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<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>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MemImageCompressionFormat"></a><a class="el" href="classrtabmap_1_1Parameters.html#ad9e4e91a5578d8e4331f7137881c7994">Mem/ImageCompressionFormat</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>.jpg</code> </td><td class="markdownTableBodyNone">RGB image compression format. It should be ".jpg" or ".png". </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MemDepthCompressionFormat"></a><a class="el" href="classrtabmap_1_1Parameters.html#aae33ed5cddc4a5478f73381645791c66">Mem/DepthCompressionFormat</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>.rvl</code> </td><td class="markdownTableBodyNone">Depth image compression format for 16UC1 depth type. It should be ".png" or ".rvl". If depth type is 32FC1, ".png" is used. </td></tr>
<td class="markdownTableBodyNone"><a class="anchor" id="param_MemDepthCompressionFormat"></a><a class="el" href="classrtabmap_1_1Parameters.html#aae33ed5cddc4a5478f73381645791c66">Mem/DepthCompressionFormat</a> </td><td class="markdownTableBodyNone">string </td><td class="markdownTableBodyNone"><code>.rvl</code> </td><td class="markdownTableBodyNone">Depth image compression format. It should be ".png" or ".rvl", optionally followed by ":maxDepth[:quantization]" (e.g., ".rvl:10:100", quantization is 100 by default) to compress 32FC1 depth images as 16 bits inverse depth with that codec (same quantization than ROS'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 ".png" format (4 channels 8 bits). Databases with depth images compressed in inverse depth format cannot be opened by rtabmap versions under 0.24. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_MemSTMSize"></a><a class="el" href="classrtabmap_1_1Parameters.html#a46dc1a24b02bb00014262f7f4d818a49">Mem/STMSize</a> </td><td class="markdownTableBodyNone">unsigned int </td><td class="markdownTableBodyNone"><code>10</code> </td><td class="markdownTableBodyNone">Short-term memory size. </td></tr>
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