@ The Parameter reference page, which lis

Key of parameter SuperPointRpautrat/ModelPath : "[Required] SuperPoint python model file (superpoint_pytorch.py)." Default value: "" (string).

-

Definition at line 380 of file Parameters.h.

+

Definition at line 381 of file Parameters.h.

@@ -19194,7 +19290,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/ModelPath : "" .

-

Definition at line 380 of file Parameters.h.

+

Definition at line 381 of file Parameters.h.

@@ -19223,7 +19319,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/ModelPath , as a string: string.

-

Definition at line 380 of file Parameters.h.

+

Definition at line 381 of file Parameters.h.

@@ -19252,7 +19348,7 @@ The Parameter reference page, which lis

Key of parameter SuperPointRpautrat/Threshold : "Detector response threshold to accept keypoint." Default value: 0.005 ( float ).

-

Definition at line 381 of file Parameters.h.

+

Definition at line 382 of file Parameters.h.

@@ -19281,7 +19377,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/Threshold : 0.005 .

-

Definition at line 381 of file Parameters.h.

+

Definition at line 382 of file Parameters.h.

@@ -19310,7 +19406,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/Threshold , as a string: float .

-

Definition at line 381 of file Parameters.h.

+

Definition at line 382 of file Parameters.h.

@@ -19339,7 +19435,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 383 of file Parameters.h.

@@ -19368,7 +19464,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/NMS : true .

-

Definition at line 382 of file Parameters.h.

+

Definition at line 383 of file Parameters.h.

@@ -19397,7 +19493,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/NMS , as a string: bool .

-

Definition at line 382 of file Parameters.h.

+

Definition at line 383 of file Parameters.h.

@@ -19426,7 +19522,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 384 of file Parameters.h.

@@ -19455,7 +19551,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/NMSRadius : 4 .

-

Definition at line 383 of file Parameters.h.

+

Definition at line 384 of file Parameters.h.

@@ -19484,7 +19580,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/NMSRadius , as a string: int .

-

Definition at line 383 of file Parameters.h.

+

Definition at line 384 of file Parameters.h.

@@ -19513,7 +19609,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 385 of file Parameters.h.

@@ -19542,7 +19638,7 @@ The Parameter reference page, which lis

Default value of parameter SuperPointRpautrat/Cuda : true .

-

Definition at line 384 of file Parameters.h.

+

Definition at line 385 of file Parameters.h.

@@ -19571,7 +19667,7 @@ The Parameter reference page, which lis

Type of parameter SuperPointRpautrat/Cuda , as a string: bool .

-

Definition at line 384 of file Parameters.h.

+

Definition at line 385 of file Parameters.h.

@@ -19600,7 +19696,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 387 of file Parameters.h.

@@ -19629,7 +19725,7 @@ The Parameter reference page, which lis

Default value of parameter PyDetector/Path : "" .

-

Definition at line 386 of file Parameters.h.

+

Definition at line 387 of file Parameters.h.

@@ -19658,7 +19754,7 @@ The Parameter reference page, which lis

Type of parameter PyDetector/Path , as a string: string.

-

Definition at line 386 of file Parameters.h.

+

Definition at line 387 of file Parameters.h.

@@ -19687,7 +19783,7 @@ The Parameter reference page, which lis

Key of parameter PyDetector/Cuda : "Use cuda." Default value: true ( bool ).

-

Definition at line 387 of file Parameters.h.

+

Definition at line 388 of file Parameters.h.

@@ -19716,7 +19812,7 @@ The Parameter reference page, which lis

Default value of parameter PyDetector/Cuda : true .

-

Definition at line 387 of file Parameters.h.

+

Definition at line 388 of file Parameters.h.

@@ -19745,7 +19841,7 @@ The Parameter reference page, which lis

Type of parameter PyDetector/Cuda , as a string: bool .

-

Definition at line 387 of file Parameters.h.

+

Definition at line 388 of file Parameters.h.

@@ -19774,7 +19870,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 391 of file Parameters.h.

@@ -19803,7 +19899,7 @@ The Parameter reference page, which lis

Default value of parameter Bayes/VirtualPlacePriorThr : 0.9 .

-

Definition at line 390 of file Parameters.h.

+

Definition at line 391 of file Parameters.h.

@@ -19832,7 +19928,7 @@ The Parameter reference page, which lis

Type of parameter Bayes/VirtualPlacePriorThr , as a string: float .

-

Definition at line 390 of file Parameters.h.

+

Definition at line 391 of file Parameters.h.

@@ -19861,7 +19957,7 @@ The Parameter reference page, which lis

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 1e-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.

+

Definition at line 392 of file Parameters.h.

@@ -19890,7 +19986,7 @@ The Parameter reference page, which lis

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 1e-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.

+

Definition at line 392 of file Parameters.h.

@@ -19919,7 +20015,7 @@ The Parameter reference page, which lis

Type of parameter Bayes/PredictionLC , as a string: string.

-

Definition at line 391 of file Parameters.h.

+

Definition at line 392 of file Parameters.h.

@@ -19948,7 +20044,7 @@ The Parameter reference page, which lis

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.

+

Definition at line 393 of file Parameters.h.

@@ -19977,7 +20073,7 @@ The Parameter reference page, which lis

Default value of parameter Bayes/FullPredictionUpdate : false .

-

Definition at line 392 of file Parameters.h.

+

Definition at line 393 of file Parameters.h.

@@ -20006,7 +20102,7 @@ The Parameter reference page, which lis

Type of parameter Bayes/FullPredictionUpdate , as a string: bool .

-

Definition at line 392 of file Parameters.h.

+

Definition at line 393 of file Parameters.h.

@@ -20035,7 +20131,7 @@ The Parameter reference page, which lis

Key of parameter Bayes/SparsePrediction : uFormat("Use a sparse representation of the prediction instead of a dense matrix, which significantly reduces memory usage and processing time on large maps. Ignored when the values of %s sum to less than 1, as the prediction is then not sparse.", kBayesPredictionLC().c_str()).c_str() Default value: true ( bool ).

-

Definition at line 393 of file Parameters.h.

+

Definition at line 394 of file Parameters.h.

@@ -20064,7 +20160,7 @@ The Parameter reference page, which lis

Default value of parameter Bayes/SparsePrediction : true .

-

Definition at line 393 of file Parameters.h.

+

Definition at line 394 of file Parameters.h.

@@ -20093,7 +20189,7 @@ The Parameter reference page, which lis

Type of parameter Bayes/SparsePrediction , as a string: bool .

-

Definition at line 393 of file Parameters.h.

+

Definition at line 394 of file Parameters.h.

@@ -20122,7 +20218,7 @@ The Parameter reference page, which lis

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 396 of file Parameters.h.

+

Definition at line 397 of file Parameters.h.

@@ -20151,7 +20247,7 @@ The Parameter reference page, which lis

Default value of parameter VhEp/Enabled : false .

-

Definition at line 396 of file Parameters.h.

+

Definition at line 397 of file Parameters.h.

@@ -20180,7 +20276,7 @@ The Parameter reference page, which lis

Type of parameter VhEp/Enabled , as a string: bool .

-

Definition at line 396 of file Parameters.h.

+

Definition at line 397 of file Parameters.h.

@@ -20209,7 +20305,7 @@ The Parameter reference page, which lis

Key of parameter VhEp/MatchCountMin : "Minimum of matching visual words pairs to accept the loop hypothesis." Default value: 8 ( int ).

-

Definition at line 397 of file Parameters.h.

+

Definition at line 398 of file Parameters.h.

@@ -20238,7 +20334,7 @@ The Parameter reference page, which lis

Default value of parameter VhEp/MatchCountMin : 8 .

-

Definition at line 397 of file Parameters.h.

+

Definition at line 398 of file Parameters.h.

@@ -20267,7 +20363,7 @@ The Parameter reference page, which lis

Type of parameter VhEp/MatchCountMin , as a string: int .

-

Definition at line 397 of file Parameters.h.

+

Definition at line 398 of file Parameters.h.

@@ -20296,7 +20392,7 @@ The Parameter reference page, which lis

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 398 of file Parameters.h.

+

Definition at line 399 of file Parameters.h.

@@ -20325,7 +20421,7 @@ The Parameter reference page, which lis

Default value of parameter VhEp/RansacParam1 : 3 .

-

Definition at line 398 of file Parameters.h.

+

Definition at line 399 of file Parameters.h.

@@ -20354,7 +20450,7 @@ The Parameter reference page, which lis

Type of parameter VhEp/RansacParam1 , as a string: float .

-

Definition at line 398 of file Parameters.h.

+

Definition at line 399 of file Parameters.h.

@@ -20383,7 +20479,7 @@ The Parameter reference page, which lis

Key of parameter VhEp/RansacParam2 : "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC." Default value: 0.99 ( float ).

-

Definition at line 399 of file Parameters.h.

+

Definition at line 400 of file Parameters.h.

@@ -20412,7 +20508,7 @@ The Parameter reference page, which lis

Default value of parameter VhEp/RansacParam2 : 0.99 .

-

Definition at line 399 of file Parameters.h.

+

Definition at line 400 of file Parameters.h.

@@ -20441,7 +20537,7 @@ The Parameter reference page, which lis

Type of parameter VhEp/RansacParam2 , as a string: float .

-

Definition at line 399 of file Parameters.h.

+

Definition at line 400 of file Parameters.h.

@@ -20470,7 +20566,7 @@ The Parameter reference page, which lis

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 402 of file Parameters.h.

+

Definition at line 403 of file Parameters.h.

@@ -20499,7 +20595,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/Enabled : true .

-

Definition at line 402 of file Parameters.h.

+

Definition at line 403 of file Parameters.h.

@@ -20528,7 +20624,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/Enabled , as a string: bool .

-

Definition at line 402 of file Parameters.h.

+

Definition at line 403 of file Parameters.h.

@@ -20557,7 +20653,7 @@ The Parameter reference page, which lis

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 403 of file Parameters.h.

+

Definition at line 404 of file Parameters.h.

@@ -20586,7 +20682,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LinearUpdate : 0.1 .

-

Definition at line 403 of file Parameters.h.

+

Definition at line 404 of file Parameters.h.

@@ -20615,7 +20711,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LinearUpdate , as a string: float .

-

Definition at line 403 of file Parameters.h.

+

Definition at line 404 of file Parameters.h.

@@ -20644,7 +20740,7 @@ The Parameter reference page, which lis

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 404 of file Parameters.h.

+

Definition at line 405 of file Parameters.h.

@@ -20673,7 +20769,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/AngularUpdate : 0.1 .

-

Definition at line 404 of file Parameters.h.

+

Definition at line 405 of file Parameters.h.

@@ -20702,7 +20798,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/AngularUpdate , as a string: float .

-

Definition at line 404 of file Parameters.h.

+

Definition at line 405 of file Parameters.h.

@@ -20731,7 +20827,7 @@ The Parameter reference page, which lis

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 405 of file Parameters.h.

+

Definition at line 406 of file Parameters.h.

@@ -20760,7 +20856,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .

-

Definition at line 405 of file Parameters.h.

+

Definition at line 406 of file Parameters.h.

@@ -20789,7 +20885,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LinearSpeedUpdate , as a string: float .

-

Definition at line 405 of file Parameters.h.

+

Definition at line 406 of file Parameters.h.

@@ -20818,7 +20914,7 @@ The Parameter reference page, which lis

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 406 of file Parameters.h.

+

Definition at line 407 of file Parameters.h.

@@ -20847,7 +20943,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .

-

Definition at line 406 of file Parameters.h.

+

Definition at line 407 of file Parameters.h.

@@ -20876,7 +20972,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/AngularSpeedUpdate , as a string: float .

-

Definition at line 406 of file Parameters.h.

+

Definition at line 407 of file Parameters.h.

@@ -20905,7 +21001,7 @@ The Parameter reference page, which lis

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 407 of file Parameters.h.

+

Definition at line 408 of file Parameters.h.

@@ -20934,7 +21030,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/AggressiveLoopThr : 0.05 .

-

Definition at line 407 of file Parameters.h.

+

Definition at line 408 of file Parameters.h.

@@ -20963,7 +21059,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/AggressiveLoopThr , as a string: float .

-

Definition at line 407 of file Parameters.h.

+

Definition at line 408 of file Parameters.h.

@@ -20992,7 +21088,7 @@ The Parameter reference page, which lis

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 408 of file Parameters.h.

+

Definition at line 409 of file Parameters.h.

@@ -21021,7 +21117,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .

-

Definition at line 408 of file Parameters.h.

+

Definition at line 409 of file Parameters.h.

@@ -21050,7 +21146,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/NewMapOdomChangeDistance , as a string: float .

-

Definition at line 408 of file Parameters.h.

+

Definition at line 409 of file Parameters.h.

@@ -21079,7 +21175,7 @@ The Parameter reference page, which lis

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 409 of file Parameters.h.

+

Definition at line 410 of file Parameters.h.

@@ -21108,7 +21204,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/OptimizeFromGraphEnd : false .

-

Definition at line 409 of file Parameters.h.

+

Definition at line 410 of file Parameters.h.

@@ -21137,7 +21233,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/OptimizeFromGraphEnd , as a string: bool .

-

Definition at line 409 of file Parameters.h.

+

Definition at line 410 of file Parameters.h.

@@ -21166,7 +21262,7 @@ The Parameter reference page, which lis

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 410 of file Parameters.h.

+

Definition at line 411 of file Parameters.h.

@@ -21195,7 +21291,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/OptimizeMaxError : 3.0 .

-

Definition at line 410 of file Parameters.h.

+

Definition at line 411 of file Parameters.h.

@@ -21224,7 +21320,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/OptimizeMaxError , as a string: float .

-

Definition at line 410 of file Parameters.h.

+

Definition at line 411 of file Parameters.h.

@@ -21253,7 +21349,7 @@ The Parameter reference page, which lis

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 411 of file Parameters.h.

+

Definition at line 412 of file Parameters.h.

@@ -21282,7 +21378,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .

-

Definition at line 411 of file Parameters.h.

+

Definition at line 412 of file Parameters.h.

@@ -21311,7 +21407,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/OptimizeMaxErrorRepairRadius , as a string: float .

-

Definition at line 411 of file Parameters.h.

+

Definition at line 412 of file Parameters.h.

@@ -21340,7 +21436,7 @@ The Parameter reference page, which lis

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 412 of file Parameters.h.

+

Definition at line 413 of file Parameters.h.

@@ -21369,7 +21465,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .

-

Definition at line 412 of file Parameters.h.

+

Definition at line 413 of file Parameters.h.

@@ -21398,7 +21494,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/MaxLoopClosureDistance , as a string: float .

-

Definition at line 412 of file Parameters.h.

+

Definition at line 413 of file Parameters.h.

@@ -21427,7 +21523,7 @@ The Parameter reference page, which lis

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 413 of file Parameters.h.

+

Definition at line 414 of file Parameters.h.

@@ -21456,7 +21552,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ForceOdom3DoF : true .

-

Definition at line 413 of file Parameters.h.

+

Definition at line 414 of file Parameters.h.

@@ -21485,7 +21581,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ForceOdom3DoF , as a string: bool .

-

Definition at line 413 of file Parameters.h.

+

Definition at line 414 of file Parameters.h.

@@ -21514,7 +21610,7 @@ The Parameter reference page, which lis

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 414 of file Parameters.h.

+

Definition at line 415 of file Parameters.h.

@@ -21543,7 +21639,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/StartAtOrigin : false .

-

Definition at line 414 of file Parameters.h.

+

Definition at line 415 of file Parameters.h.

@@ -21572,7 +21668,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/StartAtOrigin , as a string: bool .

-

Definition at line 414 of file Parameters.h.

+

Definition at line 415 of file Parameters.h.

@@ -21601,7 +21697,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/GoalReachedRadius : "Goal reached radius (m)." Default value: 0.5 ( float ).

-

Definition at line 415 of file Parameters.h.

+

Definition at line 416 of file Parameters.h.

@@ -21630,7 +21726,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/GoalReachedRadius : 0.5 .

-

Definition at line 415 of file Parameters.h.

+

Definition at line 416 of file Parameters.h.

@@ -21659,7 +21755,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/GoalReachedRadius , as a string: float .

-

Definition at line 415 of file Parameters.h.

+

Definition at line 416 of file Parameters.h.

@@ -21688,7 +21784,7 @@ The Parameter reference page, which lis

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 416 of file Parameters.h.

+

Definition at line 417 of file Parameters.h.

@@ -21717,7 +21813,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/PlanStuckIterations : 0 .

-

Definition at line 416 of file Parameters.h.

+

Definition at line 417 of file Parameters.h.

@@ -21746,7 +21842,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/PlanStuckIterations , as a string: int .

-

Definition at line 416 of file Parameters.h.

+

Definition at line 417 of file Parameters.h.

@@ -21775,7 +21871,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/PlanLinearVelocity : "Linear velocity (m/sec) used to compute path weights." Default value: 0 ( float ).

-

Definition at line 417 of file Parameters.h.

+

Definition at line 418 of file Parameters.h.

@@ -21804,7 +21900,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/PlanLinearVelocity : 0 .

-

Definition at line 417 of file Parameters.h.

+

Definition at line 418 of file Parameters.h.

@@ -21833,7 +21929,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/PlanLinearVelocity , as a string: float .

-

Definition at line 417 of file Parameters.h.

+

Definition at line 418 of file Parameters.h.

@@ -21862,7 +21958,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/PlanAngularVelocity : "Angular velocity (rad/sec) used to compute path weights." Default value: 0 ( float ).

-

Definition at line 418 of file Parameters.h.

+

Definition at line 419 of file Parameters.h.

@@ -21891,7 +21987,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/PlanAngularVelocity : 0 .

-

Definition at line 418 of file Parameters.h.

+

Definition at line 419 of file Parameters.h.

@@ -21920,7 +22016,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/PlanAngularVelocity , as a string: float .

-

Definition at line 418 of file Parameters.h.

+

Definition at line 419 of file Parameters.h.

@@ -21949,7 +22045,7 @@ The Parameter reference page, which lis

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 419 of file Parameters.h.

+

Definition at line 420 of file Parameters.h.

@@ -21978,7 +22074,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/GoalsSavedInUserData : false .

-

Definition at line 419 of file Parameters.h.

+

Definition at line 420 of file Parameters.h.

@@ -22007,7 +22103,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/GoalsSavedInUserData , as a string: bool .

-

Definition at line 419 of file Parameters.h.

+

Definition at line 420 of file Parameters.h.

@@ -22036,7 +22132,7 @@ The Parameter reference page, which lis

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 420 of file Parameters.h.

+

Definition at line 421 of file Parameters.h.

@@ -22065,7 +22161,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/MaxLocalRetrieved : 2 .

-

Definition at line 420 of file Parameters.h.

+

Definition at line 421 of file Parameters.h.

@@ -22094,7 +22190,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/MaxLocalRetrieved , as a string: unsigned int .

-

Definition at line 420 of file Parameters.h.

+

Definition at line 421 of file Parameters.h.

@@ -22123,7 +22219,7 @@ The Parameter reference page, which lis

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 ).

-

Definition at line 421 of file Parameters.h.

+

Definition at line 422 of file Parameters.h.

@@ -22152,7 +22248,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalRadius : 10 .

-

Definition at line 421 of file Parameters.h.

+

Definition at line 422 of file Parameters.h.

@@ -22181,7 +22277,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalRadius , as a string: float .

-

Definition at line 421 of file Parameters.h.

+

Definition at line 422 of file Parameters.h.

@@ -22210,7 +22306,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/LocalImmunizationRatio : "Ratio of working memory for which local nodes are immunized from transfer." Default value: 0.25 ( float ).

-

Definition at line 422 of file Parameters.h.

+

Definition at line 423 of file Parameters.h.

@@ -22239,7 +22335,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .

-

Definition at line 422 of file Parameters.h.

+

Definition at line 423 of file Parameters.h.

@@ -22268,7 +22364,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalImmunizationRatio , as a string: float .

-

Definition at line 422 of file Parameters.h.

+

Definition at line 423 of file Parameters.h.

@@ -22297,7 +22393,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/ScanMatchingIdsSavedInLinks : "Save scan matching IDs from one-to-many proximity detection in link's user data." Default value: true ( bool ).

-

Definition at line 423 of file Parameters.h.

+

Definition at line 424 of file Parameters.h.

@@ -22326,7 +22422,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .

-

Definition at line 423 of file Parameters.h.

+

Definition at line 424 of file Parameters.h.

@@ -22355,7 +22451,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ScanMatchingIdsSavedInLinks , as a string: bool .

-

Definition at line 423 of file Parameters.h.

+

Definition at line 424 of file Parameters.h.

@@ -22384,7 +22480,7 @@ The Parameter reference page, which lis

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 424 of file Parameters.h.

+

Definition at line 425 of file Parameters.h.

@@ -22413,7 +22509,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/NeighborLinkRefining : false .

-

Definition at line 424 of file Parameters.h.

+

Definition at line 425 of file Parameters.h.

@@ -22442,7 +22538,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/NeighborLinkRefining , as a string: bool .

-

Definition at line 424 of file Parameters.h.

+

Definition at line 425 of file Parameters.h.

@@ -22471,7 +22567,7 @@ The Parameter reference page, which lis

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 425 of file Parameters.h.

+

Definition at line 426 of file Parameters.h.

@@ -22500,7 +22596,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LoopClosureIdentityGuess : false .

-

Definition at line 425 of file Parameters.h.

+

Definition at line 426 of file Parameters.h.

@@ -22529,7 +22625,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LoopClosureIdentityGuess , as a string: bool .

-

Definition at line 425 of file Parameters.h.

+

Definition at line 426 of file Parameters.h.

@@ -22558,7 +22654,7 @@ The Parameter reference page, which lis

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 426 of file Parameters.h.

+

Definition at line 427 of file Parameters.h.

@@ -22587,7 +22683,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LoopClosureReextractFeatures : false .

-

Definition at line 426 of file Parameters.h.

+

Definition at line 427 of file Parameters.h.

@@ -22616,7 +22712,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LoopClosureReextractFeatures , as a string: bool .

-

Definition at line 426 of file Parameters.h.

+

Definition at line 427 of file Parameters.h.

@@ -22645,7 +22741,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/LocalBundleOnLoopClosure : "Do local bundle adjustment with neighborhood of the loop closure." Default value: false ( bool ).

-

Definition at line 427 of file Parameters.h.

+

Definition at line 428 of file Parameters.h.

@@ -22674,7 +22770,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalBundleOnLoopClosure : false .

-

Definition at line 427 of file Parameters.h.

+

Definition at line 428 of file Parameters.h.

@@ -22703,7 +22799,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalBundleOnLoopClosure , as a string: bool .

-

Definition at line 427 of file Parameters.h.

+

Definition at line 428 of file Parameters.h.

@@ -22732,7 +22828,7 @@ The Parameter reference page, which lis

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 428 of file Parameters.h.

+

Definition at line 429 of file Parameters.h.

@@ -22761,7 +22857,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/InvertedReg : false .

-

Definition at line 428 of file Parameters.h.

+

Definition at line 429 of file Parameters.h.

@@ -22790,7 +22886,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/InvertedReg , as a string: bool .

-

Definition at line 428 of file Parameters.h.

+

Definition at line 429 of file Parameters.h.

@@ -22819,7 +22915,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/CreateOccupancyGrid : "Create local occupancy grid maps. See \"Grid\" group for parameters." Default value: false ( bool ).

-

Definition at line 429 of file Parameters.h.

+

Definition at line 430 of file Parameters.h.

@@ -22848,7 +22944,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/CreateOccupancyGrid : false .

-

Definition at line 429 of file Parameters.h.

+

Definition at line 430 of file Parameters.h.

@@ -22877,7 +22973,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/CreateOccupancyGrid , as a string: bool .

-

Definition at line 429 of file Parameters.h.

+

Definition at line 430 of file Parameters.h.

@@ -22906,7 +23002,7 @@ The Parameter reference page, which lis

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 430 of file Parameters.h.

+

Definition at line 431 of file Parameters.h.

@@ -22935,7 +23031,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/MarkerDetection : false .

-

Definition at line 430 of file Parameters.h.

+

Definition at line 431 of file Parameters.h.

@@ -22964,7 +23060,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/MarkerDetection , as a string: bool .

-

Definition at line 430 of file Parameters.h.

+

Definition at line 431 of file Parameters.h.

@@ -22993,7 +23089,7 @@ The Parameter reference page, which lis

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 431 of file Parameters.h.

+

Definition at line 432 of file Parameters.h.

@@ -23022,7 +23118,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LoopCovLimited : false .

-

Definition at line 431 of file Parameters.h.

+

Definition at line 432 of file Parameters.h.

@@ -23051,7 +23147,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LoopCovLimited , as a string: bool .

-

Definition at line 431 of file Parameters.h.

+

Definition at line 432 of file Parameters.h.

@@ -23080,7 +23176,7 @@ The Parameter reference page, which lis

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 432 of file Parameters.h.

+

Definition at line 433 of file Parameters.h.

@@ -23109,7 +23205,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/MaxOdomCacheSize : 10 .

-

Definition at line 432 of file Parameters.h.

+

Definition at line 433 of file Parameters.h.

@@ -23138,7 +23234,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/MaxOdomCacheSize , as a string: int .

-

Definition at line 432 of file Parameters.h.

+

Definition at line 433 of file Parameters.h.

@@ -23167,7 +23263,7 @@ The Parameter reference page, which lis

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 433 of file Parameters.h.

+

Definition at line 434 of file Parameters.h.

@@ -23196,7 +23292,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalizationSmoothing : true .

-

Definition at line 433 of file Parameters.h.

+

Definition at line 434 of file Parameters.h.

@@ -23225,7 +23321,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalizationSmoothing , as a string: bool .

-

Definition at line 433 of file Parameters.h.

+

Definition at line 434 of file Parameters.h.

@@ -23254,7 +23350,7 @@ The Parameter reference page, which lis

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 434 of file Parameters.h.

+

Definition at line 435 of file Parameters.h.

@@ -23283,7 +23379,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalizationPriorError : 0.001 .

-

Definition at line 434 of file Parameters.h.

+

Definition at line 435 of file Parameters.h.

@@ -23312,7 +23408,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalizationPriorError , as a string: double .

-

Definition at line 434 of file Parameters.h.

+

Definition at line 435 of file Parameters.h.

@@ -23341,7 +23437,7 @@ The Parameter reference page, which lis

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 435 of file Parameters.h.

+

Definition at line 436 of file Parameters.h.

@@ -23370,7 +23466,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .

-

Definition at line 435 of file Parameters.h.

+

Definition at line 436 of file Parameters.h.

@@ -23399,7 +23495,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/LocalizationSecondTryWithoutProximityLinks , as a string: bool .

-

Definition at line 435 of file Parameters.h.

+

Definition at line 436 of file Parameters.h.

@@ -23428,7 +23524,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/ProximityByTime : "Detection over all locations in STM." Default value: false ( bool ).

-

Definition at line 438 of file Parameters.h.

+

Definition at line 439 of file Parameters.h.

@@ -23457,7 +23553,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityByTime : false .

-

Definition at line 438 of file Parameters.h.

+

Definition at line 439 of file Parameters.h.

@@ -23486,7 +23582,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityByTime , as a string: bool .

-

Definition at line 438 of file Parameters.h.

+

Definition at line 439 of file Parameters.h.

@@ -23515,7 +23611,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/ProximityBySpace : "Detection over locations (in Working Memory) near in space." Default value: true ( bool ).

-

Definition at line 439 of file Parameters.h.

+

Definition at line 440 of file Parameters.h.

@@ -23544,7 +23640,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityBySpace : true .

-

Definition at line 439 of file Parameters.h.

+

Definition at line 440 of file Parameters.h.

@@ -23573,7 +23669,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityBySpace , as a string: bool .

-

Definition at line 439 of file Parameters.h.

+

Definition at line 440 of file Parameters.h.

@@ -23602,7 +23698,7 @@ The Parameter reference page, which lis

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 ).

-

Definition at line 440 of file Parameters.h.

+

Definition at line 441 of file Parameters.h.

@@ -23631,7 +23727,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .

-

Definition at line 440 of file Parameters.h.

+

Definition at line 441 of file Parameters.h.

@@ -23660,7 +23756,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityMaxGraphDepth , as a string: int .

-

Definition at line 440 of file Parameters.h.

+

Definition at line 441 of file Parameters.h.

@@ -23689,7 +23785,7 @@ The Parameter reference page, which lis

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 441 of file Parameters.h.

+

Definition at line 442 of file Parameters.h.

@@ -23718,7 +23814,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityMaxPaths : 3 .

-

Definition at line 441 of file Parameters.h.

+

Definition at line 442 of file Parameters.h.

@@ -23747,7 +23843,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityMaxPaths , as a string: int .

-

Definition at line 441 of file Parameters.h.

+

Definition at line 442 of file Parameters.h.

@@ -23776,7 +23872,7 @@ The Parameter reference page, which lis

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 442 of file Parameters.h.

+

Definition at line 443 of file Parameters.h.

@@ -23805,7 +23901,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .

-

Definition at line 442 of file Parameters.h.

+

Definition at line 443 of file Parameters.h.

@@ -23834,7 +23930,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityPathFilteringRadius , as a string: float .

-

Definition at line 442 of file Parameters.h.

+

Definition at line 443 of file Parameters.h.

@@ -23863,7 +23959,7 @@ The Parameter reference page, which lis

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 443 of file Parameters.h.

+

Definition at line 444 of file Parameters.h.

@@ -23892,7 +23988,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .

-

Definition at line 443 of file Parameters.h.

+

Definition at line 444 of file Parameters.h.

@@ -23921,7 +24017,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityPathMaxNeighbors , as a string: int .

-

Definition at line 443 of file Parameters.h.

+

Definition at line 444 of file Parameters.h.

@@ -23950,7 +24046,7 @@ The Parameter reference page, which lis

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 444 of file Parameters.h.

+

Definition at line 445 of file Parameters.h.

@@ -23979,7 +24075,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityPathRawPosesUsed : true .

-

Definition at line 444 of file Parameters.h.

+

Definition at line 445 of file Parameters.h.

@@ -24008,7 +24104,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityPathRawPosesUsed , as a string: bool .

-

Definition at line 444 of file Parameters.h.

+

Definition at line 445 of file Parameters.h.

@@ -24037,7 +24133,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/ProximityAngle : "Maximum angle (degrees) for one-to-one proximity detection." Default value: 45 ( float ).

-

Definition at line 445 of file Parameters.h.

+

Definition at line 446 of file Parameters.h.

@@ -24066,7 +24162,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityAngle : 45 .

-

Definition at line 445 of file Parameters.h.

+

Definition at line 446 of file Parameters.h.

@@ -24095,7 +24191,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityAngle , as a string: float .

-

Definition at line 445 of file Parameters.h.

+

Definition at line 446 of file Parameters.h.

@@ -24124,7 +24220,7 @@ The Parameter reference page, which lis

Key of parameter RGBD/ProximityOdomGuess : "Use odometry as motion guess for one-to-one proximity detection." Default value: false ( bool ).

-

Definition at line 446 of file Parameters.h.

+

Definition at line 447 of file Parameters.h.

@@ -24153,7 +24249,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityOdomGuess : false .

-

Definition at line 446 of file Parameters.h.

+

Definition at line 447 of file Parameters.h.

@@ -24182,7 +24278,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityOdomGuess , as a string: bool .

-

Definition at line 446 of file Parameters.h.

+

Definition at line 447 of file Parameters.h.

@@ -24211,7 +24307,7 @@ The Parameter reference page, which lis

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 447 of file Parameters.h.

+

Definition at line 448 of file Parameters.h.

@@ -24240,7 +24336,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityGlobalScanMap : false .

-

Definition at line 447 of file Parameters.h.

+

Definition at line 448 of file Parameters.h.

@@ -24269,7 +24365,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityGlobalScanMap , as a string: bool .

-

Definition at line 447 of file Parameters.h.

+

Definition at line 448 of file Parameters.h.

@@ -24298,7 +24394,7 @@ The Parameter reference page, which lis

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 448 of file Parameters.h.

+

Definition at line 449 of file Parameters.h.

@@ -24327,7 +24423,7 @@ The Parameter reference page, which lis

Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .

-

Definition at line 448 of file Parameters.h.

+

Definition at line 449 of file Parameters.h.

@@ -24356,7 +24452,7 @@ The Parameter reference page, which lis

Type of parameter RGBD/ProximityMergedScanCovFactor , as a string: double .

-

Definition at line 448 of file Parameters.h.

+

Definition at line 449 of file Parameters.h.

@@ -24385,7 +24481,7 @@ The Parameter reference page, which lis

Key of parameter Optimizer/Strategy : "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres." Default value: 0 ( int ).

-

Definition at line 466 of file Parameters.h.

+

Definition at line 467 of file Parameters.h.

@@ -24414,7 +24510,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/Strategy : 0 .

-

Definition at line 466 of file Parameters.h.

+

Definition at line 467 of file Parameters.h.

@@ -24443,7 +24539,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/Strategy , as a string: int .

-

Definition at line 466 of file Parameters.h.

+

Definition at line 467 of file Parameters.h.

@@ -24472,7 +24568,7 @@ The Parameter reference page, which lis

Key of parameter Optimizer/Iterations : "Optimization iterations." Default value: 100 ( int ).

-

Definition at line 467 of file Parameters.h.

+

Definition at line 468 of file Parameters.h.

@@ -24501,7 +24597,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/Iterations : 100 .

-

Definition at line 467 of file Parameters.h.

+

Definition at line 468 of file Parameters.h.

@@ -24530,7 +24626,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/Iterations , as a string: int .

-

Definition at line 467 of file Parameters.h.

+

Definition at line 468 of file Parameters.h.

@@ -24559,7 +24655,7 @@ The Parameter reference page, which lis

Key of parameter Optimizer/Epsilon : "Stop optimizing when the error improvement is less than this value." Default value: 0.00001 ( double ).

-

Definition at line 468 of file Parameters.h.

+

Definition at line 469 of file Parameters.h.

@@ -24588,7 +24684,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/Epsilon : 0.00001 .

-

Definition at line 468 of file Parameters.h.

+

Definition at line 469 of file Parameters.h.

@@ -24617,7 +24713,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/Epsilon , as a string: double .

-

Definition at line 468 of file Parameters.h.

+

Definition at line 469 of file Parameters.h.

@@ -24646,7 +24742,7 @@ The Parameter reference page, which lis

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 472 of file Parameters.h.

+

Definition at line 473 of file Parameters.h.

@@ -24675,7 +24771,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/VarianceIgnored : false .

-

Definition at line 472 of file Parameters.h.

+

Definition at line 473 of file Parameters.h.

@@ -24704,7 +24800,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/VarianceIgnored , as a string: bool .

-

Definition at line 472 of file Parameters.h.

+

Definition at line 473 of file Parameters.h.

@@ -24733,7 +24829,7 @@ The Parameter reference page, which lis

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 473 of file Parameters.h.

+

Definition at line 474 of file Parameters.h.

@@ -24762,7 +24858,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/Robust : false .

-

Definition at line 473 of file Parameters.h.

+

Definition at line 474 of file Parameters.h.

@@ -24791,7 +24887,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/Robust , as a string: bool .

-

Definition at line 473 of file Parameters.h.

+

Definition at line 474 of file Parameters.h.

@@ -24820,7 +24916,7 @@ The Parameter reference page, which lis

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 474 of file Parameters.h.

+

Definition at line 475 of file Parameters.h.

@@ -24849,7 +24945,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/PriorsIgnored : true .

-

Definition at line 474 of file Parameters.h.

+

Definition at line 475 of file Parameters.h.

@@ -24878,7 +24974,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/PriorsIgnored , as a string: bool .

-

Definition at line 474 of file Parameters.h.

+

Definition at line 475 of file Parameters.h.

@@ -24907,7 +25003,7 @@ The Parameter reference page, which lis

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 475 of file Parameters.h.

+

Definition at line 476 of file Parameters.h.

@@ -24936,7 +25032,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/LandmarksIgnored : false .

-

Definition at line 475 of file Parameters.h.

+

Definition at line 476 of file Parameters.h.

@@ -24965,7 +25061,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/LandmarksIgnored , as a string: bool .

-

Definition at line 475 of file Parameters.h.

+

Definition at line 476 of file Parameters.h.

@@ -24994,7 +25090,7 @@ The Parameter reference page, which lis

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 479 of file Parameters.h.

+

Definition at line 480 of file Parameters.h.

@@ -25023,7 +25119,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/GravitySigma : 0.0 .

-

Definition at line 479 of file Parameters.h.

+

Definition at line 480 of file Parameters.h.

@@ -25052,7 +25148,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/GravitySigma , as a string: float .

-

Definition at line 479 of file Parameters.h.

+

Definition at line 480 of file Parameters.h.

@@ -25081,7 +25177,7 @@ The Parameter reference page, which lis

Key of parameter g2o/Solver : "0=csparse 1=pcg 2=cholmod 3=Eigen" Default value: 0 ( int ).

-

Definition at line 485 of file Parameters.h.

+

Definition at line 486 of file Parameters.h.

@@ -25110,7 +25206,7 @@ The Parameter reference page, which lis

Default value of parameter g2o/Solver : 0 .

-

Definition at line 485 of file Parameters.h.

+

Definition at line 486 of file Parameters.h.

@@ -25139,7 +25235,7 @@ The Parameter reference page, which lis

Type of parameter g2o/Solver , as a string: int .

-

Definition at line 485 of file Parameters.h.

+

Definition at line 486 of file Parameters.h.

@@ -25168,7 +25264,7 @@ The Parameter reference page, which lis

Key of parameter g2o/Optimizer : "0=Levenberg 1=GaussNewton" Default value: 0 ( int ).

-

Definition at line 487 of file Parameters.h.

+

Definition at line 488 of file Parameters.h.

@@ -25197,7 +25293,7 @@ The Parameter reference page, which lis

Default value of parameter g2o/Optimizer : 0 .

-

Definition at line 487 of file Parameters.h.

+

Definition at line 488 of file Parameters.h.

@@ -25226,7 +25322,7 @@ The Parameter reference page, which lis

Type of parameter g2o/Optimizer , as a string: int .

-

Definition at line 487 of file Parameters.h.

+

Definition at line 488 of file Parameters.h.

@@ -25255,7 +25351,7 @@ The Parameter reference page, which lis

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 489 of file Parameters.h.

+

Definition at line 490 of file Parameters.h.

@@ -25284,7 +25380,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/Baseline : 0.075 .

-

Definition at line 489 of file Parameters.h.

+

Definition at line 490 of file Parameters.h.

@@ -25313,7 +25409,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/Baseline , as a string: double .

-

Definition at line 489 of file Parameters.h.

+

Definition at line 490 of file Parameters.h.

@@ -25342,7 +25438,7 @@ The Parameter reference page, which lis

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 490 of file Parameters.h.

+

Definition at line 491 of file Parameters.h.

@@ -25371,7 +25467,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/PixelVariance : 1.0 .

-

Definition at line 490 of file Parameters.h.

+

Definition at line 491 of file Parameters.h.

@@ -25400,7 +25496,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/PixelVariance , as a string: double .

-

Definition at line 490 of file Parameters.h.

+

Definition at line 491 of file Parameters.h.

@@ -25429,7 +25525,7 @@ The Parameter reference page, which lis

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 491 of file Parameters.h.

+

Definition at line 492 of file Parameters.h.

@@ -25458,7 +25554,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/DisparityVariance : 1.0 .

-

Definition at line 491 of file Parameters.h.

+

Definition at line 492 of file Parameters.h.

@@ -25487,7 +25583,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/DisparityVariance , as a string: double .

-

Definition at line 491 of file Parameters.h.

+

Definition at line 492 of file Parameters.h.

@@ -25516,7 +25612,7 @@ The Parameter reference page, which lis

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 492 of file Parameters.h.

+

Definition at line 493 of file Parameters.h.

@@ -25545,7 +25641,7 @@ The Parameter reference page, which lis

Default value of parameter Optimizer/RobustKernelDelta : 8 .

-

Definition at line 492 of file Parameters.h.

+

Definition at line 493 of file Parameters.h.

@@ -25574,7 +25670,7 @@ The Parameter reference page, which lis

Type of parameter Optimizer/RobustKernelDelta , as a string: double .

-

Definition at line 492 of file Parameters.h.

+

Definition at line 493 of file Parameters.h.

@@ -25603,7 +25699,7 @@ The Parameter reference page, which lis

Key of parameter GTSAM/Optimizer : "0=Levenberg 1=GaussNewton 2=Dogleg" Default value: 1 ( int ).

-

Definition at line 494 of file Parameters.h.

+

Definition at line 495 of file Parameters.h.

@@ -25632,7 +25728,7 @@ The Parameter reference page, which lis

Default value of parameter GTSAM/Optimizer : 1 .

-

Definition at line 494 of file Parameters.h.

+

Definition at line 495 of file Parameters.h.

@@ -25661,7 +25757,7 @@ The Parameter reference page, which lis

Type of parameter GTSAM/Optimizer , as a string: int .

-

Definition at line 494 of file Parameters.h.

+

Definition at line 495 of file Parameters.h.

@@ -25690,7 +25786,7 @@ The Parameter reference page, which lis

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 495 of file Parameters.h.

+

Definition at line 496 of file Parameters.h.

@@ -25719,7 +25815,7 @@ The Parameter reference page, which lis

Default value of parameter GTSAM/Incremental : false .

-

Definition at line 495 of file Parameters.h.

+

Definition at line 496 of file Parameters.h.

@@ -25748,7 +25844,7 @@ The Parameter reference page, which lis

Type of parameter GTSAM/Incremental , as a string: bool .

-

Definition at line 495 of file Parameters.h.

+

Definition at line 496 of file Parameters.h.

@@ -25777,7 +25873,7 @@ The Parameter reference page, which lis

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 496 of file Parameters.h.

+

Definition at line 497 of file Parameters.h.

@@ -25806,7 +25902,7 @@ The Parameter reference page, which lis

Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .

-

Definition at line 496 of file Parameters.h.

+

Definition at line 497 of file Parameters.h.

@@ -25835,7 +25931,7 @@ The Parameter reference page, which lis

Type of parameter GTSAM/IncRelinearizeThreshold , as a string: double .

-

Definition at line 496 of file Parameters.h.

+

Definition at line 497 of file Parameters.h.

@@ -25864,7 +25960,7 @@ The Parameter reference page, which lis

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 497 of file Parameters.h.

+

Definition at line 498 of file Parameters.h.

@@ -25893,7 +25989,7 @@ The Parameter reference page, which lis

Default value of parameter GTSAM/IncRelinearizeSkip : 1 .

-

Definition at line 497 of file Parameters.h.

+

Definition at line 498 of file Parameters.h.

@@ -25922,7 +26018,7 @@ The Parameter reference page, which lis

Type of parameter GTSAM/IncRelinearizeSkip , as a string: int .

-

Definition at line 497 of file Parameters.h.

+

Definition at line 498 of file Parameters.h.

@@ -25951,7 +26047,7 @@ The Parameter reference page, which lis

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 500 of file Parameters.h.

+

Definition at line 501 of file Parameters.h.

@@ -25980,7 +26076,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/Strategy : 0 .

-

Definition at line 500 of file Parameters.h.

+

Definition at line 501 of file Parameters.h.

@@ -26009,7 +26105,7 @@ The Parameter reference page, which lis

Type of parameter Odom/Strategy , as a string: int .

-

Definition at line 500 of file Parameters.h.

+

Definition at line 501 of file Parameters.h.

@@ -26038,7 +26134,7 @@ The Parameter reference page, which lis

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 501 of file Parameters.h.

+

Definition at line 502 of file Parameters.h.

@@ -26067,7 +26163,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ResetCountdown : 0 .

-

Definition at line 501 of file Parameters.h.

+

Definition at line 502 of file Parameters.h.

@@ -26096,7 +26192,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ResetCountdown , as a string: int .

-

Definition at line 501 of file Parameters.h.

+

Definition at line 502 of file Parameters.h.

@@ -26125,7 +26221,7 @@ The Parameter reference page, which lis

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 502 of file Parameters.h.

+

Definition at line 503 of file Parameters.h.

@@ -26154,7 +26250,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/Holonomic : true .

-

Definition at line 502 of file Parameters.h.

+

Definition at line 503 of file Parameters.h.

@@ -26183,7 +26279,7 @@ The Parameter reference page, which lis

Type of parameter Odom/Holonomic , as a string: bool .

-

Definition at line 502 of file Parameters.h.

+

Definition at line 503 of file Parameters.h.

@@ -26212,7 +26308,7 @@ The Parameter reference page, which lis

Key of parameter Odom/FillInfoData : "Fill info with data (inliers/outliers features)." Default value: true ( bool ).

-

Definition at line 503 of file Parameters.h.

+

Definition at line 504 of file Parameters.h.

@@ -26241,7 +26337,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/FillInfoData : true .

-

Definition at line 503 of file Parameters.h.

+

Definition at line 504 of file Parameters.h.

@@ -26270,7 +26366,7 @@ The Parameter reference page, which lis

Type of parameter Odom/FillInfoData , as a string: bool .

-

Definition at line 503 of file Parameters.h.

+

Definition at line 504 of file Parameters.h.

@@ -26299,7 +26395,7 @@ The Parameter reference page, which lis

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

-

Definition at line 504 of file Parameters.h.

+

Definition at line 505 of file Parameters.h.

@@ -26328,7 +26424,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ImageBufferSize : 1 .

-

Definition at line 504 of file Parameters.h.

+

Definition at line 505 of file Parameters.h.

@@ -26357,7 +26453,7 @@ The Parameter reference page, which lis

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

-

Definition at line 504 of file Parameters.h.

+

Definition at line 505 of file Parameters.h.

@@ -26386,7 +26482,7 @@ The Parameter reference page, which lis

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 505 of file Parameters.h.

+

Definition at line 506 of file Parameters.h.

@@ -26415,7 +26511,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/FilteringStrategy : 0 .

-

Definition at line 505 of file Parameters.h.

+

Definition at line 506 of file Parameters.h.

@@ -26444,7 +26540,7 @@ The Parameter reference page, which lis

Type of parameter Odom/FilteringStrategy , as a string: int .

-

Definition at line 505 of file Parameters.h.

+

Definition at line 506 of file Parameters.h.

@@ -26473,7 +26569,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ParticleSize : "Number of particles of the filter." Default value: 400 ( unsigned int ).

-

Definition at line 506 of file Parameters.h.

+

Definition at line 507 of file Parameters.h.

@@ -26502,7 +26598,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ParticleSize : 400 .

-

Definition at line 506 of file Parameters.h.

+

Definition at line 507 of file Parameters.h.

@@ -26531,7 +26627,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ParticleSize , as a string: unsigned int .

-

Definition at line 506 of file Parameters.h.

+

Definition at line 507 of file Parameters.h.

@@ -26560,7 +26656,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ParticleNoiseT : "Noise (m) of translation components (x,y,z)." Default value: 0.002 ( float ).

-

Definition at line 507 of file Parameters.h.

+

Definition at line 508 of file Parameters.h.

@@ -26589,7 +26685,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ParticleNoiseT : 0.002 .

-

Definition at line 507 of file Parameters.h.

+

Definition at line 508 of file Parameters.h.

@@ -26618,7 +26714,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ParticleNoiseT , as a string: float .

-

Definition at line 507 of file Parameters.h.

+

Definition at line 508 of file Parameters.h.

@@ -26647,7 +26743,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ParticleLambdaT : "Lambda of translation components (x,y,z)." Default value: 100 ( float ).

-

Definition at line 508 of file Parameters.h.

+

Definition at line 509 of file Parameters.h.

@@ -26676,7 +26772,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ParticleLambdaT : 100 .

-

Definition at line 508 of file Parameters.h.

+

Definition at line 509 of file Parameters.h.

@@ -26705,7 +26801,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ParticleLambdaT , as a string: float .

-

Definition at line 508 of file Parameters.h.

+

Definition at line 509 of file Parameters.h.

@@ -26734,7 +26830,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ParticleNoiseR : "Noise (rad) of rotational components (roll,pitch,yaw)." Default value: 0.002 ( float ).

-

Definition at line 509 of file Parameters.h.

+

Definition at line 510 of file Parameters.h.

@@ -26763,7 +26859,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ParticleNoiseR : 0.002 .

-

Definition at line 509 of file Parameters.h.

+

Definition at line 510 of file Parameters.h.

@@ -26792,7 +26888,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ParticleNoiseR , as a string: float .

-

Definition at line 509 of file Parameters.h.

+

Definition at line 510 of file Parameters.h.

@@ -26821,7 +26917,7 @@ The Parameter reference page, which lis

Key of parameter Odom/ParticleLambdaR : "Lambda of rotational components (roll,pitch,yaw)." Default value: 100 ( float ).

-

Definition at line 510 of file Parameters.h.

+

Definition at line 511 of file Parameters.h.

@@ -26850,7 +26946,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ParticleLambdaR : 100 .

-

Definition at line 510 of file Parameters.h.

+

Definition at line 511 of file Parameters.h.

@@ -26879,7 +26975,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ParticleLambdaR , as a string: float .

-

Definition at line 510 of file Parameters.h.

+

Definition at line 511 of file Parameters.h.

@@ -26908,7 +27004,7 @@ The Parameter reference page, which lis

Key of parameter Odom/KalmanProcessNoise : "Process noise covariance value." Default value: 0.001 ( float ).

-

Definition at line 511 of file Parameters.h.

+

Definition at line 512 of file Parameters.h.

@@ -26937,7 +27033,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/KalmanProcessNoise : 0.001 .

-

Definition at line 511 of file Parameters.h.

+

Definition at line 512 of file Parameters.h.

@@ -26966,7 +27062,7 @@ The Parameter reference page, which lis

Type of parameter Odom/KalmanProcessNoise , as a string: float .

-

Definition at line 511 of file Parameters.h.

+

Definition at line 512 of file Parameters.h.

@@ -26995,7 +27091,7 @@ The Parameter reference page, which lis

Key of parameter Odom/KalmanMeasurementNoise : "Process measurement covariance value." Default value: 0.01 ( float ).

-

Definition at line 512 of file Parameters.h.

+

Definition at line 513 of file Parameters.h.

@@ -27024,7 +27120,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .

-

Definition at line 512 of file Parameters.h.

+

Definition at line 513 of file Parameters.h.

@@ -27053,7 +27149,7 @@ The Parameter reference page, which lis

Type of parameter Odom/KalmanMeasurementNoise , as a string: float .

-

Definition at line 512 of file Parameters.h.

+

Definition at line 513 of file Parameters.h.

@@ -27082,7 +27178,7 @@ The Parameter reference page, which lis

Key of parameter Odom/GuessMotion : "Guess next transformation from the last motion computed." Default value: true ( bool ).

-

Definition at line 513 of file Parameters.h.

+

Definition at line 514 of file Parameters.h.

@@ -27111,7 +27207,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/GuessMotion : true .

-

Definition at line 513 of file Parameters.h.

+

Definition at line 514 of file Parameters.h.

@@ -27140,7 +27236,7 @@ The Parameter reference page, which lis

Type of parameter Odom/GuessMotion , as a string: bool .

-

Definition at line 513 of file Parameters.h.

+

Definition at line 514 of file Parameters.h.

@@ -27169,7 +27265,7 @@ The Parameter reference page, which lis

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 514 of file Parameters.h.

+

Definition at line 515 of file Parameters.h.

@@ -27198,7 +27294,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/GuessSmoothingDelay : 0 .

-

Definition at line 514 of file Parameters.h.

+

Definition at line 515 of file Parameters.h.

@@ -27227,7 +27323,7 @@ The Parameter reference page, which lis

Type of parameter Odom/GuessSmoothingDelay , as a string: float .

-

Definition at line 514 of file Parameters.h.

+

Definition at line 515 of file Parameters.h.

@@ -27256,7 +27352,7 @@ The Parameter reference page, which lis

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 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27285,7 +27381,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/KeyFrameThr : 0.3 .

-

Definition at line 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27314,7 +27410,7 @@ The Parameter reference page, which lis

Type of parameter Odom/KeyFrameThr , as a string: float .

-

Definition at line 515 of file Parameters.h.

+

Definition at line 516 of file Parameters.h.

@@ -27343,7 +27439,7 @@ The Parameter reference page, which lis

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 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27372,7 +27468,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/VisKeyFrameThr : 150 .

-

Definition at line 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27401,7 +27497,7 @@ The Parameter reference page, which lis

Type of parameter Odom/VisKeyFrameThr , as a string: int .

-

Definition at line 516 of file Parameters.h.

+

Definition at line 517 of file Parameters.h.

@@ -27430,7 +27526,7 @@ The Parameter reference page, which lis

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 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27459,7 +27555,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ScanKeyFrameThr : 0.9 .

-

Definition at line 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27488,7 +27584,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ScanKeyFrameThr , as a string: float .

-

Definition at line 517 of file Parameters.h.

+

Definition at line 518 of file Parameters.h.

@@ -27517,7 +27613,7 @@ The Parameter reference page, which lis

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 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27546,7 +27642,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/ImageDecimation : 1 .

-

Definition at line 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27575,7 +27671,7 @@ The Parameter reference page, which lis

Type of parameter Odom/ImageDecimation , as a string: unsigned int .

-

Definition at line 518 of file Parameters.h.

+

Definition at line 519 of file Parameters.h.

@@ -27604,7 +27700,7 @@ The Parameter reference page, which lis

Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27633,7 +27729,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/AlignWithGround : false .

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27662,7 +27758,7 @@ The Parameter reference page, which lis

Type of parameter Odom/AlignWithGround , as a string: bool .

-

Definition at line 519 of file Parameters.h.

+

Definition at line 520 of file Parameters.h.

@@ -27691,7 +27787,7 @@ The Parameter reference page, which lis

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 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27720,7 +27816,7 @@ The Parameter reference page, which lis

Default value of parameter Odom/Deskewing : true .

-

Definition at line 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27749,7 +27845,7 @@ The Parameter reference page, which lis

Type of parameter Odom/Deskewing , as a string: bool .

-

Definition at line 520 of file Parameters.h.

+

Definition at line 521 of file Parameters.h.

@@ -27778,7 +27874,7 @@ The Parameter reference page, which lis

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 523 of file Parameters.h.

+

Definition at line 524 of file Parameters.h.

@@ -27807,7 +27903,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/MaxSize : 2000 .

-

Definition at line 523 of file Parameters.h.

+

Definition at line 524 of file Parameters.h.

@@ -27836,7 +27932,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/MaxSize , as a string: int .

-

Definition at line 523 of file Parameters.h.

+

Definition at line 524 of file Parameters.h.

@@ -27865,7 +27961,7 @@ The Parameter reference page, which lis

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 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27894,7 +27990,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/MaxNewFeatures : 0 .

-

Definition at line 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27923,7 +28019,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/MaxNewFeatures , as a string: int .

-

Definition at line 524 of file Parameters.h.

+

Definition at line 525 of file Parameters.h.

@@ -27952,7 +28048,7 @@ The Parameter reference page, which lis

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 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -27981,7 +28077,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/InitDepthFactor : 0.05 .

-

Definition at line 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -28010,7 +28106,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/InitDepthFactor , as a string: float .

-

Definition at line 525 of file Parameters.h.

+

Definition at line 526 of file Parameters.h.

@@ -28039,7 +28135,7 @@ The Parameter reference page, which lis

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 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28068,7 +28164,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/FloorThreshold : 0.0 .

-

Definition at line 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28097,7 +28193,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/FloorThreshold , as a string: float .

-

Definition at line 526 of file Parameters.h.

+

Definition at line 527 of file Parameters.h.

@@ -28126,7 +28222,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28155,7 +28251,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanMaxSize : 2000 .

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28184,7 +28280,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanMaxSize , as a string: int .

-

Definition at line 527 of file Parameters.h.

+

Definition at line 528 of file Parameters.h.

@@ -28213,7 +28309,7 @@ The Parameter reference page, which lis

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 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28242,7 +28338,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .

-

Definition at line 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28271,7 +28367,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .

-

Definition at line 528 of file Parameters.h.

+

Definition at line 529 of file Parameters.h.

@@ -28300,7 +28396,7 @@ The Parameter reference page, which lis

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 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28329,7 +28425,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanSubtractAngle : 45 .

-

Definition at line 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28358,7 +28454,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .

-

Definition at line 529 of file Parameters.h.

+

Definition at line 530 of file Parameters.h.

@@ -28387,7 +28483,7 @@ The Parameter reference page, which lis

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 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28416,7 +28512,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ScanRange : 0 .

-

Definition at line 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28445,7 +28541,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ScanRange , as a string: float .

-

Definition at line 530 of file Parameters.h.

+

Definition at line 531 of file Parameters.h.

@@ -28474,7 +28570,7 @@ The Parameter reference page, which lis

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 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28503,7 +28599,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .

-

Definition at line 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28532,7 +28628,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/ValidDepthRatio , as a string: float .

-

Definition at line 531 of file Parameters.h.

+

Definition at line 532 of file Parameters.h.

@@ -28561,7 +28657,7 @@ The Parameter reference page, which lis

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 535 of file Parameters.h.

+

Definition at line 536 of file Parameters.h.

@@ -28590,7 +28686,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustment : 0 .

-

Definition at line 535 of file Parameters.h.

+

Definition at line 536 of file Parameters.h.

@@ -28619,7 +28715,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustment , as a string: int .

-

Definition at line 535 of file Parameters.h.

+

Definition at line 536 of file Parameters.h.

@@ -28648,7 +28744,7 @@ The Parameter reference page, which lis

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 537 of file Parameters.h.

+

Definition at line 538 of file Parameters.h.

@@ -28677,7 +28773,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .

-

Definition at line 537 of file Parameters.h.

+

Definition at line 538 of file Parameters.h.

@@ -28706,7 +28802,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .

-

Definition at line 537 of file Parameters.h.

+

Definition at line 538 of file Parameters.h.

@@ -28735,7 +28831,7 @@ The Parameter reference page, which lis

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 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28764,7 +28860,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .

-

Definition at line 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28793,7 +28889,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .

-

Definition at line 538 of file Parameters.h.

+

Definition at line 539 of file Parameters.h.

@@ -28822,7 +28918,7 @@ The Parameter reference page, which lis

Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28851,7 +28947,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28880,7 +28976,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .

-

Definition at line 539 of file Parameters.h.

+

Definition at line 540 of file Parameters.h.

@@ -28909,7 +29005,7 @@ The Parameter reference page, which lis

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 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -28938,7 +29034,7 @@ The Parameter reference page, which lis

Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .

-

Definition at line 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -28967,7 +29063,7 @@ The Parameter reference page, which lis

Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .

-

Definition at line 540 of file Parameters.h.

+

Definition at line 541 of file Parameters.h.

@@ -28996,7 +29092,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).

-

Definition at line 543 of file Parameters.h.

+

Definition at line 544 of file Parameters.h.

@@ -29025,7 +29121,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/InitMinFlow : 100 .

-

Definition at line 543 of file Parameters.h.

+

Definition at line 544 of file Parameters.h.

@@ -29054,7 +29150,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/InitMinFlow , as a string: float .

-

Definition at line 543 of file Parameters.h.

+

Definition at line 544 of file Parameters.h.

@@ -29083,7 +29179,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29112,7 +29208,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/InitMinTranslation : 0.1 .

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29141,7 +29237,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/InitMinTranslation , as a string: float .

-

Definition at line 544 of file Parameters.h.

+

Definition at line 545 of file Parameters.h.

@@ -29170,7 +29266,7 @@ The Parameter reference page, which lis

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 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29199,7 +29295,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/MinTranslation : 0.02 .

-

Definition at line 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29228,7 +29324,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/MinTranslation , as a string: float .

-

Definition at line 545 of file Parameters.h.

+

Definition at line 546 of file Parameters.h.

@@ -29257,7 +29353,7 @@ The Parameter reference page, which lis

Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29286,7 +29382,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMono/MaxVariance : 0.01 .

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29315,7 +29411,7 @@ The Parameter reference page, which lis

Type of parameter OdomMono/MaxVariance , as a string: float .

-

Definition at line 546 of file Parameters.h.

+

Definition at line 547 of file Parameters.h.

@@ -29344,7 +29440,7 @@ The Parameter reference page, which lis

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 549 of file Parameters.h.

+

Definition at line 550 of file Parameters.h.

@@ -29373,7 +29469,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FeatureWindowSize : 9 .

-

Definition at line 549 of file Parameters.h.

+

Definition at line 550 of file Parameters.h.

@@ -29402,7 +29498,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FeatureWindowSize , as a string: int .

-

Definition at line 549 of file Parameters.h.

+

Definition at line 550 of file Parameters.h.

@@ -29431,7 +29527,7 @@ The Parameter reference page, which lis

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 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29460,7 +29556,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxPyramidLevel : 3 .

-

Definition at line 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29489,7 +29585,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .

-

Definition at line 550 of file Parameters.h.

+

Definition at line 551 of file Parameters.h.

@@ -29518,7 +29614,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29547,7 +29643,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MinPyramidLevel : 0 .

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29576,7 +29672,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MinPyramidLevel , as a string: int .

-

Definition at line 551 of file Parameters.h.

+

Definition at line 552 of file Parameters.h.

@@ -29605,7 +29701,7 @@ The Parameter reference page, which lis

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 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29634,7 +29730,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .

-

Definition at line 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29663,7 +29759,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .

-

Definition at line 552 of file Parameters.h.

+

Definition at line 553 of file Parameters.h.

@@ -29692,7 +29788,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29721,7 +29817,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FastThreshold : 20 .

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29750,7 +29846,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FastThreshold , as a string: int .

-

Definition at line 553 of file Parameters.h.

+

Definition at line 554 of file Parameters.h.

@@ -29779,7 +29875,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29808,7 +29904,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseAdaptiveThreshold : true .

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29837,7 +29933,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .

-

Definition at line 554 of file Parameters.h.

+

Definition at line 555 of file Parameters.h.

@@ -29866,7 +29962,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29895,7 +29991,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29924,7 +30020,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .

-

Definition at line 555 of file Parameters.h.

+

Definition at line 556 of file Parameters.h.

@@ -29953,7 +30049,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -29982,7 +30078,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseHomographyInitialization : true .

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -30011,7 +30107,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .

-

Definition at line 556 of file Parameters.h.

+

Definition at line 557 of file Parameters.h.

@@ -30040,7 +30136,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).

-

Definition at line 558 of file Parameters.h.

+

Definition at line 559 of file Parameters.h.

@@ -30069,7 +30165,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseBucketing : true .

-

Definition at line 558 of file Parameters.h.

+

Definition at line 559 of file Parameters.h.

@@ -30098,7 +30194,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseBucketing , as a string: bool .

-

Definition at line 558 of file Parameters.h.

+

Definition at line 559 of file Parameters.h.

@@ -30127,7 +30223,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30156,7 +30252,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/BucketWidth : 80 .

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30185,7 +30281,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/BucketWidth , as a string: int .

-

Definition at line 559 of file Parameters.h.

+

Definition at line 560 of file Parameters.h.

@@ -30214,7 +30310,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30243,7 +30339,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/BucketHeight : 80 .

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30272,7 +30368,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/BucketHeight , as a string: int .

-

Definition at line 560 of file Parameters.h.

+

Definition at line 561 of file Parameters.h.

@@ -30301,7 +30397,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30330,7 +30426,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30359,7 +30455,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .

-

Definition at line 561 of file Parameters.h.

+

Definition at line 562 of file Parameters.h.

@@ -30388,7 +30484,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30417,7 +30513,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseImageNormalization : false .

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30446,7 +30542,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseImageNormalization , as a string: bool .

-

Definition at line 562 of file Parameters.h.

+

Definition at line 563 of file Parameters.h.

@@ -30475,7 +30571,7 @@ The Parameter reference page, which lis

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 564 of file Parameters.h.

+

Definition at line 565 of file Parameters.h.

@@ -30504,7 +30600,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .

-

Definition at line 564 of file Parameters.h.

+

Definition at line 565 of file Parameters.h.

@@ -30533,7 +30629,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .

-

Definition at line 564 of file Parameters.h.

+

Definition at line 565 of file Parameters.h.

@@ -30562,7 +30658,7 @@ The Parameter reference page, which lis

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 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30591,7 +30687,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .

-

Definition at line 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30620,7 +30716,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .

-

Definition at line 565 of file Parameters.h.

+

Definition at line 566 of file Parameters.h.

@@ -30649,7 +30745,7 @@ The Parameter reference page, which lis

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 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30678,7 +30774,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .

-

Definition at line 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30707,7 +30803,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .

-

Definition at line 566 of file Parameters.h.

+

Definition at line 567 of file Parameters.h.

@@ -30736,7 +30832,7 @@ The Parameter reference page, which lis

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 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30765,7 +30861,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .

-

Definition at line 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30794,7 +30890,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .

-

Definition at line 567 of file Parameters.h.

+

Definition at line 568 of file Parameters.h.

@@ -30823,7 +30919,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30852,7 +30948,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UseSubpixelRefinement : true .

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30881,7 +30977,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .

-

Definition at line 568 of file Parameters.h.

+

Definition at line 569 of file Parameters.h.

@@ -30910,7 +31006,7 @@ The Parameter reference page, which lis

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 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -30939,7 +31035,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/FeatureSearchWindow : 25 .

-

Definition at line 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -30968,7 +31064,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .

-

Definition at line 569 of file Parameters.h.

+

Definition at line 570 of file Parameters.h.

@@ -30997,7 +31093,7 @@ The Parameter reference page, which lis

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 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31026,7 +31122,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .

-

Definition at line 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31055,7 +31151,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .

-

Definition at line 570 of file Parameters.h.

+

Definition at line 571 of file Parameters.h.

@@ -31084,7 +31180,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).

-

Definition at line 572 of file Parameters.h.

+

Definition at line 573 of file Parameters.h.

@@ -31113,7 +31209,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoRequireMutualMatch : true .

-

Definition at line 572 of file Parameters.h.

+

Definition at line 573 of file Parameters.h.

@@ -31142,7 +31238,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .

-

Definition at line 572 of file Parameters.h.

+

Definition at line 573 of file Parameters.h.

@@ -31171,7 +31267,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31200,7 +31296,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31229,7 +31325,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .

-

Definition at line 573 of file Parameters.h.

+

Definition at line 574 of file Parameters.h.

@@ -31258,7 +31354,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31287,7 +31383,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31316,7 +31412,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .

-

Definition at line 574 of file Parameters.h.

+

Definition at line 575 of file Parameters.h.

@@ -31345,7 +31441,7 @@ The Parameter reference page, which lis

Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31374,7 +31470,7 @@ The Parameter reference page, which lis

Default value of parameter OdomFovis/StereoMaxDisparity : 128 .

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31403,7 +31499,7 @@ The Parameter reference page, which lis

Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .

-

Definition at line 575 of file Parameters.h.

+

Definition at line 576 of file Parameters.h.

@@ -31432,7 +31528,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).

-

Definition at line 578 of file Parameters.h.

+

Definition at line 579 of file Parameters.h.

@@ -31461,7 +31557,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/RansacIters : 200 .

-

Definition at line 578 of file Parameters.h.

+

Definition at line 579 of file Parameters.h.

@@ -31490,7 +31586,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/RansacIters , as a string: int .

-

Definition at line 578 of file Parameters.h.

+

Definition at line 579 of file Parameters.h.

@@ -31519,7 +31615,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31548,7 +31644,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/InlierThreshold : 2.0 .

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31577,7 +31673,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/InlierThreshold , as a string: double .

-

Definition at line 579 of file Parameters.h.

+

Definition at line 580 of file Parameters.h.

@@ -31606,7 +31702,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31635,7 +31731,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/Reweighting : true .

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31664,7 +31760,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/Reweighting , as a string: bool .

-

Definition at line 580 of file Parameters.h.

+

Definition at line 581 of file Parameters.h.

@@ -31693,7 +31789,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31722,7 +31818,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchNmsN : 3 .

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31751,7 +31847,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchNmsN , as a string: int .

-

Definition at line 581 of file Parameters.h.

+

Definition at line 582 of file Parameters.h.

@@ -31780,7 +31876,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31809,7 +31905,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchNmsTau : 50 .

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31838,7 +31934,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchNmsTau , as a string: int .

-

Definition at line 582 of file Parameters.h.

+

Definition at line 583 of file Parameters.h.

@@ -31867,7 +31963,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31896,7 +31992,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchBinsize : 50 .

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31925,7 +32021,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchBinsize , as a string: int .

-

Definition at line 583 of file Parameters.h.

+

Definition at line 584 of file Parameters.h.

@@ -31954,7 +32050,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -31983,7 +32079,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchRadius : 200 .

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -32012,7 +32108,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchRadius , as a string: int .

-

Definition at line 584 of file Parameters.h.

+

Definition at line 585 of file Parameters.h.

@@ -32041,7 +32137,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32070,7 +32166,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchDispTolerance : 2 .

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32099,7 +32195,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchDispTolerance , as a string: int .

-

Definition at line 585 of file Parameters.h.

+

Definition at line 586 of file Parameters.h.

@@ -32128,7 +32224,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32157,7 +32253,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32186,7 +32282,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .

-

Definition at line 586 of file Parameters.h.

+

Definition at line 587 of file Parameters.h.

@@ -32215,7 +32311,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32244,7 +32340,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32273,7 +32369,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .

-

Definition at line 587 of file Parameters.h.

+

Definition at line 588 of file Parameters.h.

@@ -32302,7 +32398,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32331,7 +32427,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchMultiStage : true .

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32360,7 +32456,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchMultiStage , as a string: bool .

-

Definition at line 588 of file Parameters.h.

+

Definition at line 589 of file Parameters.h.

@@ -32389,7 +32485,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32418,7 +32514,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchHalfResolution : true .

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32447,7 +32543,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .

-

Definition at line 589 of file Parameters.h.

+

Definition at line 590 of file Parameters.h.

@@ -32476,7 +32572,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32505,7 +32601,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/MatchRefinement : 1 .

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32534,7 +32630,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/MatchRefinement , as a string: int .

-

Definition at line 590 of file Parameters.h.

+

Definition at line 591 of file Parameters.h.

@@ -32563,7 +32659,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32592,7 +32688,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketMaxFeatures : 2 .

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32621,7 +32717,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .

-

Definition at line 591 of file Parameters.h.

+

Definition at line 592 of file Parameters.h.

@@ -32650,7 +32746,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32679,7 +32775,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketWidth : 50 .

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32708,7 +32804,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketWidth , as a string: double .

-

Definition at line 592 of file Parameters.h.

+

Definition at line 593 of file Parameters.h.

@@ -32737,7 +32833,7 @@ The Parameter reference page, which lis

Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32766,7 +32862,7 @@ The Parameter reference page, which lis

Default value of parameter OdomViso2/BucketHeight : 50 .

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32795,7 +32891,7 @@ The Parameter reference page, which lis

Type of parameter OdomViso2/BucketHeight , as a string: double .

-

Definition at line 593 of file Parameters.h.

+

Definition at line 594 of file Parameters.h.

@@ -32824,7 +32920,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).

-

Definition at line 596 of file Parameters.h.

+

Definition at line 597 of file Parameters.h.

@@ -32853,7 +32949,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/VocPath : "" .

-

Definition at line 596 of file Parameters.h.

+

Definition at line 597 of file Parameters.h.

@@ -32882,7 +32978,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/VocPath , as a string: string.

-

Definition at line 596 of file Parameters.h.

+

Definition at line 597 of file Parameters.h.

@@ -32911,7 +33007,7 @@ The Parameter reference page, which lis

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 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -32940,7 +33036,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Bf : 0.076 .

-

Definition at line 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -32969,7 +33065,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Bf , as a string: double .

-

Definition at line 597 of file Parameters.h.

+

Definition at line 598 of file Parameters.h.

@@ -32998,7 +33094,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33027,7 +33123,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/ThDepth : 40.0 .

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33056,7 +33152,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/ThDepth , as a string: double .

-

Definition at line 598 of file Parameters.h.

+

Definition at line 599 of file Parameters.h.

@@ -33085,7 +33181,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33114,7 +33210,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Fps : 0.0 .

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33143,7 +33239,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Fps , as a string: float .

-

Definition at line 599 of file Parameters.h.

+

Definition at line 600 of file Parameters.h.

@@ -33172,7 +33268,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33201,7 +33297,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33230,7 +33326,7 @@ The Parameter reference page, which lis

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

-

Definition at line 600 of file Parameters.h.

+

Definition at line 601 of file Parameters.h.

@@ -33259,7 +33355,7 @@ The Parameter reference page, which lis

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 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33288,7 +33384,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/MapSize : 3000 .

-

Definition at line 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33317,7 +33413,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/MapSize , as a string: int .

-

Definition at line 601 of file Parameters.h.

+

Definition at line 602 of file Parameters.h.

@@ -33346,7 +33442,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33375,7 +33471,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/Inertial : false .

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33404,7 +33500,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/Inertial , as a string: bool .

-

Definition at line 602 of file Parameters.h.

+

Definition at line 603 of file Parameters.h.

@@ -33433,7 +33529,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33462,7 +33558,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33491,7 +33587,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/GyroNoise , as a string: double .

-

Definition at line 603 of file Parameters.h.

+

Definition at line 604 of file Parameters.h.

@@ -33520,7 +33616,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33549,7 +33645,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/AccNoise : 0.1 .

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33578,7 +33674,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/AccNoise , as a string: double .

-

Definition at line 604 of file Parameters.h.

+

Definition at line 605 of file Parameters.h.

@@ -33607,7 +33703,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33636,7 +33732,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33665,7 +33761,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/GyroWalk , as a string: double .

-

Definition at line 605 of file Parameters.h.

+

Definition at line 606 of file Parameters.h.

@@ -33694,7 +33790,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33723,7 +33819,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33752,7 +33848,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/AccWalk , as a string: double .

-

Definition at line 606 of file Parameters.h.

+

Definition at line 607 of file Parameters.h.

@@ -33781,7 +33877,7 @@ The Parameter reference page, which lis

Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33810,7 +33906,7 @@ The Parameter reference page, which lis

Default value of parameter OdomORBSLAM/SamplingRate : 0 .

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33839,7 +33935,7 @@ The Parameter reference page, which lis

Type of parameter OdomORBSLAM/SamplingRate , as a string: double .

-

Definition at line 607 of file Parameters.h.

+

Definition at line 608 of file Parameters.h.

@@ -33868,7 +33964,7 @@ The Parameter reference page, which lis

Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).

-

Definition at line 611 of file Parameters.h.

+

Definition at line 612 of file Parameters.h.

@@ -33897,7 +33993,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOKVIS/ConfigPath : "" .

-

Definition at line 611 of file Parameters.h.

+

Definition at line 612 of file Parameters.h.

@@ -33926,7 +34022,7 @@ The Parameter reference page, which lis

Type of parameter OdomOKVIS/ConfigPath , as a string: string.

-

Definition at line 611 of file Parameters.h.

+

Definition at line 612 of file Parameters.h.

@@ -33955,7 +34051,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).

-

Definition at line 614 of file Parameters.h.

+

Definition at line 615 of file Parameters.h.

@@ -33984,7 +34080,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/Sensor : 2 .

-

Definition at line 614 of file Parameters.h.

+

Definition at line 615 of file Parameters.h.

@@ -34013,7 +34109,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/Sensor , as a string: int .

-

Definition at line 614 of file Parameters.h.

+

Definition at line 615 of file Parameters.h.

@@ -34042,7 +34138,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34071,7 +34167,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/ScanPeriod : 0.1 .

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34100,7 +34196,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/ScanPeriod , as a string: float .

-

Definition at line 615 of file Parameters.h.

+

Definition at line 616 of file Parameters.h.

@@ -34129,7 +34225,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34158,7 +34254,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/Resolution : 0.2 .

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34187,7 +34283,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/Resolution , as a string: float .

-

Definition at line 616 of file Parameters.h.

+

Definition at line 617 of file Parameters.h.

@@ -34216,7 +34312,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34245,7 +34341,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/LinVar : 0.01 .

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34274,7 +34370,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/LinVar , as a string: float .

-

Definition at line 617 of file Parameters.h.

+

Definition at line 618 of file Parameters.h.

@@ -34303,7 +34399,7 @@ The Parameter reference page, which lis

Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34332,7 +34428,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/AngVar : 0.01 .

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34361,7 +34457,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/AngVar , as a string: float .

-

Definition at line 618 of file Parameters.h.

+

Definition at line 619 of file Parameters.h.

@@ -34390,7 +34486,7 @@ The Parameter reference page, which lis

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 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34419,7 +34515,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLOAM/LocalMapping : true .

-

Definition at line 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34448,7 +34544,7 @@ The Parameter reference page, which lis

Type of parameter OdomLOAM/LocalMapping , as a string: bool .

-

Definition at line 619 of file Parameters.h.

+

Definition at line 620 of file Parameters.h.

@@ -34477,7 +34573,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).

-

Definition at line 622 of file Parameters.h.

+

Definition at line 623 of file Parameters.h.

@@ -34506,7 +34602,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridRow : 4 .

-

Definition at line 622 of file Parameters.h.

+

Definition at line 623 of file Parameters.h.

@@ -34535,7 +34631,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridRow , as a string: int .

-

Definition at line 622 of file Parameters.h.

+

Definition at line 623 of file Parameters.h.

@@ -34564,7 +34660,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34593,7 +34689,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridCol : 5 .

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34622,7 +34718,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridCol , as a string: int .

-

Definition at line 623 of file Parameters.h.

+

Definition at line 624 of file Parameters.h.

@@ -34651,7 +34747,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34680,7 +34776,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34709,7 +34805,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .

-

Definition at line 624 of file Parameters.h.

+

Definition at line 625 of file Parameters.h.

@@ -34738,7 +34834,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34767,7 +34863,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34796,7 +34892,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .

-

Definition at line 625 of file Parameters.h.

+

Definition at line 626 of file Parameters.h.

@@ -34825,7 +34921,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34854,7 +34950,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PyramidLevels : 3 .

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34883,7 +34979,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PyramidLevels , as a string: int .

-

Definition at line 626 of file Parameters.h.

+

Definition at line 627 of file Parameters.h.

@@ -34912,7 +35008,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -34941,7 +35037,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PatchSize : 15 .

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -34970,7 +35066,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PatchSize , as a string: int .

-

Definition at line 627 of file Parameters.h.

+

Definition at line 628 of file Parameters.h.

@@ -34999,7 +35095,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35028,7 +35124,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/FastThreshold : 10 .

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35057,7 +35153,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/FastThreshold , as a string: int .

-

Definition at line 628 of file Parameters.h.

+

Definition at line 629 of file Parameters.h.

@@ -35086,7 +35182,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35115,7 +35211,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/MaxIteration : 30 .

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35144,7 +35240,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/MaxIteration , as a string: int .

-

Definition at line 629 of file Parameters.h.

+

Definition at line 630 of file Parameters.h.

@@ -35173,7 +35269,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35202,7 +35298,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35231,7 +35327,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TrackPrecision , as a string: double .

-

Definition at line 630 of file Parameters.h.

+

Definition at line 631 of file Parameters.h.

@@ -35260,7 +35356,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35289,7 +35385,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/RansacThreshold : 3 .

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35318,7 +35414,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/RansacThreshold , as a string: double .

-

Definition at line 631 of file Parameters.h.

+

Definition at line 632 of file Parameters.h.

@@ -35347,7 +35443,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35376,7 +35472,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/StereoThreshold : 5 .

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35405,7 +35501,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/StereoThreshold , as a string: double .

-

Definition at line 632 of file Parameters.h.

+

Definition at line 633 of file Parameters.h.

@@ -35434,7 +35530,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35463,7 +35559,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35492,7 +35588,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .

-

Definition at line 633 of file Parameters.h.

+

Definition at line 634 of file Parameters.h.

@@ -35521,7 +35617,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35550,7 +35646,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35579,7 +35675,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/RotationThreshold , as a string: double .

-

Definition at line 634 of file Parameters.h.

+

Definition at line 635 of file Parameters.h.

@@ -35608,7 +35704,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35637,7 +35733,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35666,7 +35762,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .

-

Definition at line 635 of file Parameters.h.

+

Definition at line 636 of file Parameters.h.

@@ -35695,7 +35791,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35724,7 +35820,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35753,7 +35849,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .

-

Definition at line 636 of file Parameters.h.

+

Definition at line 637 of file Parameters.h.

@@ -35782,7 +35878,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35811,7 +35907,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35840,7 +35936,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .

-

Definition at line 637 of file Parameters.h.

+

Definition at line 638 of file Parameters.h.

@@ -35869,7 +35965,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35898,7 +35994,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35927,7 +36023,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseGyro , as a string: double .

-

Definition at line 638 of file Parameters.h.

+

Definition at line 639 of file Parameters.h.

@@ -35956,7 +36052,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -35985,7 +36081,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -36014,7 +36110,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseAcc , as a string: double .

-

Definition at line 639 of file Parameters.h.

+

Definition at line 640 of file Parameters.h.

@@ -36043,7 +36139,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36072,7 +36168,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36101,7 +36197,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .

-

Definition at line 640 of file Parameters.h.

+

Definition at line 641 of file Parameters.h.

@@ -36130,7 +36226,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36159,7 +36255,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36188,7 +36284,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .

-

Definition at line 641 of file Parameters.h.

+

Definition at line 642 of file Parameters.h.

@@ -36217,7 +36313,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36246,7 +36342,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36275,7 +36371,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/NoiseFeature , as a string: double .

-

Definition at line 642 of file Parameters.h.

+

Definition at line 643 of file Parameters.h.

@@ -36304,7 +36400,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36333,7 +36429,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovVel : 0.25 .

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36362,7 +36458,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovVel , as a string: double .

-

Definition at line 643 of file Parameters.h.

+

Definition at line 644 of file Parameters.h.

@@ -36391,7 +36487,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36420,7 +36516,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36449,7 +36545,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .

-

Definition at line 644 of file Parameters.h.

+

Definition at line 645 of file Parameters.h.

@@ -36478,7 +36574,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36507,7 +36603,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36536,7 +36632,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .

-

Definition at line 645 of file Parameters.h.

+

Definition at line 646 of file Parameters.h.

@@ -36565,7 +36661,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36594,7 +36690,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36623,7 +36719,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovExRot , as a string: double .

-

Definition at line 646 of file Parameters.h.

+

Definition at line 647 of file Parameters.h.

@@ -36652,7 +36748,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36681,7 +36777,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36710,7 +36806,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .

-

Definition at line 647 of file Parameters.h.

+

Definition at line 648 of file Parameters.h.

@@ -36739,7 +36835,7 @@ The Parameter reference page, which lis

Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36768,7 +36864,7 @@ The Parameter reference page, which lis

Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36797,7 +36893,7 @@ The Parameter reference page, which lis

Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .

-

Definition at line 648 of file Parameters.h.

+

Definition at line 649 of file Parameters.h.

@@ -36826,7 +36922,7 @@ The Parameter reference page, which lis

Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).

-

Definition at line 651 of file Parameters.h.

+

Definition at line 652 of file Parameters.h.

@@ -36855,7 +36951,7 @@ The Parameter reference page, which lis

Default value of parameter OdomVINSFusion/ConfigPath : "" .

-

Definition at line 651 of file Parameters.h.

+

Definition at line 652 of file Parameters.h.

@@ -36884,7 +36980,7 @@ The Parameter reference page, which lis

Type of parameter OdomVINSFusion/ConfigPath , as a string: string.

-

Definition at line 651 of file Parameters.h.

+

Definition at line 652 of file Parameters.h.

@@ -36913,7 +37009,7 @@ The Parameter reference page, which lis

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 654 of file Parameters.h.

+

Definition at line 655 of file Parameters.h.

@@ -36942,7 +37038,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ConfigPath : "" .

-

Definition at line 654 of file Parameters.h.

+

Definition at line 655 of file Parameters.h.

@@ -36971,7 +37067,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ConfigPath , as a string: string.

-

Definition at line 654 of file Parameters.h.

+

Definition at line 655 of file Parameters.h.

@@ -37000,7 +37096,7 @@ The Parameter reference page, which lis

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 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37029,7 +37125,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseStereo : true .

-

Definition at line 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37058,7 +37154,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseStereo , as a string: bool .

-

Definition at line 655 of file Parameters.h.

+

Definition at line 656 of file Parameters.h.

@@ -37087,7 +37183,7 @@ The Parameter reference page, which lis

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 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37116,7 +37212,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseKLT : true .

-

Definition at line 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37145,7 +37241,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseKLT , as a string: bool .

-

Definition at line 656 of file Parameters.h.

+

Definition at line 657 of file Parameters.h.

@@ -37174,7 +37270,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37203,7 +37299,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/NumPts : 200 .

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37232,7 +37328,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/NumPts , as a string: int .

-

Definition at line 657 of file Parameters.h.

+

Definition at line 658 of file Parameters.h.

@@ -37261,7 +37357,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37290,7 +37386,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MinPxDist : 15 .

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37319,7 +37415,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MinPxDist , as a string: int .

-

Definition at line 658 of file Parameters.h.

+

Definition at line 659 of file Parameters.h.

@@ -37348,7 +37444,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37377,7 +37473,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiTriangulate1d : false .

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37406,7 +37502,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .

-

Definition at line 659 of file Parameters.h.

+

Definition at line 660 of file Parameters.h.

@@ -37435,7 +37531,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37464,7 +37560,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiRefineFeatures : true .

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37493,7 +37589,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .

-

Definition at line 660 of file Parameters.h.

+

Definition at line 661 of file Parameters.h.

@@ -37522,7 +37618,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37551,7 +37647,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37580,7 +37676,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .

-

Definition at line 661 of file Parameters.h.

+

Definition at line 662 of file Parameters.h.

@@ -37609,7 +37705,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37638,7 +37734,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37667,7 +37763,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .

-

Definition at line 662 of file Parameters.h.

+

Definition at line 663 of file Parameters.h.

@@ -37696,7 +37792,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37725,7 +37821,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37754,7 +37850,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .

-

Definition at line 663 of file Parameters.h.

+

Definition at line 664 of file Parameters.h.

@@ -37783,7 +37879,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).

-

Definition at line 665 of file Parameters.h.

+

Definition at line 666 of file Parameters.h.

@@ -37812,7 +37908,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UseFEJ : true .

-

Definition at line 665 of file Parameters.h.

+

Definition at line 666 of file Parameters.h.

@@ -37841,7 +37937,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .

-

Definition at line 665 of file Parameters.h.

+

Definition at line 666 of file Parameters.h.

@@ -37870,7 +37966,7 @@ The Parameter reference page, which lis

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 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37899,7 +37995,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/Integration : 1 .

-

Definition at line 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37928,7 +38024,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/Integration , as a string: int .

-

Definition at line 666 of file Parameters.h.

+

Definition at line 667 of file Parameters.h.

@@ -37957,7 +38053,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -37986,7 +38082,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -38015,7 +38111,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .

-

Definition at line 667 of file Parameters.h.

+

Definition at line 668 of file Parameters.h.

@@ -38044,7 +38140,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38073,7 +38169,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38102,7 +38198,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .

-

Definition at line 668 of file Parameters.h.

+

Definition at line 669 of file Parameters.h.

@@ -38131,7 +38227,7 @@ The Parameter reference page, which lis

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 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38160,7 +38256,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .

-

Definition at line 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38189,7 +38285,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .

-

Definition at line 669 of file Parameters.h.

+

Definition at line 670 of file Parameters.h.

@@ -38218,7 +38314,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38247,7 +38343,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38276,7 +38372,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .

-

Definition at line 670 of file Parameters.h.

+

Definition at line 671 of file Parameters.h.

@@ -38305,7 +38401,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38334,7 +38430,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38363,7 +38459,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .

-

Definition at line 671 of file Parameters.h.

+

Definition at line 672 of file Parameters.h.

@@ -38392,7 +38488,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38421,7 +38517,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxClones : 11 .

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38450,7 +38546,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxClones , as a string: int .

-

Definition at line 672 of file Parameters.h.

+

Definition at line 673 of file Parameters.h.

@@ -38479,7 +38575,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38508,7 +38604,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxSLAM : 50 .

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38537,7 +38633,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .

-

Definition at line 673 of file Parameters.h.

+

Definition at line 674 of file Parameters.h.

@@ -38566,7 +38662,7 @@ The Parameter reference page, which lis

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 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38595,7 +38691,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .

-

Definition at line 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38624,7 +38720,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .

-

Definition at line 674 of file Parameters.h.

+

Definition at line 675 of file Parameters.h.

@@ -38653,7 +38749,7 @@ The Parameter reference page, which lis

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 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38682,7 +38778,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .

-

Definition at line 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38711,7 +38807,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .

-

Definition at line 675 of file Parameters.h.

+

Definition at line 676 of file Parameters.h.

@@ -38740,7 +38836,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38769,7 +38865,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38798,7 +38894,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .

-

Definition at line 676 of file Parameters.h.

+

Definition at line 677 of file Parameters.h.

@@ -38827,7 +38923,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38856,7 +38952,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38885,7 +38981,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .

-

Definition at line 677 of file Parameters.h.

+

Definition at line 678 of file Parameters.h.

@@ -38914,7 +39010,7 @@ The Parameter reference page, which lis

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 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -38943,7 +39039,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .

-

Definition at line 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -38972,7 +39068,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .

-

Definition at line 678 of file Parameters.h.

+

Definition at line 679 of file Parameters.h.

@@ -39001,7 +39097,7 @@ The Parameter reference page, which lis

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 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39030,7 +39126,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GravityMag : 9.81 .

-

Definition at line 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39059,7 +39155,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GravityMag , as a string: double .

-

Definition at line 679 of file Parameters.h.

+

Definition at line 680 of file Parameters.h.

@@ -39088,7 +39184,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39117,7 +39213,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/LeftMaskPath : "" .

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39146,7 +39242,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.

-

Definition at line 680 of file Parameters.h.

+

Definition at line 681 of file Parameters.h.

@@ -39175,7 +39271,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39204,7 +39300,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/RightMaskPath : "" .

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39233,7 +39329,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.

-

Definition at line 681 of file Parameters.h.

+

Definition at line 682 of file Parameters.h.

@@ -39262,7 +39358,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).

-

Definition at line 683 of file Parameters.h.

+

Definition at line 684 of file Parameters.h.

@@ -39291,7 +39387,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .

-

Definition at line 683 of file Parameters.h.

+

Definition at line 684 of file Parameters.h.

@@ -39320,7 +39416,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .

-

Definition at line 683 of file Parameters.h.

+

Definition at line 684 of file Parameters.h.

@@ -39349,7 +39445,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39378,7 +39474,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39407,7 +39503,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .

-

Definition at line 684 of file Parameters.h.

+

Definition at line 685 of file Parameters.h.

@@ -39436,7 +39532,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39465,7 +39561,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39494,7 +39590,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .

-

Definition at line 685 of file Parameters.h.

+

Definition at line 686 of file Parameters.h.

@@ -39523,7 +39619,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39552,7 +39648,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39581,7 +39677,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .

-

Definition at line 686 of file Parameters.h.

+

Definition at line 687 of file Parameters.h.

@@ -39610,7 +39706,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39639,7 +39735,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynUse : false .

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39668,7 +39764,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .

-

Definition at line 687 of file Parameters.h.

+

Definition at line 688 of file Parameters.h.

@@ -39697,7 +39793,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39726,7 +39822,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39755,7 +39851,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .

-

Definition at line 688 of file Parameters.h.

+

Definition at line 689 of file Parameters.h.

@@ -39784,7 +39880,7 @@ The Parameter reference page, which lis

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 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39813,7 +39909,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .

-

Definition at line 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39842,7 +39938,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .

-

Definition at line 689 of file Parameters.h.

+

Definition at line 690 of file Parameters.h.

@@ -39871,7 +39967,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39900,7 +39996,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39929,7 +40025,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .

-

Definition at line 690 of file Parameters.h.

+

Definition at line 691 of file Parameters.h.

@@ -39958,7 +40054,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -39987,7 +40083,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -40016,7 +40112,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .

-

Definition at line 691 of file Parameters.h.

+

Definition at line 692 of file Parameters.h.

@@ -40045,7 +40141,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40074,7 +40170,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40103,7 +40199,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .

-

Definition at line 692 of file Parameters.h.

+

Definition at line 693 of file Parameters.h.

@@ -40132,7 +40228,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40161,7 +40257,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40190,7 +40286,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .

-

Definition at line 693 of file Parameters.h.

+

Definition at line 694 of file Parameters.h.

@@ -40219,7 +40315,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40248,7 +40344,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40277,7 +40373,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .

-

Definition at line 694 of file Parameters.h.

+

Definition at line 695 of file Parameters.h.

@@ -40306,7 +40402,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40335,7 +40431,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40364,7 +40460,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .

-

Definition at line 695 of file Parameters.h.

+

Definition at line 696 of file Parameters.h.

@@ -40393,7 +40489,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40422,7 +40518,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40451,7 +40547,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .

-

Definition at line 696 of file Parameters.h.

+

Definition at line 697 of file Parameters.h.

@@ -40480,7 +40576,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40509,7 +40605,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40538,7 +40634,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .

-

Definition at line 697 of file Parameters.h.

+

Definition at line 698 of file Parameters.h.

@@ -40567,7 +40663,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40596,7 +40692,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40625,7 +40721,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .

-

Definition at line 698 of file Parameters.h.

+

Definition at line 699 of file Parameters.h.

@@ -40654,7 +40750,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).

-

Definition at line 700 of file Parameters.h.

+

Definition at line 701 of file Parameters.h.

@@ -40683,7 +40779,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/TryZUPT : true .

-

Definition at line 700 of file Parameters.h.

+

Definition at line 701 of file Parameters.h.

@@ -40712,7 +40808,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .

-

Definition at line 700 of file Parameters.h.

+

Definition at line 701 of file Parameters.h.

@@ -40741,7 +40837,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40770,7 +40866,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40799,7 +40895,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .

-

Definition at line 701 of file Parameters.h.

+

Definition at line 702 of file Parameters.h.

@@ -40828,7 +40924,7 @@ The Parameter reference page, which lis

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 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40857,7 +40953,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .

-

Definition at line 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40886,7 +40982,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .

-

Definition at line 702 of file Parameters.h.

+

Definition at line 703 of file Parameters.h.

@@ -40915,7 +41011,7 @@ The Parameter reference page, which lis

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 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -40944,7 +41040,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .

-

Definition at line 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -40973,7 +41069,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .

-

Definition at line 703 of file Parameters.h.

+

Definition at line 704 of file Parameters.h.

@@ -41002,7 +41098,7 @@ The Parameter reference page, which lis

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 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41031,7 +41127,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .

-

Definition at line 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41060,7 +41156,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .

-

Definition at line 704 of file Parameters.h.

+

Definition at line 705 of file Parameters.h.

@@ -41089,7 +41185,7 @@ The Parameter reference page, which lis

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 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41118,7 +41214,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .

-

Definition at line 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41147,7 +41243,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .

-

Definition at line 705 of file Parameters.h.

+

Definition at line 706 of file Parameters.h.

@@ -41176,7 +41272,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).

-

Definition at line 707 of file Parameters.h.

+

Definition at line 708 of file Parameters.h.

@@ -41205,7 +41301,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .

-

Definition at line 707 of file Parameters.h.

+

Definition at line 708 of file Parameters.h.

@@ -41234,7 +41330,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .

-

Definition at line 707 of file Parameters.h.

+

Definition at line 708 of file Parameters.h.

@@ -41263,7 +41359,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41292,7 +41388,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41321,7 +41417,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .

-

Definition at line 708 of file Parameters.h.

+

Definition at line 709 of file Parameters.h.

@@ -41350,7 +41446,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41379,7 +41475,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41408,7 +41504,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .

-

Definition at line 709 of file Parameters.h.

+

Definition at line 710 of file Parameters.h.

@@ -41437,7 +41533,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41466,7 +41562,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41495,7 +41591,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .

-

Definition at line 710 of file Parameters.h.

+

Definition at line 711 of file Parameters.h.

@@ -41524,7 +41620,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41553,7 +41649,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41582,7 +41678,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .

-

Definition at line 711 of file Parameters.h.

+

Definition at line 712 of file Parameters.h.

@@ -41611,7 +41707,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41640,7 +41736,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41669,7 +41765,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .

-

Definition at line 712 of file Parameters.h.

+

Definition at line 713 of file Parameters.h.

@@ -41698,7 +41794,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41727,7 +41823,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41756,7 +41852,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .

-

Definition at line 713 of file Parameters.h.

+

Definition at line 714 of file Parameters.h.

@@ -41785,7 +41881,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41814,7 +41910,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41843,7 +41939,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .

-

Definition at line 714 of file Parameters.h.

+

Definition at line 715 of file Parameters.h.

@@ -41872,7 +41968,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).

-

Definition at line 717 of file Parameters.h.

+

Definition at line 718 of file Parameters.h.

@@ -41901,7 +41997,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpen3D/MaxDepth : 3.0 .

-

Definition at line 717 of file Parameters.h.

+

Definition at line 718 of file Parameters.h.

@@ -41930,7 +42026,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpen3D/MaxDepth , as a string: float .

-

Definition at line 717 of file Parameters.h.

+

Definition at line 718 of file Parameters.h.

@@ -41959,7 +42055,7 @@ The Parameter reference page, which lis

Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -41988,7 +42084,7 @@ The Parameter reference page, which lis

Default value of parameter OdomOpen3D/Method : 0 .

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -42017,7 +42113,7 @@ The Parameter reference page, which lis

Type of parameter OdomOpen3D/Method , as a string: int .

-

Definition at line 718 of file Parameters.h.

+

Definition at line 719 of file Parameters.h.

@@ -42046,7 +42142,7 @@ The Parameter reference page, which lis

Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).

-

Definition at line 721 of file Parameters.h.

+

Definition at line 722 of file Parameters.h.

@@ -42075,7 +42171,7 @@ The Parameter reference page, which lis

Default value of parameter OdomCuVSLAM/MulticamMode : 0 .

-

Definition at line 721 of file Parameters.h.

+

Definition at line 722 of file Parameters.h.

@@ -42104,7 +42200,7 @@ The Parameter reference page, which lis

Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .

-

Definition at line 721 of file Parameters.h.

+

Definition at line 722 of file Parameters.h.

@@ -42133,7 +42229,7 @@ The Parameter reference page, which lis

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 724 of file Parameters.h.

+

Definition at line 725 of file Parameters.h.

@@ -42162,7 +42258,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ConfigPath : "" .

-

Definition at line 724 of file Parameters.h.

+

Definition at line 725 of file Parameters.h.

@@ -42191,7 +42287,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ConfigPath , as a string: string.

-

Definition at line 724 of file Parameters.h.

+

Definition at line 725 of file Parameters.h.

@@ -42220,7 +42316,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42249,7 +42345,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/Sensor : 0 .

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42278,7 +42374,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/Sensor , as a string: int .

-

Definition at line 725 of file Parameters.h.

+

Definition at line 726 of file Parameters.h.

@@ -42307,7 +42403,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42336,7 +42432,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/NScan : 16 .

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42365,7 +42461,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/NScan , as a string: int .

-

Definition at line 726 of file Parameters.h.

+

Definition at line 727 of file Parameters.h.

@@ -42394,7 +42490,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42423,7 +42519,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/HorizonScan : 1800 .

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42452,7 +42548,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/HorizonScan , as a string: int .

-

Definition at line 727 of file Parameters.h.

+

Definition at line 728 of file Parameters.h.

@@ -42481,7 +42577,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42510,7 +42606,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42539,7 +42635,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .

-

Definition at line 728 of file Parameters.h.

+

Definition at line 729 of file Parameters.h.

@@ -42568,7 +42664,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42597,7 +42693,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42626,7 +42722,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .

-

Definition at line 729 of file Parameters.h.

+

Definition at line 730 of file Parameters.h.

@@ -42655,7 +42751,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42684,7 +42780,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42713,7 +42809,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .

-

Definition at line 730 of file Parameters.h.

+

Definition at line 731 of file Parameters.h.

@@ -42742,7 +42838,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42771,7 +42867,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42800,7 +42896,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .

-

Definition at line 731 of file Parameters.h.

+

Definition at line 732 of file Parameters.h.

@@ -42829,7 +42925,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42858,7 +42954,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42887,7 +42983,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/ImuGravity , as a string: float .

-

Definition at line 732 of file Parameters.h.

+

Definition at line 733 of file Parameters.h.

@@ -42916,7 +43012,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -42945,7 +43041,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -42974,7 +43070,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .

-

Definition at line 733 of file Parameters.h.

+

Definition at line 734 of file Parameters.h.

@@ -43003,7 +43099,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43032,7 +43128,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43061,7 +43157,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .

-

Definition at line 734 of file Parameters.h.

+

Definition at line 735 of file Parameters.h.

@@ -43090,7 +43186,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43119,7 +43215,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/LinVar : 0.01 .

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43148,7 +43244,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/LinVar , as a string: float .

-

Definition at line 735 of file Parameters.h.

+

Definition at line 736 of file Parameters.h.

@@ -43177,7 +43273,7 @@ The Parameter reference page, which lis

Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43206,7 +43302,7 @@ The Parameter reference page, which lis

Default value of parameter OdomLIOSAM/AngVar : 0.01 .

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43235,7 +43331,7 @@ The Parameter reference page, which lis

Type of parameter OdomLIOSAM/AngVar , as a string: float .

-

Definition at line 736 of file Parameters.h.

+

Definition at line 737 of file Parameters.h.

@@ -43264,7 +43360,7 @@ The Parameter reference page, which lis

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 739 of file Parameters.h.

+

Definition at line 740 of file Parameters.h.

@@ -43293,7 +43389,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/RepeatOnce : true .

-

Definition at line 739 of file Parameters.h.

+

Definition at line 740 of file Parameters.h.

@@ -43322,7 +43418,7 @@ The Parameter reference page, which lis

Type of parameter Reg/RepeatOnce , as a string: bool .

-

Definition at line 739 of file Parameters.h.

+

Definition at line 740 of file Parameters.h.

@@ -43351,7 +43447,7 @@ The Parameter reference page, which lis

Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43380,7 +43476,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/Strategy : 0 .

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43409,7 +43505,7 @@ The Parameter reference page, which lis

Type of parameter Reg/Strategy , as a string: int .

-

Definition at line 740 of file Parameters.h.

+

Definition at line 741 of file Parameters.h.

@@ -43438,7 +43534,7 @@ The Parameter reference page, which lis

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 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43467,7 +43563,7 @@ The Parameter reference page, which lis

Default value of parameter Reg/Force3DoF : false .

-

Definition at line 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43496,7 +43592,7 @@ The Parameter reference page, which lis

Type of parameter Reg/Force3DoF , as a string: bool .

-

Definition at line 741 of file Parameters.h.

+

Definition at line 742 of file Parameters.h.

@@ -43525,7 +43621,7 @@ The Parameter reference page, which lis

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 744 of file Parameters.h.

+

Definition at line 745 of file Parameters.h.

@@ -43554,7 +43650,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/EstimationType : 1 .

-

Definition at line 744 of file Parameters.h.

+

Definition at line 745 of file Parameters.h.

@@ -43583,7 +43679,7 @@ The Parameter reference page, which lis

Type of parameter Vis/EstimationType , as a string: int .

-

Definition at line 744 of file Parameters.h.

+

Definition at line 745 of file Parameters.h.

@@ -43612,7 +43708,7 @@ The Parameter reference page, which lis

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 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43641,7 +43737,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/InlierDistance : 0.1 .

-

Definition at line 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43670,7 +43766,7 @@ The Parameter reference page, which lis

Type of parameter Vis/InlierDistance , as a string: float .

-

Definition at line 745 of file Parameters.h.

+

Definition at line 746 of file Parameters.h.

@@ -43699,7 +43795,7 @@ The Parameter reference page, which lis

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 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43728,7 +43824,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/RefineIterations : 5 .

-

Definition at line 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43757,7 +43853,7 @@ The Parameter reference page, which lis

Type of parameter Vis/RefineIterations , as a string: int .

-

Definition at line 746 of file Parameters.h.

+

Definition at line 747 of file Parameters.h.

@@ -43786,7 +43882,7 @@ The Parameter reference page, which lis

Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43815,7 +43911,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPReprojError : 2 .

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43844,7 +43940,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPReprojError , as a string: float .

-

Definition at line 747 of file Parameters.h.

+

Definition at line 748 of file Parameters.h.

@@ -43873,7 +43969,7 @@ The Parameter reference page, which lis

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 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43902,7 +43998,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPFlags : 0 .

-

Definition at line 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43931,7 +44027,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPFlags , as a string: int .

-

Definition at line 748 of file Parameters.h.

+

Definition at line 749 of file Parameters.h.

@@ -43960,7 +44056,7 @@ The Parameter reference page, which lis

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 752 of file Parameters.h.

+

Definition at line 753 of file Parameters.h.

@@ -43989,7 +44085,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPRefineIterations : 1 .

-

Definition at line 752 of file Parameters.h.

+

Definition at line 753 of file Parameters.h.

@@ -44018,7 +44114,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPRefineIterations , as a string: int .

-

Definition at line 752 of file Parameters.h.

+

Definition at line 753 of file Parameters.h.

@@ -44047,7 +44143,7 @@ The Parameter reference page, which lis

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 754 of file Parameters.h.

+

Definition at line 755 of file Parameters.h.

@@ -44076,7 +44172,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPVarianceMedianRatio : 4 .

-

Definition at line 754 of file Parameters.h.

+

Definition at line 755 of file Parameters.h.

@@ -44105,7 +44201,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .

-

Definition at line 754 of file Parameters.h.

+

Definition at line 755 of file Parameters.h.

@@ -44134,7 +44230,7 @@ The Parameter reference page, which lis

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 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44163,7 +44259,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPMaxVariance : 0.0 .

-

Definition at line 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44192,7 +44288,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPMaxVariance , as a string: float .

-

Definition at line 755 of file Parameters.h.

+

Definition at line 756 of file Parameters.h.

@@ -44221,7 +44317,7 @@ The Parameter reference page, which lis

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 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44250,7 +44346,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPSamplingPolicy : 1 .

-

Definition at line 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44279,7 +44375,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .

-

Definition at line 756 of file Parameters.h.

+

Definition at line 757 of file Parameters.h.

@@ -44308,7 +44404,7 @@ The Parameter reference page, which lis

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 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44337,7 +44433,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/PnPSplitLinearCovComponents : false .

-

Definition at line 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44366,7 +44462,7 @@ The Parameter reference page, which lis

Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .

-

Definition at line 757 of file Parameters.h.

+

Definition at line 758 of file Parameters.h.

@@ -44395,7 +44491,7 @@ The Parameter reference page, which lis

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 759 of file Parameters.h.

+

Definition at line 760 of file Parameters.h.

@@ -44424,7 +44520,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/EpipolarGeometryVar : 0.1 .

-

Definition at line 759 of file Parameters.h.

+

Definition at line 760 of file Parameters.h.

@@ -44453,7 +44549,7 @@ The Parameter reference page, which lis

Type of parameter Vis/EpipolarGeometryVar , as a string: float .

-

Definition at line 759 of file Parameters.h.

+

Definition at line 760 of file Parameters.h.

@@ -44482,7 +44578,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44511,7 +44607,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinInliers : 20 .

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44540,7 +44636,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MinInliers , as a string: int .

-

Definition at line 760 of file Parameters.h.

+

Definition at line 761 of file Parameters.h.

@@ -44569,7 +44665,7 @@ The Parameter reference page, which lis

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 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44598,7 +44694,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MeanInliersDistance : 0.0 .

-

Definition at line 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44627,7 +44723,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MeanInliersDistance , as a string: float .

-

Definition at line 761 of file Parameters.h.

+

Definition at line 762 of file Parameters.h.

@@ -44656,7 +44752,7 @@ The Parameter reference page, which lis

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 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44685,7 +44781,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinInliersDistribution : 0.0 .

-

Definition at line 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44714,7 +44810,7 @@ The Parameter reference page, which lis

Type of parameter Vis/MinInliersDistribution , as a string: float .

-

Definition at line 762 of file Parameters.h.

+

Definition at line 763 of file Parameters.h.

@@ -44743,7 +44839,7 @@ The Parameter reference page, which lis

Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).

-

Definition at line 764 of file Parameters.h.

+

Definition at line 765 of file Parameters.h.

@@ -44772,7 +44868,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/Iterations : 300 .

-

Definition at line 764 of file Parameters.h.

+

Definition at line 765 of file Parameters.h.

@@ -44801,7 +44897,7 @@ The Parameter reference page, which lis

Type of parameter Vis/Iterations , as a string: int .

-

Definition at line 764 of file Parameters.h.

+

Definition at line 765 of file Parameters.h.

@@ -44830,7 +44926,7 @@ The Parameter reference page, which lis

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 769 of file Parameters.h.

+

Definition at line 770 of file Parameters.h.

@@ -44859,7 +44955,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/FeatureType : 6 .

-

Definition at line 769 of file Parameters.h.

+

Definition at line 770 of file Parameters.h.

@@ -44888,7 +44984,7 @@ The Parameter reference page, which lis

Type of parameter Vis/FeatureType , as a string: int .

-

Definition at line 769 of file Parameters.h.

+

Definition at line 770 of file Parameters.h.

@@ -44917,7 +45013,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).

-

Definition at line 771 of file Parameters.h.

+

Definition at line 772 of file Parameters.h.

@@ -44946,7 +45042,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MaxFeatures : 1000 .

-

Definition at line 771 of file Parameters.h.

+

Definition at line 772 of file Parameters.h.

@@ -44975,7 +45071,7 @@ The Parameter reference page, which lis

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

-

Definition at line 771 of file Parameters.h.

+

Definition at line 772 of file Parameters.h.

@@ -45004,7 +45100,7 @@ The Parameter reference page, which lis

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

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45033,7 +45129,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SSC : false .

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45062,7 +45158,7 @@ The Parameter reference page, which lis

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

-

Definition at line 772 of file Parameters.h.

+

Definition at line 773 of file Parameters.h.

@@ -45091,7 +45187,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45120,7 +45216,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MaxDepth : 0 .

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45149,7 +45245,7 @@ The Parameter reference page, which lis

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

-

Definition at line 773 of file Parameters.h.

+

Definition at line 774 of file Parameters.h.

@@ -45178,7 +45274,7 @@ The Parameter reference page, which lis

Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45207,7 +45303,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/MinDepth : 0 .

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45236,7 +45332,7 @@ The Parameter reference page, which lis

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

-

Definition at line 774 of file Parameters.h.

+

Definition at line 775 of file Parameters.h.

@@ -45265,7 +45361,7 @@ The Parameter reference page, which lis

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

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45294,7 +45390,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/DepthAsMask : true .

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45323,7 +45419,7 @@ The Parameter reference page, which lis

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

-

Definition at line 775 of file Parameters.h.

+

Definition at line 776 of file Parameters.h.

@@ -45352,7 +45448,7 @@ The Parameter reference page, which lis

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 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45381,7 +45477,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/DepthMaskFloorThr : 0.0 .

-

Definition at line 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45410,7 +45506,7 @@ The Parameter reference page, which lis

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

-

Definition at line 776 of file Parameters.h.

+

Definition at line 777 of file Parameters.h.

@@ -45439,7 +45535,7 @@ The Parameter reference page, which lis

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 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45468,7 +45564,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .

-

Definition at line 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45497,7 +45593,7 @@ The Parameter reference page, which lis

Type of parameter Vis/RoiRatios , as a string: string.

-

Definition at line 777 of file Parameters.h.

+

Definition at line 778 of file Parameters.h.

@@ -45526,7 +45622,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45555,7 +45651,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixWinSize : 3 .

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45584,7 +45680,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixWinSize , as a string: int .

-

Definition at line 778 of file Parameters.h.

+

Definition at line 779 of file Parameters.h.

@@ -45613,7 +45709,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45642,7 +45738,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixIterations : 0 .

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45671,7 +45767,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixIterations , as a string: int .

-

Definition at line 779 of file Parameters.h.

+

Definition at line 780 of file Parameters.h.

@@ -45700,7 +45796,7 @@ The Parameter reference page, which lis

Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45729,7 +45825,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/SubPixEps : 0.02 .

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45758,7 +45854,7 @@ The Parameter reference page, which lis

Type of parameter Vis/SubPixEps , as a string: float .

-

Definition at line 780 of file Parameters.h.

+

Definition at line 781 of file Parameters.h.

@@ -45787,7 +45883,7 @@ The Parameter reference page, which lis

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 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45816,7 +45912,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/GridRows : 1 .

-

Definition at line 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45845,7 +45941,7 @@ The Parameter reference page, which lis

Type of parameter Vis/GridRows , as a string: int .

-

Definition at line 781 of file Parameters.h.

+

Definition at line 782 of file Parameters.h.

@@ -45874,7 +45970,7 @@ The Parameter reference page, which lis

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 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45903,7 +45999,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/GridCols : 1 .

-

Definition at line 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45932,7 +46028,7 @@ The Parameter reference page, which lis

Type of parameter Vis/GridCols , as a string: int .

-

Definition at line 782 of file Parameters.h.

+

Definition at line 783 of file Parameters.h.

@@ -45961,7 +46057,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -45990,7 +46086,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorType : 0 .

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -46019,7 +46115,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorType , as a string: int .

-

Definition at line 783 of file Parameters.h.

+

Definition at line 784 of file Parameters.h.

@@ -46048,7 +46144,7 @@ The Parameter reference page, which lis

Key of parameter Vis/CorNNType : uFormat("[%s=0] FLANN Linear=0, FLANN KdTree=1, FLANN LSH=2, Brute Force=3, Brute Force GPU=4, Brute Force Cross Check=5, SuperGlue=6, GMS=7, FLANN KdTree Single=8, NanoFLANN KdTree=9. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46077,7 +46173,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorNNType : 1 .

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46106,7 +46202,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorNNType , as a string: int .

-

Definition at line 784 of file Parameters.h.

+

Definition at line 785 of file Parameters.h.

@@ -46135,7 +46231,7 @@ The Parameter reference page, which lis

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 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46164,7 +46260,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorNNDR : 0.8 .

-

Definition at line 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46193,7 +46289,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorNNDR , as a string: float .

-

Definition at line 785 of file Parameters.h.

+

Definition at line 786 of file Parameters.h.

@@ -46222,7 +46318,7 @@ The Parameter reference page, which lis

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 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46251,7 +46347,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorGuessWinSize : 40 .

-

Definition at line 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46280,7 +46376,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorGuessWinSize , as a string: int .

-

Definition at line 786 of file Parameters.h.

+

Definition at line 787 of file Parameters.h.

@@ -46309,7 +46405,7 @@ The Parameter reference page, which lis

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 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46338,7 +46434,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorGuessMatchToProjection : false .

-

Definition at line 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46367,7 +46463,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .

-

Definition at line 787 of file Parameters.h.

+

Definition at line 788 of file Parameters.h.

@@ -46396,7 +46492,7 @@ The Parameter reference page, which lis

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 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46425,7 +46521,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowWinSize : 16 .

-

Definition at line 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46454,7 +46550,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowWinSize , as a string: int .

-

Definition at line 788 of file Parameters.h.

+

Definition at line 789 of file Parameters.h.

@@ -46483,7 +46579,7 @@ The Parameter reference page, which lis

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 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46512,7 +46608,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowIterations : 30 .

-

Definition at line 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46541,7 +46637,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowIterations , as a string: int .

-

Definition at line 789 of file Parameters.h.

+

Definition at line 790 of file Parameters.h.

@@ -46570,7 +46666,7 @@ The Parameter reference page, which lis

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 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46599,7 +46695,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowEps : 0.01 .

-

Definition at line 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46628,7 +46724,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowEps , as a string: float .

-

Definition at line 790 of file Parameters.h.

+

Definition at line 791 of file Parameters.h.

@@ -46657,7 +46753,7 @@ The Parameter reference page, which lis

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 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46686,7 +46782,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowMaxLevel : 3 .

-

Definition at line 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46715,7 +46811,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowMaxLevel , as a string: int .

-

Definition at line 791 of file Parameters.h.

+

Definition at line 792 of file Parameters.h.

@@ -46744,7 +46840,7 @@ The Parameter reference page, which lis

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 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46773,7 +46869,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowUseMinEigenVals : true .

-

Definition at line 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46802,7 +46898,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .

-

Definition at line 792 of file Parameters.h.

+

Definition at line 793 of file Parameters.h.

@@ -46831,7 +46927,7 @@ The Parameter reference page, which lis

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 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46860,7 +46956,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .

-

Definition at line 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46889,7 +46985,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .

-

Definition at line 793 of file Parameters.h.

+

Definition at line 794 of file Parameters.h.

@@ -46918,7 +47014,7 @@ The Parameter reference page, which lis

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 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -46947,7 +47043,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowErrorThreshold : 20 .

-

Definition at line 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -46976,7 +47072,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowErrorThreshold , as a string: float .

-

Definition at line 794 of file Parameters.h.

+

Definition at line 795 of file Parameters.h.

@@ -47005,7 +47101,7 @@ The Parameter reference page, which lis

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 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47034,7 +47130,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/CorFlowGpu : false .

-

Definition at line 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47063,7 +47159,7 @@ The Parameter reference page, which lis

Type of parameter Vis/CorFlowGpu , as a string: bool .

-

Definition at line 795 of file Parameters.h.

+

Definition at line 796 of file Parameters.h.

@@ -47092,7 +47188,7 @@ The Parameter reference page, which lis

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 799 of file Parameters.h.

+

Definition at line 800 of file Parameters.h.

@@ -47121,7 +47217,7 @@ The Parameter reference page, which lis

Default value of parameter Vis/BundleAdjustment : 0 .

-

Definition at line 799 of file Parameters.h.

+

Definition at line 800 of file Parameters.h.

@@ -47150,7 +47246,7 @@ The Parameter reference page, which lis

Type of parameter Vis/BundleAdjustment , as a string: int .

-

Definition at line 799 of file Parameters.h.

+

Definition at line 800 of file Parameters.h.

@@ -47179,7 +47275,7 @@ The Parameter reference page, which lis

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 803 of file Parameters.h.

+

Definition at line 804 of file Parameters.h.

@@ -47208,7 +47304,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Path : "" .

-

Definition at line 803 of file Parameters.h.

+

Definition at line 804 of file Parameters.h.

@@ -47237,7 +47333,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Path , as a string: string.

-

Definition at line 803 of file Parameters.h.

+

Definition at line 804 of file Parameters.h.

@@ -47266,7 +47362,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47295,7 +47391,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Iterations : 20 .

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47324,7 +47420,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Iterations , as a string: int .

-

Definition at line 804 of file Parameters.h.

+

Definition at line 805 of file Parameters.h.

@@ -47353,7 +47449,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47382,7 +47478,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Threshold : 0.2 .

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47411,7 +47507,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Threshold , as a string: float .

-

Definition at line 805 of file Parameters.h.

+

Definition at line 806 of file Parameters.h.

@@ -47440,7 +47536,7 @@ The Parameter reference page, which lis

Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47469,7 +47565,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Cuda : true .

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47498,7 +47594,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Cuda , as a string: bool .

-

Definition at line 806 of file Parameters.h.

+

Definition at line 807 of file Parameters.h.

@@ -47527,7 +47623,7 @@ The Parameter reference page, which lis

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 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47556,7 +47652,7 @@ The Parameter reference page, which lis

Default value of parameter PyMatcher/Model : "indoor" .

-

Definition at line 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47585,7 +47681,7 @@ The Parameter reference page, which lis

Type of parameter PyMatcher/Model , as a string: string.

-

Definition at line 807 of file Parameters.h.

+

Definition at line 808 of file Parameters.h.

@@ -47614,7 +47710,7 @@ The Parameter reference page, which lis

Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).

-

Definition at line 809 of file Parameters.h.

+

Definition at line 810 of file Parameters.h.

@@ -47643,7 +47739,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/WithRotation : false .

-

Definition at line 809 of file Parameters.h.

+

Definition at line 810 of file Parameters.h.

@@ -47672,7 +47768,7 @@ The Parameter reference page, which lis

Type of parameter GMS/WithRotation , as a string: bool .

-

Definition at line 809 of file Parameters.h.

+

Definition at line 810 of file Parameters.h.

@@ -47701,7 +47797,7 @@ The Parameter reference page, which lis

Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47730,7 +47826,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/WithScale : false .

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47759,7 +47855,7 @@ The Parameter reference page, which lis

Type of parameter GMS/WithScale , as a string: bool .

-

Definition at line 810 of file Parameters.h.

+

Definition at line 811 of file Parameters.h.

@@ -47788,7 +47884,7 @@ The Parameter reference page, which lis

Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47817,7 +47913,7 @@ The Parameter reference page, which lis

Default value of parameter GMS/ThresholdFactor : 6.0 .

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47846,7 +47942,7 @@ The Parameter reference page, which lis

Type of parameter GMS/ThresholdFactor , as a string: double .

-

Definition at line 811 of file Parameters.h.

+

Definition at line 812 of file Parameters.h.

@@ -47875,7 +47971,7 @@ The Parameter reference page, which lis

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 814 of file Parameters.h.

+

Definition at line 815 of file Parameters.h.

@@ -47904,7 +48000,7 @@ The Parameter reference page, which lis

Default value of parameter PyDescriptor/Path : "" .

-

Definition at line 814 of file Parameters.h.

+

Definition at line 815 of file Parameters.h.

@@ -47933,7 +48029,7 @@ The Parameter reference page, which lis

Type of parameter PyDescriptor/Path , as a string: string.

-

Definition at line 814 of file Parameters.h.

+

Definition at line 815 of file Parameters.h.

@@ -47962,7 +48058,7 @@ The Parameter reference page, which lis

Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -47991,7 +48087,7 @@ The Parameter reference page, which lis

Default value of parameter PyDescriptor/Dim : 4096 .

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -48020,7 +48116,7 @@ The Parameter reference page, which lis

Type of parameter PyDescriptor/Dim , as a string: int .

-

Definition at line 815 of file Parameters.h.

+

Definition at line 816 of file Parameters.h.

@@ -48049,7 +48145,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).

-

Definition at line 821 of file Parameters.h.

+

Definition at line 822 of file Parameters.h.

@@ -48078,7 +48174,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Strategy : 0 .

-

Definition at line 821 of file Parameters.h.

+

Definition at line 822 of file Parameters.h.

@@ -48107,7 +48203,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Strategy , as a string: int .

-

Definition at line 821 of file Parameters.h.

+

Definition at line 822 of file Parameters.h.

@@ -48136,7 +48232,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).

-

Definition at line 823 of file Parameters.h.

+

Definition at line 824 of file Parameters.h.

@@ -48165,7 +48261,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxTranslation : 0.2 .

-

Definition at line 823 of file Parameters.h.

+

Definition at line 824 of file Parameters.h.

@@ -48194,7 +48290,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxTranslation , as a string: float .

-

Definition at line 823 of file Parameters.h.

+

Definition at line 824 of file Parameters.h.

@@ -48223,7 +48319,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48252,7 +48348,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxRotation : 0.78 .

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48281,7 +48377,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxRotation , as a string: float .

-

Definition at line 824 of file Parameters.h.

+

Definition at line 825 of file Parameters.h.

@@ -48310,7 +48406,7 @@ The Parameter reference page, which lis

Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48339,7 +48435,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/VoxelSize : 0.05 .

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48368,7 +48464,7 @@ The Parameter reference page, which lis

Type of parameter Icp/VoxelSize , as a string: float .

-

Definition at line 825 of file Parameters.h.

+

Definition at line 826 of file Parameters.h.

@@ -48397,7 +48493,7 @@ The Parameter reference page, which lis

Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48426,7 +48522,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/DownsamplingStep : 1 .

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48455,7 +48551,7 @@ The Parameter reference page, which lis

Type of parameter Icp/DownsamplingStep , as a string: int .

-

Definition at line 826 of file Parameters.h.

+

Definition at line 827 of file Parameters.h.

@@ -48484,7 +48580,7 @@ The Parameter reference page, which lis

Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48513,7 +48609,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/RangeMin : 0 .

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48542,7 +48638,7 @@ The Parameter reference page, which lis

Type of parameter Icp/RangeMin , as a string: float .

-

Definition at line 827 of file Parameters.h.

+

Definition at line 828 of file Parameters.h.

@@ -48571,7 +48667,7 @@ The Parameter reference page, which lis

Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48600,7 +48696,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/RangeMax : 0 .

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48629,7 +48725,7 @@ The Parameter reference page, which lis

Type of parameter Icp/RangeMax , as a string: float .

-

Definition at line 828 of file Parameters.h.

+

Definition at line 829 of file Parameters.h.

@@ -48658,7 +48754,7 @@ The Parameter reference page, which lis

Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).

-

Definition at line 832 of file Parameters.h.

+

Definition at line 833 of file Parameters.h.

@@ -48687,7 +48783,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .

-

Definition at line 832 of file Parameters.h.

+

Definition at line 833 of file Parameters.h.

@@ -48716,7 +48812,7 @@ The Parameter reference page, which lis

Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .

-

Definition at line 832 of file Parameters.h.

+

Definition at line 833 of file Parameters.h.

@@ -48745,7 +48841,7 @@ The Parameter reference page, which lis

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 834 of file Parameters.h.

+

Definition at line 835 of file Parameters.h.

@@ -48774,7 +48870,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/ReciprocalCorrespondences : true .

-

Definition at line 834 of file Parameters.h.

+

Definition at line 835 of file Parameters.h.

@@ -48803,7 +48899,7 @@ The Parameter reference page, which lis

Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .

-

Definition at line 834 of file Parameters.h.

+

Definition at line 835 of file Parameters.h.

@@ -48832,7 +48928,7 @@ The Parameter reference page, which lis

Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48861,7 +48957,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Iterations : 30 .

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48890,7 +48986,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Iterations , as a string: int .

-

Definition at line 835 of file Parameters.h.

+

Definition at line 836 of file Parameters.h.

@@ -48919,7 +49015,7 @@ The Parameter reference page, which lis

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 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -48948,7 +49044,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Epsilon : 0 .

-

Definition at line 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -48977,7 +49073,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Epsilon , as a string: float .

-

Definition at line 836 of file Parameters.h.

+

Definition at line 837 of file Parameters.h.

@@ -49006,7 +49102,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49035,7 +49131,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CorrespondenceRatio : 0.1 .

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49064,7 +49160,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CorrespondenceRatio , as a string: float .

-

Definition at line 837 of file Parameters.h.

+

Definition at line 838 of file Parameters.h.

@@ -49093,7 +49189,7 @@ The Parameter reference page, which lis

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 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49122,7 +49218,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/Force4DoF : false .

-

Definition at line 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49151,7 +49247,7 @@ The Parameter reference page, which lis

Type of parameter Icp/Force4DoF , as a string: bool .

-

Definition at line 838 of file Parameters.h.

+

Definition at line 839 of file Parameters.h.

@@ -49180,7 +49276,7 @@ The Parameter reference page, which lis

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 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49209,7 +49305,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/FiltersEnabled : 3 .

-

Definition at line 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49238,7 +49334,7 @@ The Parameter reference page, which lis

Type of parameter Icp/FiltersEnabled , as a string: int .

-

Definition at line 839 of file Parameters.h.

+

Definition at line 840 of file Parameters.h.

@@ -49267,7 +49363,7 @@ The Parameter reference page, which lis

Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).

-

Definition at line 843 of file Parameters.h.

+

Definition at line 844 of file Parameters.h.

@@ -49296,7 +49392,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlane : false .

-

Definition at line 843 of file Parameters.h.

+

Definition at line 844 of file Parameters.h.

@@ -49325,7 +49421,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlane , as a string: bool .

-

Definition at line 843 of file Parameters.h.

+

Definition at line 844 of file Parameters.h.

@@ -49354,7 +49450,7 @@ The Parameter reference page, which lis

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 845 of file Parameters.h.

+

Definition at line 846 of file Parameters.h.

@@ -49383,7 +49479,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneK : 5 .

-

Definition at line 845 of file Parameters.h.

+

Definition at line 846 of file Parameters.h.

@@ -49412,7 +49508,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneK , as a string: int .

-

Definition at line 845 of file Parameters.h.

+

Definition at line 846 of file Parameters.h.

@@ -49441,7 +49537,7 @@ The Parameter reference page, which lis

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 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49470,7 +49566,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneRadius : 0.0 .

-

Definition at line 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49499,7 +49595,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneRadius , as a string: float .

-

Definition at line 846 of file Parameters.h.

+

Definition at line 847 of file Parameters.h.

@@ -49528,7 +49624,7 @@ The Parameter reference page, which lis

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 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49557,7 +49653,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .

-

Definition at line 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49586,7 +49682,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .

-

Definition at line 847 of file Parameters.h.

+

Definition at line 848 of file Parameters.h.

@@ -49615,7 +49711,7 @@ The Parameter reference page, which lis

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 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49644,7 +49740,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .

-

Definition at line 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49673,7 +49769,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .

-

Definition at line 848 of file Parameters.h.

+

Definition at line 849 of file Parameters.h.

@@ -49702,7 +49798,7 @@ The Parameter reference page, which lis

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 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49731,7 +49827,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneComplexityCentered : false .

-

Definition at line 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49760,7 +49856,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .

-

Definition at line 849 of file Parameters.h.

+

Definition at line 850 of file Parameters.h.

@@ -49789,7 +49885,7 @@ The Parameter reference page, which lis

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 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49818,7 +49914,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .

-

Definition at line 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49847,7 +49943,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .

-

Definition at line 850 of file Parameters.h.

+

Definition at line 851 of file Parameters.h.

@@ -49876,7 +49972,7 @@ The Parameter reference page, which lis

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 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49905,7 +50001,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/OutlierRatio : 0.85 .

-

Definition at line 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49934,7 +50030,7 @@ The Parameter reference page, which lis

Type of parameter Icp/OutlierRatio , as a string: float .

-

Definition at line 851 of file Parameters.h.

+

Definition at line 852 of file Parameters.h.

@@ -49963,7 +50059,7 @@ The Parameter reference page, which lis

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 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -49992,7 +50088,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/DebugExportFormat : "" .

-

Definition at line 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -50021,7 +50117,7 @@ The Parameter reference page, which lis

Type of parameter Icp/DebugExportFormat , as a string: string.

-

Definition at line 852 of file Parameters.h.

+

Definition at line 853 of file Parameters.h.

@@ -50050,7 +50146,7 @@ The Parameter reference page, which lis

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 855 of file Parameters.h.

+

Definition at line 856 of file Parameters.h.

@@ -50079,7 +50175,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMConfig : "" .

-

Definition at line 855 of file Parameters.h.

+

Definition at line 856 of file Parameters.h.

@@ -50108,7 +50204,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMConfig , as a string: string.

-

Definition at line 855 of file Parameters.h.

+

Definition at line 856 of file Parameters.h.

@@ -50137,7 +50233,7 @@ The Parameter reference page, which lis

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 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50166,7 +50262,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherKnn : 1 .

-

Definition at line 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50195,7 +50291,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherKnn , as a string: int .

-

Definition at line 856 of file Parameters.h.

+

Definition at line 857 of file Parameters.h.

@@ -50224,7 +50320,7 @@ The Parameter reference page, which lis

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 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50253,7 +50349,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherEpsilon : 0.0 .

-

Definition at line 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50282,7 +50378,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherEpsilon , as a string: float .

-

Definition at line 857 of file Parameters.h.

+

Definition at line 858 of file Parameters.h.

@@ -50311,7 +50407,7 @@ The Parameter reference page, which lis

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 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50340,7 +50436,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/PMMatcherIntensity : false .

-

Definition at line 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50369,7 +50465,7 @@ The Parameter reference page, which lis

Type of parameter Icp/PMMatcherIntensity , as a string: bool .

-

Definition at line 858 of file Parameters.h.

+

Definition at line 859 of file Parameters.h.

@@ -50398,7 +50494,7 @@ The Parameter reference page, which lis

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 860 of file Parameters.h.

+

Definition at line 861 of file Parameters.h.

@@ -50427,7 +50523,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCSamplingLimit : 50000 .

-

Definition at line 860 of file Parameters.h.

+

Definition at line 861 of file Parameters.h.

@@ -50456,7 +50552,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .

-

Definition at line 860 of file Parameters.h.

+

Definition at line 861 of file Parameters.h.

@@ -50485,7 +50581,7 @@ The Parameter reference page, which lis

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 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50514,7 +50610,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCFilterOutFarthestPoints : false .

-

Definition at line 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50543,7 +50639,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .

-

Definition at line 861 of file Parameters.h.

+

Definition at line 862 of file Parameters.h.

@@ -50572,7 +50668,7 @@ The Parameter reference page, which lis

Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50601,7 +50697,7 @@ The Parameter reference page, which lis

Default value of parameter Icp/CCMaxFinalRMS : 0.2 .

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50630,7 +50726,7 @@ The Parameter reference page, which lis

Type of parameter Icp/CCMaxFinalRMS , as a string: float .

-

Definition at line 862 of file Parameters.h.

+

Definition at line 863 of file Parameters.h.

@@ -50659,7 +50755,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).

-

Definition at line 865 of file Parameters.h.

+

Definition at line 866 of file Parameters.h.

@@ -50688,7 +50784,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/WinWidth : 15 .

-

Definition at line 865 of file Parameters.h.

+

Definition at line 866 of file Parameters.h.

@@ -50717,7 +50813,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/WinWidth , as a string: int .

-

Definition at line 865 of file Parameters.h.

+

Definition at line 866 of file Parameters.h.

@@ -50746,7 +50842,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50775,7 +50871,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/WinHeight : 3 .

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50804,7 +50900,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/WinHeight , as a string: int .

-

Definition at line 866 of file Parameters.h.

+

Definition at line 867 of file Parameters.h.

@@ -50833,7 +50929,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50862,7 +50958,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Iterations : 30 .

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50891,7 +50987,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Iterations , as a string: int .

-

Definition at line 867 of file Parameters.h.

+

Definition at line 868 of file Parameters.h.

@@ -50920,7 +51016,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -50949,7 +51045,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MaxLevel : 5 .

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -50978,7 +51074,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MaxLevel , as a string: int .

-

Definition at line 868 of file Parameters.h.

+

Definition at line 869 of file Parameters.h.

@@ -51007,7 +51103,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51036,7 +51132,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MinDisparity : 0.5 .

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51065,7 +51161,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MinDisparity , as a string: float .

-

Definition at line 869 of file Parameters.h.

+

Definition at line 870 of file Parameters.h.

@@ -51094,7 +51190,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51123,7 +51219,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MaxDisparity : 128.0 .

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51152,7 +51248,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MaxDisparity , as a string: float .

-

Definition at line 870 of file Parameters.h.

+

Definition at line 871 of file Parameters.h.

@@ -51181,7 +51277,7 @@ The Parameter reference page, which lis

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 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51210,7 +51306,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/OpticalFlow : true .

-

Definition at line 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51239,7 +51335,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/OpticalFlow , as a string: bool .

-

Definition at line 871 of file Parameters.h.

+

Definition at line 872 of file Parameters.h.

@@ -51268,7 +51364,7 @@ The Parameter reference page, which lis

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 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51297,7 +51393,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/SSD : true .

-

Definition at line 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51326,7 +51422,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/SSD , as a string: bool .

-

Definition at line 872 of file Parameters.h.

+

Definition at line 873 of file Parameters.h.

@@ -51355,7 +51451,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51384,7 +51480,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Eps : 0.01 .

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51413,7 +51509,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Eps , as a string: double .

-

Definition at line 873 of file Parameters.h.

+

Definition at line 874 of file Parameters.h.

@@ -51442,7 +51538,7 @@ The Parameter reference page, which lis

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 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51471,7 +51567,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/UseMinEigenVals : true .

-

Definition at line 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51500,7 +51596,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/UseMinEigenVals , as a string: bool .

-

Definition at line 874 of file Parameters.h.

+

Definition at line 875 of file Parameters.h.

@@ -51529,7 +51625,7 @@ The Parameter reference page, which lis

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 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51558,7 +51654,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/MinEigThreshold : 1e-4 .

-

Definition at line 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51587,7 +51683,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/MinEigThreshold , as a string: double .

-

Definition at line 875 of file Parameters.h.

+

Definition at line 876 of file Parameters.h.

@@ -51616,7 +51712,7 @@ The Parameter reference page, which lis

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 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51645,7 +51741,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/ErrorThreshold : 50 .

-

Definition at line 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51674,7 +51770,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/ErrorThreshold , as a string: double .

-

Definition at line 876 of file Parameters.h.

+

Definition at line 877 of file Parameters.h.

@@ -51703,7 +51799,7 @@ The Parameter reference page, which lis

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 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51732,7 +51828,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/Gpu : false .

-

Definition at line 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51761,7 +51857,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/Gpu , as a string: bool .

-

Definition at line 877 of file Parameters.h.

+

Definition at line 878 of file Parameters.h.

@@ -51790,7 +51886,7 @@ The Parameter reference page, which lis

Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 879 of file Parameters.h.

+

Definition at line 880 of file Parameters.h.

@@ -51819,7 +51915,7 @@ The Parameter reference page, which lis

Default value of parameter Stereo/DenseStrategy : 0 .

-

Definition at line 879 of file Parameters.h.

+

Definition at line 880 of file Parameters.h.

@@ -51848,7 +51944,7 @@ The Parameter reference page, which lis

Type of parameter Stereo/DenseStrategy , as a string: int .

-

Definition at line 879 of file Parameters.h.

+

Definition at line 880 of file Parameters.h.

@@ -51877,7 +51973,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).

-

Definition at line 881 of file Parameters.h.

+

Definition at line 882 of file Parameters.h.

@@ -51906,7 +52002,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/BlockSize : 15 .

-

Definition at line 881 of file Parameters.h.

+

Definition at line 882 of file Parameters.h.

@@ -51935,7 +52031,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/BlockSize , as a string: int .

-

Definition at line 881 of file Parameters.h.

+

Definition at line 882 of file Parameters.h.

@@ -51964,7 +52060,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -51993,7 +52089,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/MinDisparity : 0 .

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -52022,7 +52118,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/MinDisparity , as a string: int .

-

Definition at line 882 of file Parameters.h.

+

Definition at line 883 of file Parameters.h.

@@ -52051,7 +52147,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52080,7 +52176,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/NumDisparities : 128 .

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52109,7 +52205,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/NumDisparities , as a string: int .

-

Definition at line 883 of file Parameters.h.

+

Definition at line 884 of file Parameters.h.

@@ -52138,7 +52234,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52167,7 +52263,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/PreFilterSize : 9 .

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52196,7 +52292,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/PreFilterSize , as a string: int .

-

Definition at line 884 of file Parameters.h.

+

Definition at line 885 of file Parameters.h.

@@ -52225,7 +52321,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52254,7 +52350,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/PreFilterCap : 31 .

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52283,7 +52379,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/PreFilterCap , as a string: int .

-

Definition at line 885 of file Parameters.h.

+

Definition at line 886 of file Parameters.h.

@@ -52312,7 +52408,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52341,7 +52437,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/UniquenessRatio : 15 .

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52370,7 +52466,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/UniquenessRatio , as a string: int .

-

Definition at line 886 of file Parameters.h.

+

Definition at line 887 of file Parameters.h.

@@ -52399,7 +52495,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52428,7 +52524,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/TextureThreshold : 10 .

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52457,7 +52553,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/TextureThreshold , as a string: int .

-

Definition at line 887 of file Parameters.h.

+

Definition at line 888 of file Parameters.h.

@@ -52486,7 +52582,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52515,7 +52611,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/SpeckleWindowSize : 100 .

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52544,7 +52640,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/SpeckleWindowSize , as a string: int .

-

Definition at line 888 of file Parameters.h.

+

Definition at line 889 of file Parameters.h.

@@ -52573,7 +52669,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52602,7 +52698,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/SpeckleRange : 4 .

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52631,7 +52727,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/SpeckleRange , as a string: int .

-

Definition at line 889 of file Parameters.h.

+

Definition at line 890 of file Parameters.h.

@@ -52660,7 +52756,7 @@ The Parameter reference page, which lis

Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52689,7 +52785,7 @@ The Parameter reference page, which lis

Default value of parameter StereoBM/Disp12MaxDiff : -1 .

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52718,7 +52814,7 @@ The Parameter reference page, which lis

Type of parameter StereoBM/Disp12MaxDiff , as a string: int .

-

Definition at line 890 of file Parameters.h.

+

Definition at line 891 of file Parameters.h.

@@ -52747,7 +52843,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).

-

Definition at line 892 of file Parameters.h.

+

Definition at line 893 of file Parameters.h.

@@ -52776,7 +52872,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/BlockSize : 15 .

-

Definition at line 892 of file Parameters.h.

+

Definition at line 893 of file Parameters.h.

@@ -52805,7 +52901,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/BlockSize , as a string: int .

-

Definition at line 892 of file Parameters.h.

+

Definition at line 893 of file Parameters.h.

@@ -52834,7 +52930,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52863,7 +52959,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/MinDisparity : 0 .

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52892,7 +52988,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/MinDisparity , as a string: int .

-

Definition at line 893 of file Parameters.h.

+

Definition at line 894 of file Parameters.h.

@@ -52921,7 +53017,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -52950,7 +53046,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/NumDisparities : 128 .

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -52979,7 +53075,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/NumDisparities , as a string: int .

-

Definition at line 894 of file Parameters.h.

+

Definition at line 895 of file Parameters.h.

@@ -53008,7 +53104,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53037,7 +53133,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/PreFilterCap : 31 .

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53066,7 +53162,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/PreFilterCap , as a string: int .

-

Definition at line 895 of file Parameters.h.

+

Definition at line 896 of file Parameters.h.

@@ -53095,7 +53191,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53124,7 +53220,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/UniquenessRatio : 20 .

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53153,7 +53249,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/UniquenessRatio , as a string: int .

-

Definition at line 896 of file Parameters.h.

+

Definition at line 897 of file Parameters.h.

@@ -53182,7 +53278,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53211,7 +53307,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53240,7 +53336,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .

-

Definition at line 897 of file Parameters.h.

+

Definition at line 898 of file Parameters.h.

@@ -53269,7 +53365,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53298,7 +53394,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/SpeckleRange : 4 .

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53327,7 +53423,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/SpeckleRange , as a string: int .

-

Definition at line 898 of file Parameters.h.

+

Definition at line 899 of file Parameters.h.

@@ -53356,7 +53452,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53385,7 +53481,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53414,7 +53510,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .

-

Definition at line 899 of file Parameters.h.

+

Definition at line 900 of file Parameters.h.

@@ -53443,7 +53539,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53472,7 +53568,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/P1 : 2 .

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53501,7 +53597,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/P1 , as a string: int .

-

Definition at line 900 of file Parameters.h.

+

Definition at line 901 of file Parameters.h.

@@ -53530,7 +53626,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53559,7 +53655,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/P2 : 5 .

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53588,7 +53684,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/P2 , as a string: int .

-

Definition at line 901 of file Parameters.h.

+

Definition at line 902 of file Parameters.h.

@@ -53617,7 +53713,7 @@ The Parameter reference page, which lis

Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).

-

Definition at line 903 of file Parameters.h.

+

Definition at line 904 of file Parameters.h.

@@ -53646,7 +53742,7 @@ The Parameter reference page, which lis

Default value of parameter StereoSGBM/Mode : 0 .

-

Definition at line 903 of file Parameters.h.

+

Definition at line 904 of file Parameters.h.

@@ -53675,7 +53771,7 @@ The Parameter reference page, which lis

Type of parameter StereoSGBM/Mode , as a string: int .

-

Definition at line 903 of file Parameters.h.

+

Definition at line 904 of file Parameters.h.

@@ -53704,7 +53800,7 @@ The Parameter reference page, which lis

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 909 of file Parameters.h.

+

Definition at line 910 of file Parameters.h.

@@ -53733,7 +53829,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/Sensor : 1 .

-

Definition at line 909 of file Parameters.h.

+

Definition at line 910 of file Parameters.h.

@@ -53762,7 +53858,7 @@ The Parameter reference page, which lis

Type of parameter Grid/Sensor , as a string: int .

-

Definition at line 909 of file Parameters.h.

+

Definition at line 910 of file Parameters.h.

@@ -53791,7 +53887,7 @@ The Parameter reference page, which lis

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 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53820,7 +53916,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/DepthDecimation : 4 .

-

Definition at line 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53849,7 +53945,7 @@ The Parameter reference page, which lis

Type of parameter Grid/DepthDecimation , as a string: unsigned int .

-

Definition at line 910 of file Parameters.h.

+

Definition at line 911 of file Parameters.h.

@@ -53878,7 +53974,7 @@ The Parameter reference page, which lis

Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53907,7 +54003,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RangeMin : 0.0 .

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53936,7 +54032,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RangeMin , as a string: float .

-

Definition at line 911 of file Parameters.h.

+

Definition at line 912 of file Parameters.h.

@@ -53965,7 +54061,7 @@ The Parameter reference page, which lis

Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -53994,7 +54090,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RangeMax : 5.0 .

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -54023,7 +54119,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RangeMax , as a string: float .

-

Definition at line 912 of file Parameters.h.

+

Definition at line 913 of file Parameters.h.

@@ -54052,7 +54148,7 @@ The Parameter reference page, which lis

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 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54081,7 +54177,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .

-

Definition at line 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54110,7 +54206,7 @@ The Parameter reference page, which lis

Type of parameter Grid/DepthRoiRatios , as a string: string.

-

Definition at line 913 of file Parameters.h.

+

Definition at line 914 of file Parameters.h.

@@ -54139,7 +54235,7 @@ The Parameter reference page, which lis

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 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54168,7 +54264,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintLength : 0.0 .

-

Definition at line 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54197,7 +54293,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintLength , as a string: float .

-

Definition at line 914 of file Parameters.h.

+

Definition at line 915 of file Parameters.h.

@@ -54226,7 +54322,7 @@ The Parameter reference page, which lis

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 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54255,7 +54351,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintWidth : 0.0 .

-

Definition at line 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54284,7 +54380,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintWidth , as a string: float .

-

Definition at line 915 of file Parameters.h.

+

Definition at line 916 of file Parameters.h.

@@ -54313,7 +54409,7 @@ The Parameter reference page, which lis

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 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54342,7 +54438,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FootprintHeight : 0.0 .

-

Definition at line 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54371,7 +54467,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FootprintHeight , as a string: float .

-

Definition at line 916 of file Parameters.h.

+

Definition at line 917 of file Parameters.h.

@@ -54400,7 +54496,7 @@ The Parameter reference page, which lis

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 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54429,7 +54525,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/ScanDecimation : 1 .

-

Definition at line 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54458,7 +54554,7 @@ The Parameter reference page, which lis

Type of parameter Grid/ScanDecimation , as a string: int .

-

Definition at line 917 of file Parameters.h.

+

Definition at line 918 of file Parameters.h.

@@ -54487,7 +54583,7 @@ The Parameter reference page, which lis

Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54516,7 +54612,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/CellSize : 0.05 .

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54545,7 +54641,7 @@ The Parameter reference page, which lis

Type of parameter Grid/CellSize , as a string: float .

-

Definition at line 918 of file Parameters.h.

+

Definition at line 919 of file Parameters.h.

@@ -54574,7 +54670,7 @@ The Parameter reference page, which lis

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 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54603,7 +54699,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/PreVoxelFiltering : true .

-

Definition at line 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54632,7 +54728,7 @@ The Parameter reference page, which lis

Type of parameter Grid/PreVoxelFiltering , as a string: bool .

-

Definition at line 919 of file Parameters.h.

+

Definition at line 920 of file Parameters.h.

@@ -54661,7 +54757,7 @@ The Parameter reference page, which lis

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 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54690,7 +54786,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MapFrameProjection : false .

-

Definition at line 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54719,7 +54815,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MapFrameProjection , as a string: bool .

-

Definition at line 920 of file Parameters.h.

+

Definition at line 921 of file Parameters.h.

@@ -54748,7 +54844,7 @@ The Parameter reference page, which lis

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 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54777,7 +54873,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NormalsSegmentation : true .

-

Definition at line 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54806,7 +54902,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NormalsSegmentation , as a string: bool .

-

Definition at line 921 of file Parameters.h.

+

Definition at line 922 of file Parameters.h.

@@ -54835,7 +54931,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54864,7 +54960,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxObstacleHeight : 0.0 .

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54893,7 +54989,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxObstacleHeight , as a string: float .

-

Definition at line 922 of file Parameters.h.

+

Definition at line 923 of file Parameters.h.

@@ -54922,7 +55018,7 @@ The Parameter reference page, which lis

Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -54951,7 +55047,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MinGroundHeight : 0.0 .

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -54980,7 +55076,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MinGroundHeight , as a string: float .

-

Definition at line 923 of file Parameters.h.

+

Definition at line 924 of file Parameters.h.

@@ -55009,7 +55105,7 @@ The Parameter reference page, which lis

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 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55038,7 +55134,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxGroundHeight : 0.0 .

-

Definition at line 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55067,7 +55163,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxGroundHeight , as a string: float .

-

Definition at line 924 of file Parameters.h.

+

Definition at line 925 of file Parameters.h.

@@ -55096,7 +55192,7 @@ The Parameter reference page, which lis

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 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55125,7 +55221,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MaxGroundAngle : 45 .

-

Definition at line 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55154,7 +55250,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MaxGroundAngle , as a string: float .

-

Definition at line 925 of file Parameters.h.

+

Definition at line 926 of file Parameters.h.

@@ -55183,7 +55279,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55212,7 +55308,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NormalK : 20 .

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55241,7 +55337,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NormalK , as a string: int .

-

Definition at line 926 of file Parameters.h.

+

Definition at line 927 of file Parameters.h.

@@ -55270,7 +55366,7 @@ The Parameter reference page, which lis

Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55299,7 +55395,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/ClusterRadius : 0.1 .

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55328,7 +55424,7 @@ The Parameter reference page, which lis

Type of parameter Grid/ClusterRadius , as a string: float .

-

Definition at line 927 of file Parameters.h.

+

Definition at line 928 of file Parameters.h.

@@ -55357,7 +55453,7 @@ The Parameter reference page, which lis

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 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55386,7 +55482,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/MinClusterSize : 10 .

-

Definition at line 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55415,7 +55511,7 @@ The Parameter reference page, which lis

Type of parameter Grid/MinClusterSize , as a string: int .

-

Definition at line 928 of file Parameters.h.

+

Definition at line 929 of file Parameters.h.

@@ -55444,7 +55540,7 @@ The Parameter reference page, which lis

Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55473,7 +55569,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/FlatObstacleDetected : true .

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55502,7 +55598,7 @@ The Parameter reference page, which lis

Type of parameter Grid/FlatObstacleDetected , as a string: bool .

-

Definition at line 929 of file Parameters.h.

+

Definition at line 930 of file Parameters.h.

@@ -55531,7 +55627,7 @@ The Parameter reference page, which lis

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 933 of file Parameters.h.

+

Definition at line 934 of file Parameters.h.

@@ -55560,7 +55656,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/3D : false .

-

Definition at line 933 of file Parameters.h.

+

Definition at line 934 of file Parameters.h.

@@ -55589,7 +55685,7 @@ The Parameter reference page, which lis

Type of parameter Grid/3D , as a string: bool .

-

Definition at line 933 of file Parameters.h.

+

Definition at line 934 of file Parameters.h.

@@ -55618,7 +55714,7 @@ The Parameter reference page, which lis

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 935 of file Parameters.h.

+

Definition at line 936 of file Parameters.h.

@@ -55647,7 +55743,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/GroundIsObstacle : false .

-

Definition at line 935 of file Parameters.h.

+

Definition at line 936 of file Parameters.h.

@@ -55676,7 +55772,7 @@ The Parameter reference page, which lis

Type of parameter Grid/GroundIsObstacle , as a string: bool .

-

Definition at line 935 of file Parameters.h.

+

Definition at line 936 of file Parameters.h.

@@ -55705,7 +55801,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55734,7 +55830,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NoiseFilteringRadius : 0.0 .

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55763,7 +55859,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NoiseFilteringRadius , as a string: float .

-

Definition at line 936 of file Parameters.h.

+

Definition at line 937 of file Parameters.h.

@@ -55792,7 +55888,7 @@ The Parameter reference page, which lis

Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55821,7 +55917,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55850,7 +55946,7 @@ The Parameter reference page, which lis

Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .

-

Definition at line 937 of file Parameters.h.

+

Definition at line 938 of file Parameters.h.

@@ -55879,7 +55975,7 @@ The Parameter reference page, which lis

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 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55908,7 +56004,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .

-

Definition at line 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55937,7 +56033,7 @@ The Parameter reference page, which lis

Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .

-

Definition at line 938 of file Parameters.h.

+

Definition at line 939 of file Parameters.h.

@@ -55966,7 +56062,7 @@ The Parameter reference page, which lis

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 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -55995,7 +56091,7 @@ The Parameter reference page, which lis

Default value of parameter Grid/RayTracing : false .

-

Definition at line 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -56024,7 +56120,7 @@ The Parameter reference page, which lis

Type of parameter Grid/RayTracing , as a string: bool .

-

Definition at line 939 of file Parameters.h.

+

Definition at line 940 of file Parameters.h.

@@ -56053,7 +56149,7 @@ The Parameter reference page, which lis

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 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56082,7 +56178,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/UpdateError : 0.01 .

-

Definition at line 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56111,7 +56207,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/UpdateError , as a string: float .

-

Definition at line 940 of file Parameters.h.

+

Definition at line 941 of file Parameters.h.

@@ -56140,7 +56236,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56169,7 +56265,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/FootprintRadius : 0.0 .

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56198,7 +56294,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/FootprintRadius , as a string: float .

-

Definition at line 941 of file Parameters.h.

+

Definition at line 942 of file Parameters.h.

@@ -56227,7 +56323,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56256,7 +56352,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/MinSize : 0.0 .

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56285,7 +56381,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/MinSize , as a string: float .

-

Definition at line 942 of file Parameters.h.

+

Definition at line 943 of file Parameters.h.

@@ -56314,7 +56410,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56343,7 +56439,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/Eroded : false .

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56372,7 +56468,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/Eroded , as a string: bool .

-

Definition at line 943 of file Parameters.h.

+

Definition at line 944 of file Parameters.h.

@@ -56401,7 +56497,7 @@ The Parameter reference page, which lis

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 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56430,7 +56526,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/MaxNodes : 0 .

-

Definition at line 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56459,7 +56555,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/MaxNodes , as a string: int .

-

Definition at line 944 of file Parameters.h.

+

Definition at line 945 of file Parameters.h.

@@ -56488,7 +56584,7 @@ The Parameter reference page, which lis

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 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56517,7 +56613,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/AltitudeDelta : 0 .

-

Definition at line 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56546,7 +56642,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/AltitudeDelta , as a string: float .

-

Definition at line 945 of file Parameters.h.

+

Definition at line 946 of file Parameters.h.

@@ -56575,7 +56671,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56604,7 +56700,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/OccupancyThr : 0.5 .

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56633,7 +56729,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/OccupancyThr , as a string: float .

-

Definition at line 946 of file Parameters.h.

+

Definition at line 947 of file Parameters.h.

@@ -56662,7 +56758,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56691,7 +56787,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbHit : 0.7 .

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56720,7 +56816,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbHit , as a string: float .

-

Definition at line 947 of file Parameters.h.

+

Definition at line 948 of file Parameters.h.

@@ -56749,7 +56845,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56778,7 +56874,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbMiss : 0.4 .

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56807,7 +56903,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbMiss , as a string: float .

-

Definition at line 948 of file Parameters.h.

+

Definition at line 949 of file Parameters.h.

@@ -56836,7 +56932,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56865,7 +56961,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56894,7 +56990,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbClampingMin , as a string: float .

-

Definition at line 949 of file Parameters.h.

+

Definition at line 950 of file Parameters.h.

@@ -56923,7 +57019,7 @@ The Parameter reference page, which lis

Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -56952,7 +57048,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/ProbClampingMax : 0.971 .

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -56981,7 +57077,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/ProbClampingMax , as a string: float .

-

Definition at line 950 of file Parameters.h.

+

Definition at line 951 of file Parameters.h.

@@ -57010,7 +57106,7 @@ The Parameter reference page, which lis

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 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57039,7 +57135,7 @@ The Parameter reference page, which lis

Default value of parameter GridGlobal/FloodFillDepth : 0 .

-

Definition at line 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57068,7 +57164,7 @@ The Parameter reference page, which lis

Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .

-

Definition at line 951 of file Parameters.h.

+

Definition at line 952 of file Parameters.h.

@@ -57097,7 +57193,7 @@ The Parameter reference page, which lis

Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).

-

Definition at line 953 of file Parameters.h.

+

Definition at line 954 of file Parameters.h.

@@ -57126,7 +57222,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Strategy : 0 .

-

Definition at line 953 of file Parameters.h.

+

Definition at line 954 of file Parameters.h.

@@ -57155,7 +57251,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Strategy , as a string: int .

-

Definition at line 953 of file Parameters.h.

+

Definition at line 954 of file Parameters.h.

@@ -57184,7 +57280,7 @@ The Parameter reference page, which lis

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 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57213,7 +57309,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Dictionary : 0 .

-

Definition at line 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57242,7 +57338,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Dictionary , as a string: int .

-

Definition at line 954 of file Parameters.h.

+

Definition at line 955 of file Parameters.h.

@@ -57271,7 +57367,7 @@ The Parameter reference page, which lis

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 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57300,7 +57396,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Length : 0 .

-

Definition at line 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57329,7 +57425,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Length , as a string: float .

-

Definition at line 955 of file Parameters.h.

+

Definition at line 956 of file Parameters.h.

@@ -57358,7 +57454,7 @@ The Parameter reference page, which lis

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 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57387,7 +57483,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Lengths : "" .

-

Definition at line 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57416,7 +57512,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Lengths , as a string: string.

-

Definition at line 956 of file Parameters.h.

+

Definition at line 957 of file Parameters.h.

@@ -57445,7 +57541,7 @@ The Parameter reference page, which lis

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 ).

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57474,7 +57570,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MaxDepthError : 0.01 .

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57503,7 +57599,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MaxDepthError , as a string: float .

-

Definition at line 957 of file Parameters.h.

+

Definition at line 958 of file Parameters.h.

@@ -57532,7 +57628,7 @@ The Parameter reference page, which lis

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 ).

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57561,7 +57657,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceLinear : 0.001 .

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57590,7 +57686,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceLinear , as a string: float .

-

Definition at line 958 of file Parameters.h.

+

Definition at line 959 of file Parameters.h.

@@ -57619,7 +57715,7 @@ The Parameter reference page, which lis

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 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57648,7 +57744,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceAngular : 0.01 .

-

Definition at line 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57677,7 +57773,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceAngular , as a string: float .

-

Definition at line 959 of file Parameters.h.

+

Definition at line 960 of file Parameters.h.

@@ -57706,7 +57802,7 @@ The Parameter reference page, which lis

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 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57735,7 +57831,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/VarianceOrientationIgnored : false .

-

Definition at line 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57764,7 +57860,7 @@ The Parameter reference page, which lis

Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .

-

Definition at line 960 of file Parameters.h.

+

Definition at line 961 of file Parameters.h.

@@ -57793,7 +57889,7 @@ The Parameter reference page, which lis

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 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57822,7 +57918,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MaxRange : 0.0 .

-

Definition at line 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57851,7 +57947,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MaxRange , as a string: float .

-

Definition at line 961 of file Parameters.h.

+

Definition at line 962 of file Parameters.h.

@@ -57880,7 +57976,7 @@ The Parameter reference page, which lis

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 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57909,7 +58005,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/MinRange : 0.0 .

-

Definition at line 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57938,7 +58034,7 @@ The Parameter reference page, which lis

Type of parameter Marker/MinRange , as a string: float .

-

Definition at line 962 of file Parameters.h.

+

Definition at line 963 of file Parameters.h.

@@ -57967,7 +58063,7 @@ The Parameter reference page, which lis

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 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -57996,7 +58092,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/Priors : "" .

-

Definition at line 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -58025,7 +58121,7 @@ The Parameter reference page, which lis

Type of parameter Marker/Priors , as a string: string.

-

Definition at line 963 of file Parameters.h.

+

Definition at line 964 of file Parameters.h.

@@ -58054,7 +58150,7 @@ The Parameter reference page, which lis

Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58083,7 +58179,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/PriorsVarianceLinear : 0.001 .

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58112,7 +58208,7 @@ The Parameter reference page, which lis

Type of parameter Marker/PriorsVarianceLinear , as a string: float .

-

Definition at line 964 of file Parameters.h.

+

Definition at line 965 of file Parameters.h.

@@ -58141,7 +58237,7 @@ The Parameter reference page, which lis

Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58170,7 +58266,7 @@ The Parameter reference page, which lis

Default value of parameter Marker/PriorsVarianceAngular : 0.001 .

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58199,7 +58295,7 @@ The Parameter reference page, which lis

Type of parameter Marker/PriorsVarianceAngular , as a string: float .

-

Definition at line 965 of file Parameters.h.

+

Definition at line 966 of file Parameters.h.

@@ -58228,7 +58324,7 @@ The Parameter reference page, which lis

Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).

-

Definition at line 967 of file Parameters.h.

+

Definition at line 968 of file Parameters.h.

@@ -58257,7 +58353,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/NThreads : 1 .

-

Definition at line 967 of file Parameters.h.

+

Definition at line 968 of file Parameters.h.

@@ -58286,7 +58382,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/NThreads , as a string: int .

-

Definition at line 967 of file Parameters.h.

+

Definition at line 968 of file Parameters.h.

@@ -58315,7 +58411,7 @@ The Parameter reference page, which lis

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 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58344,7 +58440,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .

-

Definition at line 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58373,7 +58469,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .

-

Definition at line 968 of file Parameters.h.

+

Definition at line 969 of file Parameters.h.

@@ -58402,7 +58498,7 @@ The Parameter reference page, which lis

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 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58431,7 +58527,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .

-

Definition at line 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58460,7 +58556,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/QuadSigma , as a string: float .

-

Definition at line 969 of file Parameters.h.

+

Definition at line 970 of file Parameters.h.

@@ -58489,7 +58585,7 @@ The Parameter reference page, which lis

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 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58518,7 +58614,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/RefineEdges : true .

-

Definition at line 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58547,7 +58643,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .

-

Definition at line 970 of file Parameters.h.

+

Definition at line 971 of file Parameters.h.

@@ -58576,7 +58672,7 @@ The Parameter reference page, which lis

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 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58605,7 +58701,7 @@ The Parameter reference page, which lis

Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .

-

Definition at line 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58634,7 +58730,7 @@ The Parameter reference page, which lis

Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .

-

Definition at line 971 of file Parameters.h.

+

Definition at line 972 of file Parameters.h.

@@ -58663,7 +58759,7 @@ The Parameter reference page, which lis

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 ).

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Definition at line 972 of file Parameters.h.

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Definition at line 973 of file Parameters.h.

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Default value of parameter MarkerAprilTag/Debug : false .

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Definition at line 972 of file Parameters.h.

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Definition at line 973 of file Parameters.h.

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Type of parameter MarkerAprilTag/Debug , as a string: bool .

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Definition at line 972 of file Parameters.h.

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Definition at line 973 of file Parameters.h.

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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 ).

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Definition at line 974 of file Parameters.h.

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Definition at line 975 of file Parameters.h.

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Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .

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Definition at line 974 of file Parameters.h.

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Definition at line 975 of file Parameters.h.

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Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .

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Definition at line 974 of file Parameters.h.

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Definition at line 975 of file Parameters.h.

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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 ).

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Definition at line 976 of file Parameters.h.

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Definition at line 977 of file Parameters.h.

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Default value of parameter ImuFilter/MadgwickGain : 0.1 .

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Definition at line 976 of file Parameters.h.

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Definition at line 977 of file Parameters.h.

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Type of parameter ImuFilter/MadgwickGain , as a string: double .

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Definition at line 976 of file Parameters.h.

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Definition at line 977 of file Parameters.h.

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Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).

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Definition at line 977 of file Parameters.h.

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Definition at line 978 of file Parameters.h.

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Default value of parameter ImuFilter/MadgwickZeta : 0.0 .

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Definition at line 977 of file Parameters.h.

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Definition at line 978 of file Parameters.h.

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Type of parameter ImuFilter/MadgwickZeta , as a string: double .

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Definition at line 977 of file Parameters.h.

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Definition at line 978 of file Parameters.h.

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Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).

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Definition at line 979 of file Parameters.h.

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Definition at line 980 of file Parameters.h.

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Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .

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Definition at line 979 of file Parameters.h.

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Definition at line 980 of file Parameters.h.

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Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .

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Definition at line 979 of file Parameters.h.

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Definition at line 980 of file Parameters.h.

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Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).

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Definition at line 980 of file Parameters.h.

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Definition at line 981 of file Parameters.h.

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Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .

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Definition at line 980 of file Parameters.h.

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Definition at line 981 of file Parameters.h.

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Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .

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Definition at line 980 of file Parameters.h.

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Definition at line 981 of file Parameters.h.

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Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).

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Definition at line 981 of file Parameters.h.

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Definition at line 982 of file Parameters.h.

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Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .

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Definition at line 981 of file Parameters.h.

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Definition at line 982 of file Parameters.h.

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Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .

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Definition at line 981 of file Parameters.h.

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Definition at line 982 of file Parameters.h.

@@ -59272,7 +59368,7 @@ The Parameter reference page, which lis

Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).

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Definition at line 982 of file Parameters.h.

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Definition at line 983 of file Parameters.h.

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Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .

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Definition at line 982 of file Parameters.h.

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Definition at line 983 of file Parameters.h.

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Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .

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Definition at line 982 of file Parameters.h.

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Definition at line 983 of file Parameters.h.

@@ -59358,7 +59454,7 @@ The Parameter reference page, which lis

Get default parameters

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Definition at line 991 of file Parameters.h.

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Definition at line 992 of file Parameters.h.

diff --git a/api/latest/functions_d.html b/api/latest/functions_d.html index 31491f9d..f054f500 100644 --- a/api/latest/functions_d.html +++ b/api/latest/functions_d.html @@ -237,6 +237,7 @@ $(document).ready(function(){initNavTree('functions_d.html',''); initResizable()
  • defaultKpDictionaryPath() : rtabmap::Parameters
  • defaultKpFlannIndexSaved() : rtabmap::Parameters
  • defaultKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • defaultKpFlannThreads() : rtabmap::Parameters
  • defaultKpGridCols() : rtabmap::Parameters
  • defaultKpGridRows() : rtabmap::Parameters
  • defaultKpIncrementalDictionary() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_d.html b/api/latest/functions_func_d.html index 6a095dc2..66073f71 100644 --- a/api/latest/functions_func_d.html +++ b/api/latest/functions_func_d.html @@ -237,6 +237,7 @@ $(document).ready(function(){initNavTree('functions_func_d.html',''); initResiza
  • defaultKpDictionaryPath() : rtabmap::Parameters
  • defaultKpFlannIndexSaved() : rtabmap::Parameters
  • defaultKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • defaultKpFlannThreads() : rtabmap::Parameters
  • defaultKpGridCols() : rtabmap::Parameters
  • defaultKpGridRows() : rtabmap::Parameters
  • defaultKpIncrementalDictionary() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_k.html b/api/latest/functions_func_k.html index 27d0d894..22ab2137 100644 --- a/api/latest/functions_func_k.html +++ b/api/latest/functions_func_k.html @@ -235,6 +235,7 @@ $(document).ready(function(){initNavTree('functions_func_k.html',''); initResiza
  • kKpDictionaryPath() : rtabmap::Parameters
  • kKpFlannIndexSaved() : rtabmap::Parameters
  • kKpFlannRebalancingFactor() : rtabmap::Parameters
    • +
  • kKpFlannThreads() : rtabmap::Parameters
  • kKpGridCols() : rtabmap::Parameters
  • kKpGridRows() : rtabmap::Parameters
  • kKpIncrementalDictionary() : rtabmap::Parameters
    • @@ -311,7 +312,7 @@ $(document).ready(function(){initNavTree('functions_func_k.html',''); initResiza
  • kMemTransferSortingByWeightId() : rtabmap::Parameters
  • kMemUseOdomFeatures() : rtabmap::Parameters
  • kMemUseOdomGravity() : rtabmap::Parameters
    • -
  • knnSearch() : rtabmap::FlannIndex
    • +
  • knnSearch() : rtabmap::FlannIndex
  • kOdomAlignWithGround() : rtabmap::Parameters
  • kOdomCuVSLAMMulticamMode() : rtabmap::Parameters
  • kOdomDeskewing() : rtabmap::Parameters
    • diff --git a/api/latest/functions_func_r.html b/api/latest/functions_func_r.html index 8f1e9e30..ae83a31b 100644 --- a/api/latest/functions_func_r.html +++ b/api/latest/functions_func_r.html @@ -103,7 +103,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza

    - r -