i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-08 11:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Update documentation (latest) aa95581cd2

Browse Source
This commit is contained in:
github-actions[bot]
2026-10-04 02:56:16 +00:00
parent 1d65b42577
commit fbf0f356c5
737 changed files with 3136 additions and 2772 deletions
Download Patch File Download Diff File Expand all files Collapse all files
api/latest/Parameters_8h_source.html
+2 -2
View File
@@ -33,7 +33,7 @@
<tbody>
<tr id="projectrow">
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.13</span>
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
@@ -249,7 +249,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a0378f5c6c5fa962273e14b4abf16c3b7"> 222</a></span> RTABMAP_PARAM(Mem, NotLinkedNodesKept, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">&quot;Keep not linked nodes in db (rehearsed nodes and deleted nodes).&quot;</span>);</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aa0833629878456d49d6b9abeda19154a"> 223</a></span> RTABMAP_PARAM(Mem, IntermediateNodeDataKept, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <span class="stringliteral">&quot;Keep intermediate node data in db.&quot;</span>);</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a93e3a1a8e17c89b5bd296b2e46e01f59"> 224</a></span> RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, <span class="stringliteral">&quot;.jpg&quot;</span>, <span class="stringliteral">&quot;RGB image compression format. It should be \&quot;.jpg\&quot; or \&quot;.png\&quot;.&quot;</span>);</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a910b2ae89d8052dd47a351ec70837fff"> 225</a></span> RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, <span class="stringliteral">&quot;.rvl&quot;</span>, <span class="stringliteral">&quot;Depth image compression format for 16UC1 depth type. It should be \&quot;.png\&quot; or \&quot;.rvl\&quot;. If depth type is 32FC1, \&quot;.png\&quot; is used.&quot;</span>);</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a910b2ae89d8052dd47a351ec70837fff"> 225</a></span> RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, <span class="stringliteral">&quot;.rvl&quot;</span>, <span class="stringliteral">&quot;Depth image compression format. It should be \&quot;.png\&quot; or \&quot;.rvl\&quot;, optionally followed by \&quot;:maxDepth[:quantization]\&quot; (e.g., \&quot;.rvl:10:100\&quot;, quantization is 100 by default) to compress 32FC1 depth images as 16 bits inverse depth with that codec (same quantization than ROS&#39;s compressed_depth_image_transport). 16UC1 depth images are always compressed losslessly with the codec. Warning: the inverse depth format is lossy, the precision is ~d^2/(2*q*(q+1)) (q=quantization, e.g., 0.05 mm at 1 m and 5 mm at 10 m with q=100) and depth values over maxDepth or under ~q*(q+1)/65535 meters (0.15 m with q=100) are lost. Without depth parameters, 32FC1 depth images are compressed losslessly in \&quot;.png\&quot; format (4 channels 8 bits). Databases with depth images compressed in inverse depth format cannot be opened by rtabmap versions under 0.24.&quot;</span>);</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ab5a017cb8ba362dcc65ef27af01ee68e"> 226</a></span> RTABMAP_PARAM(Mem, STMSize, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span>, 10, <span class="stringliteral">&quot;Short-term memory size.&quot;</span>);</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a8bb38651262b700eac115e843fd4052b"> 227</a></span> RTABMAP_PARAM(Mem, IncrementalMemory, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">&quot;SLAM mode, otherwise it is Localization mode.&quot;</span>);</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a8a28e4d7255ffc9748111478f123e92c"> 228</a></span> RTABMAP_PARAM(Mem, LocalizationReadOnly, <span class="keywordtype">bool</span>, <span class="keyword">false</span>, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won&#39;t be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.&quot;</span>, kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());</div>