rtabmap::Parameters Class Reference

#include <Parameters.h>

Static Public Member Functions
static std::string	kRtabmapPublishStats ()
	Key of parameter Rtabmap/PublishStats : "Publishing statistics." Default value: true ( bool ).
static bool	defaultRtabmapPublishStats ()
	Default value of parameter Rtabmap/PublishStats : true .
static std::string	typeRtabmapPublishStats ()
	Type of parameter Rtabmap/PublishStats , as a string: bool .
static std::string	kRtabmapPublishLastSignature ()
	Key of parameter Rtabmap/PublishLastSignature : "Publishing last signature." Default value: true ( bool ).
static bool	defaultRtabmapPublishLastSignature ()
	Default value of parameter Rtabmap/PublishLastSignature : true .
static std::string	typeRtabmapPublishLastSignature ()
	Type of parameter Rtabmap/PublishLastSignature , as a string: bool .
static std::string	kRtabmapPublishPdf ()
	Key of parameter Rtabmap/PublishPdf : "Publishing pdf." Default value: true ( bool ).
static bool	defaultRtabmapPublishPdf ()
	Default value of parameter Rtabmap/PublishPdf : true .
static std::string	typeRtabmapPublishPdf ()
	Type of parameter Rtabmap/PublishPdf , as a string: bool .
static std::string	kRtabmapPublishLikelihood ()
	Key of parameter Rtabmap/PublishLikelihood : "Publishing likelihood." Default value: true ( bool ).
static bool	defaultRtabmapPublishLikelihood ()
	Default value of parameter Rtabmap/PublishLikelihood : true .
static std::string	typeRtabmapPublishLikelihood ()
	Type of parameter Rtabmap/PublishLikelihood , as a string: bool .
static std::string	kRtabmapPublishRAMUsage ()
	Key of parameter Rtabmap/PublishRAMUsage : "Publishing RAM usage in statistics (may add a small overhead to get info from the system)." Default value: false ( bool ).
static bool	defaultRtabmapPublishRAMUsage ()
	Default value of parameter Rtabmap/PublishRAMUsage : false .
static std::string	typeRtabmapPublishRAMUsage ()
	Type of parameter Rtabmap/PublishRAMUsage , as a string: bool .
static std::string	kRtabmapComputeRMSE ()
	Key of parameter Rtabmap/ComputeRMSE : "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided." Default value: true ( bool ).
static bool	defaultRtabmapComputeRMSE ()
	Default value of parameter Rtabmap/ComputeRMSE : true .
static std::string	typeRtabmapComputeRMSE ()
	Type of parameter Rtabmap/ComputeRMSE , as a string: bool .
static std::string	kRtabmapSaveWMState ()
	Key of parameter Rtabmap/SaveWMState : "Save working memory state after each update in statistics." Default value: false ( bool ).
static bool	defaultRtabmapSaveWMState ()
	Default value of parameter Rtabmap/SaveWMState : false .
static std::string	typeRtabmapSaveWMState ()
	Type of parameter Rtabmap/SaveWMState , as a string: bool .
static std::string	kRtabmapTimeThr ()
	Key of parameter Rtabmap/TimeThr : "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time." Default value: 0 ( float ).
static float	defaultRtabmapTimeThr ()
	Default value of parameter Rtabmap/TimeThr : 0 .
static std::string	typeRtabmapTimeThr ()
	Type of parameter Rtabmap/TimeThr , as a string: float .
static std::string	kRtabmapMemoryThr ()
	Key of parameter Rtabmap/MemoryThr : uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()) Default value: 0 ( int ).
static int	defaultRtabmapMemoryThr ()
	Default value of parameter Rtabmap/MemoryThr : 0 .
static std::string	typeRtabmapMemoryThr ()
	Type of parameter Rtabmap/MemoryThr , as a string: int .
static std::string	kRtabmapDetectionRate ()
	Key of parameter Rtabmap/DetectionRate : "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate." Default value: 1 ( float ).
static float	defaultRtabmapDetectionRate ()
	Default value of parameter Rtabmap/DetectionRate : 1 .
static std::string	typeRtabmapDetectionRate ()
	Type of parameter Rtabmap/DetectionRate , as a string: float .
static std::string	kRtabmapImageBufferSize ()
	Key of parameter Rtabmap/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).
static unsigned int	defaultRtabmapImageBufferSize ()
	Default value of parameter Rtabmap/ImageBufferSize : 1 .
static std::string	typeRtabmapImageBufferSize ()
	Type of parameter Rtabmap/ImageBufferSize , as a string: unsigned int .
static std::string	kRtabmapCreateIntermediateNodes ()
	Key of parameter Rtabmap/CreateIntermediateNodes : uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()) Default value: false ( bool ).
static bool	defaultRtabmapCreateIntermediateNodes ()
	Default value of parameter Rtabmap/CreateIntermediateNodes : false .
static std::string	typeRtabmapCreateIntermediateNodes ()
	Type of parameter Rtabmap/CreateIntermediateNodes , as a string: bool .
static std::string	kRtabmapWorkingDirectory ()
	Key of parameter Rtabmap/WorkingDirectory : "Working directory." Default value: "" (string).
static std::string	defaultRtabmapWorkingDirectory ()
	Default value of parameter Rtabmap/WorkingDirectory : "" .
static std::string	typeRtabmapWorkingDirectory ()
	Type of parameter Rtabmap/WorkingDirectory , as a string: string.
static std::string	kRtabmapMaxRetrieved ()
	Key of parameter Rtabmap/MaxRetrieved : "Maximum nodes retrieved at the same time from LTM." Default value: 2 ( unsigned int ).
static unsigned int	defaultRtabmapMaxRetrieved ()
	Default value of parameter Rtabmap/MaxRetrieved : 2 .
static std::string	typeRtabmapMaxRetrieved ()
	Type of parameter Rtabmap/MaxRetrieved , as a string: unsigned int .
static std::string	kRtabmapMaxRepublished ()
	Key of parameter Rtabmap/MaxRepublished : uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()) Default value: 2 ( unsigned int ).
static unsigned int	defaultRtabmapMaxRepublished ()
	Default value of parameter Rtabmap/MaxRepublished : 2 .
static std::string	typeRtabmapMaxRepublished ()
	Type of parameter Rtabmap/MaxRepublished , as a string: unsigned int .
static std::string	kRtabmapStatisticLogsBufferedInRAM ()
	Key of parameter Rtabmap/StatisticLogsBufferedInRAM : "Statistic logs buffered in RAM instead of written to hard drive after each iteration." Default value: true ( bool ).
static bool	defaultRtabmapStatisticLogsBufferedInRAM ()
	Default value of parameter Rtabmap/StatisticLogsBufferedInRAM : true .
static std::string	typeRtabmapStatisticLogsBufferedInRAM ()
	Type of parameter Rtabmap/StatisticLogsBufferedInRAM , as a string: bool .
static std::string	kRtabmapStatisticLogged ()
	Key of parameter Rtabmap/StatisticLogged : "Logging enabled." Default value: false ( bool ).
static bool	defaultRtabmapStatisticLogged ()
	Default value of parameter Rtabmap/StatisticLogged : false .
static std::string	typeRtabmapStatisticLogged ()
	Type of parameter Rtabmap/StatisticLogged , as a string: bool .
static std::string	kRtabmapStatisticLoggedHeaders ()
	Key of parameter Rtabmap/StatisticLoggedHeaders : "Add column header description to log files." Default value: true ( bool ).
static bool	defaultRtabmapStatisticLoggedHeaders ()
	Default value of parameter Rtabmap/StatisticLoggedHeaders : true .
static std::string	typeRtabmapStatisticLoggedHeaders ()
	Type of parameter Rtabmap/StatisticLoggedHeaders , as a string: bool .
static std::string	kRtabmapStartNewMapOnLoopClosure ()
	Key of parameter Rtabmap/StartNewMapOnLoopClosure : "Start a new map only if there is a global loop closure with a previous map." Default value: false ( bool ).
static bool	defaultRtabmapStartNewMapOnLoopClosure ()
	Default value of parameter Rtabmap/StartNewMapOnLoopClosure : false .
static std::string	typeRtabmapStartNewMapOnLoopClosure ()
	Type of parameter Rtabmap/StartNewMapOnLoopClosure , as a string: bool .
static std::string	kRtabmapStartNewMapOnGoodSignature ()
	Key of parameter Rtabmap/StartNewMapOnGoodSignature : uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()) Default value: false ( bool ).
static bool	defaultRtabmapStartNewMapOnGoodSignature ()
	Default value of parameter Rtabmap/StartNewMapOnGoodSignature : false .
static std::string	typeRtabmapStartNewMapOnGoodSignature ()
	Type of parameter Rtabmap/StartNewMapOnGoodSignature , as a string: bool .
static std::string	kRtabmapImagesAlreadyRectified ()
	Key of parameter Rtabmap/ImagesAlreadyRectified : "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false." Default value: true ( bool ).
static bool	defaultRtabmapImagesAlreadyRectified ()
	Default value of parameter Rtabmap/ImagesAlreadyRectified : true .
static std::string	typeRtabmapImagesAlreadyRectified ()
	Type of parameter Rtabmap/ImagesAlreadyRectified , as a string: bool .
static std::string	kRtabmapRectifyOnlyFeatures ()
	Key of parameter Rtabmap/RectifyOnlyFeatures : uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()) Default value: false ( bool ).
static bool	defaultRtabmapRectifyOnlyFeatures ()
	Default value of parameter Rtabmap/RectifyOnlyFeatures : false .
static std::string	typeRtabmapRectifyOnlyFeatures ()
	Type of parameter Rtabmap/RectifyOnlyFeatures , as a string: bool .
static std::string	kRtabmapLoopThr ()
	Key of parameter Rtabmap/LoopThr : "Loop closing threshold." Default value: 0.11 ( float ).
static float	defaultRtabmapLoopThr ()
	Default value of parameter Rtabmap/LoopThr : 0.11 .
static std::string	typeRtabmapLoopThr ()
	Type of parameter Rtabmap/LoopThr , as a string: float .
static std::string	kRtabmapLoopRatio ()
	Key of parameter Rtabmap/LoopRatio : "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue." Default value: 0 ( float ).
static float	defaultRtabmapLoopRatio ()
	Default value of parameter Rtabmap/LoopRatio : 0 .
static std::string	typeRtabmapLoopRatio ()
	Type of parameter Rtabmap/LoopRatio , as a string: float .
static std::string	kRtabmapLoopGPS ()
	Key of parameter Rtabmap/LoopGPS : uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()) Default value: true ( bool ).
static bool	defaultRtabmapLoopGPS ()
	Default value of parameter Rtabmap/LoopGPS : true .
static std::string	typeRtabmapLoopGPS ()
	Type of parameter Rtabmap/LoopGPS , as a string: bool .
static std::string	kRtabmapVirtualPlaceLikelihoodRatio ()
	Key of parameter Rtabmap/VirtualPlaceLikelihoodRatio : "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)" Default value: 0 ( int ).
static int	defaultRtabmapVirtualPlaceLikelihoodRatio ()
	Default value of parameter Rtabmap/VirtualPlaceLikelihoodRatio : 0 .
static std::string	typeRtabmapVirtualPlaceLikelihoodRatio ()
	Type of parameter Rtabmap/VirtualPlaceLikelihoodRatio , as a string: int .
static std::string	kMemRehearsalSimilarity ()
	Key of parameter Mem/RehearsalSimilarity : "Rehearsal similarity." Default value: 0.6 ( float ).
static float	defaultMemRehearsalSimilarity ()
	Default value of parameter Mem/RehearsalSimilarity : 0.6 .
static std::string	typeMemRehearsalSimilarity ()
	Type of parameter Mem/RehearsalSimilarity , as a string: float .
static std::string	kMemImageKept ()
	Key of parameter Mem/ImageKept : "Keep raw images in RAM." Default value: false ( bool ).
static bool	defaultMemImageKept ()
	Default value of parameter Mem/ImageKept : false .
static std::string	typeMemImageKept ()
	Type of parameter Mem/ImageKept , as a string: bool .
static std::string	kMemBinDataKept ()
	Key of parameter Mem/BinDataKept : "Keep binary data in db." Default value: true ( bool ).
static bool	defaultMemBinDataKept ()
	Default value of parameter Mem/BinDataKept : true .
static std::string	typeMemBinDataKept ()
	Type of parameter Mem/BinDataKept , as a string: bool .
static std::string	kMemRawDescriptorsKept ()
	Key of parameter Mem/RawDescriptorsKept : "Raw descriptors kept in memory." Default value: true ( bool ).
static bool	defaultMemRawDescriptorsKept ()
	Default value of parameter Mem/RawDescriptorsKept : true .
static std::string	typeMemRawDescriptorsKept ()
	Type of parameter Mem/RawDescriptorsKept , as a string: bool .
static std::string	kMemLoadVisualLocalFeaturesOnInit ()
	Key of parameter Mem/LoadVisualLocalFeaturesOnInit : "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated." Default value: true ( bool ).
static bool	defaultMemLoadVisualLocalFeaturesOnInit ()
	Default value of parameter Mem/LoadVisualLocalFeaturesOnInit : true .
static std::string	typeMemLoadVisualLocalFeaturesOnInit ()
	Type of parameter Mem/LoadVisualLocalFeaturesOnInit , as a string: bool .
static std::string	kMemMapLabelsAdded ()
	Key of parameter Mem/MapLabelsAdded : "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID." Default value: true ( bool ).
static bool	defaultMemMapLabelsAdded ()
	Default value of parameter Mem/MapLabelsAdded : true .
static std::string	typeMemMapLabelsAdded ()
	Type of parameter Mem/MapLabelsAdded , as a string: bool .
static std::string	kMemSaveDepth16Format ()
	Key of parameter Mem/SaveDepth16Format : "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)." Default value: false ( bool ).
static bool	defaultMemSaveDepth16Format ()
	Default value of parameter Mem/SaveDepth16Format : false .
static std::string	typeMemSaveDepth16Format ()
	Type of parameter Mem/SaveDepth16Format , as a string: bool .
static std::string	kMemNotLinkedNodesKept ()
	Key of parameter Mem/NotLinkedNodesKept : "Keep not linked nodes in db (rehearsed nodes and deleted nodes)." Default value: true ( bool ).
static bool	defaultMemNotLinkedNodesKept ()
	Default value of parameter Mem/NotLinkedNodesKept : true .
static std::string	typeMemNotLinkedNodesKept ()
	Type of parameter Mem/NotLinkedNodesKept , as a string: bool .
static std::string	kMemIntermediateNodeDataKept ()
	Key of parameter Mem/IntermediateNodeDataKept : "Keep intermediate node data in db." Default value: false ( bool ).
static bool	defaultMemIntermediateNodeDataKept ()
	Default value of parameter Mem/IntermediateNodeDataKept : false .
static std::string	typeMemIntermediateNodeDataKept ()
	Type of parameter Mem/IntermediateNodeDataKept , as a string: bool .
static std::string	kMemImageCompressionFormat ()
	Key of parameter Mem/ImageCompressionFormat : "RGB image compression format. It should be \".jpg\" or \".png\"." Default value: ".jpg" (string).
static std::string	defaultMemImageCompressionFormat ()
	Default value of parameter Mem/ImageCompressionFormat : ".jpg" .
static std::string	typeMemImageCompressionFormat ()
	Type of parameter Mem/ImageCompressionFormat , as a string: string.
static std::string	kMemDepthCompressionFormat ()
	Key of parameter Mem/DepthCompressionFormat : "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used." Default value: ".rvl" (string).
static std::string	defaultMemDepthCompressionFormat ()
	Default value of parameter Mem/DepthCompressionFormat : ".rvl" .
static std::string	typeMemDepthCompressionFormat ()
	Type of parameter Mem/DepthCompressionFormat , as a string: string.
static std::string	kMemSTMSize ()
	Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
static unsigned int	defaultMemSTMSize ()
	Default value of parameter Mem/STMSize : 10 .
static std::string	typeMemSTMSize ()
	Type of parameter Mem/STMSize , as a string: unsigned int .
static std::string	kMemIncrementalMemory ()
	Key of parameter Mem/IncrementalMemory : "SLAM mode, otherwise it is Localization mode." Default value: true ( bool ).
static bool	defaultMemIncrementalMemory ()
	Default value of parameter Mem/IncrementalMemory : true .
static std::string	typeMemIncrementalMemory ()
	Type of parameter Mem/IncrementalMemory , as a string: bool .
static std::string	kMemLocalizationReadOnly ()
	Key of parameter Mem/LocalizationReadOnly : uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str() Default value: false ( bool ).
static bool	defaultMemLocalizationReadOnly ()
	Default value of parameter Mem/LocalizationReadOnly : false .
static std::string	typeMemLocalizationReadOnly ()
	Type of parameter Mem/LocalizationReadOnly , as a string: bool .
static std::string	kMemLocalizationDataSaved ()
	Key of parameter Mem/LocalizationDataSaved : uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str() Default value: false ( bool ).
static bool	defaultMemLocalizationDataSaved ()
	Default value of parameter Mem/LocalizationDataSaved : false .
static std::string	typeMemLocalizationDataSaved ()
	Type of parameter Mem/LocalizationDataSaved , as a string: bool .
static std::string	kMemReduceGraph ()
	Key of parameter Mem/ReduceGraph : uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()) Default value: false ( bool ).
static bool	defaultMemReduceGraph ()
	Default value of parameter Mem/ReduceGraph : false .
static std::string	typeMemReduceGraph ()
	Type of parameter Mem/ReduceGraph , as a string: bool .
static std::string	kMemRecentWmRatio ()
	Key of parameter Mem/RecentWmRatio : "Ratio of locations after the last loop closure in WM that cannot be transferred." Default value: 0.2 ( float ).
static float	defaultMemRecentWmRatio ()
	Default value of parameter Mem/RecentWmRatio : 0.2 .
static std::string	typeMemRecentWmRatio ()
	Type of parameter Mem/RecentWmRatio , as a string: float .
static std::string	kMemTransferSortingByWeightId ()
	Key of parameter Mem/TransferSortingByWeightId : "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID." Default value: false ( bool ).
static bool	defaultMemTransferSortingByWeightId ()
	Default value of parameter Mem/TransferSortingByWeightId : false .
static std::string	typeMemTransferSortingByWeightId ()
	Type of parameter Mem/TransferSortingByWeightId , as a string: bool .
static std::string	kMemRehearsalIdUpdatedToNewOne ()
	Key of parameter Mem/RehearsalIdUpdatedToNewOne : uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()) Default value: false ( bool ).
static bool	defaultMemRehearsalIdUpdatedToNewOne ()
	Default value of parameter Mem/RehearsalIdUpdatedToNewOne : false .
static std::string	typeMemRehearsalIdUpdatedToNewOne ()
	Type of parameter Mem/RehearsalIdUpdatedToNewOne , as a string: bool .
static std::string	kMemRehearsalWeightIgnoredWhileMoving ()
	Key of parameter Mem/RehearsalWeightIgnoredWhileMoving : "When the robot is moving, weights are not updated on rehearsal." Default value: false ( bool ).
static bool	defaultMemRehearsalWeightIgnoredWhileMoving ()
	Default value of parameter Mem/RehearsalWeightIgnoredWhileMoving : false .
static std::string	typeMemRehearsalWeightIgnoredWhileMoving ()
	Type of parameter Mem/RehearsalWeightIgnoredWhileMoving , as a string: bool .
static std::string	kMemGenerateIds ()
	Key of parameter Mem/GenerateIds : "True=Generate location IDs, False=use input image IDs." Default value: true ( bool ).
static bool	defaultMemGenerateIds ()
	Default value of parameter Mem/GenerateIds : true .
static std::string	typeMemGenerateIds ()
	Type of parameter Mem/GenerateIds , as a string: bool .
static std::string	kMemBadSignaturesIgnored ()
	Key of parameter Mem/BadSignaturesIgnored : "Bad signatures are ignored." Default value: false ( bool ).
static bool	defaultMemBadSignaturesIgnored ()
	Default value of parameter Mem/BadSignaturesIgnored : false .
static std::string	typeMemBadSignaturesIgnored ()
	Type of parameter Mem/BadSignaturesIgnored , as a string: bool .
static std::string	kMemInitWMWithAllNodes ()
	Key of parameter Mem/InitWMWithAllNodes : "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session." Default value: false ( bool ).
static bool	defaultMemInitWMWithAllNodes ()
	Default value of parameter Mem/InitWMWithAllNodes : false .
static std::string	typeMemInitWMWithAllNodes ()
	Type of parameter Mem/InitWMWithAllNodes , as a string: bool .
static std::string	kMemDepthAsMask ()
	Key of parameter Mem/DepthAsMask : "Use depth image as mask when extracting features for vocabulary." Default value: true ( bool ).
static bool	defaultMemDepthAsMask ()
	Default value of parameter Mem/DepthAsMask : true .
static std::string	typeMemDepthAsMask ()
	Type of parameter Mem/DepthAsMask , as a string: bool .
static std::string	kMemDepthMaskFloorThr ()
	Key of parameter Mem/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()) Default value: 0.0 ( float ).
static float	defaultMemDepthMaskFloorThr ()
	Default value of parameter Mem/DepthMaskFloorThr : 0.0 .
static std::string	typeMemDepthMaskFloorThr ()
	Type of parameter Mem/DepthMaskFloorThr , as a string: float .
static std::string	kMemStereoFromMotion ()
	Key of parameter Mem/StereoFromMotion : uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()) Default value: false ( bool ).
static bool	defaultMemStereoFromMotion ()
	Default value of parameter Mem/StereoFromMotion : false .
static std::string	typeMemStereoFromMotion ()
	Type of parameter Mem/StereoFromMotion , as a string: bool .
static std::string	kMemImagePreDecimation ()
	Key of parameter Mem/ImagePreDecimation : uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()) Default value: 1 ( unsigned int ).
static unsigned int	defaultMemImagePreDecimation ()
	Default value of parameter Mem/ImagePreDecimation : 1 .
static std::string	typeMemImagePreDecimation ()
	Type of parameter Mem/ImagePreDecimation , as a string: unsigned int .
static std::string	kMemImagePostDecimation ()
	Key of parameter Mem/ImagePostDecimation : uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()) Default value: 1 ( unsigned int ).
static unsigned int	defaultMemImagePostDecimation ()
	Default value of parameter Mem/ImagePostDecimation : 1 .
static std::string	typeMemImagePostDecimation ()
	Type of parameter Mem/ImagePostDecimation , as a string: unsigned int .
static std::string	kMemCompressionParallelized ()
	Key of parameter Mem/CompressionParallelized : "Compression of sensor data is multi-threaded." Default value: true ( bool ).
static bool	defaultMemCompressionParallelized ()
	Default value of parameter Mem/CompressionParallelized : true .
static std::string	typeMemCompressionParallelized ()
	Type of parameter Mem/CompressionParallelized , as a string: bool .
static std::string	kMemLaserScanDownsampleStepSize ()
	Key of parameter Mem/LaserScanDownsampleStepSize : "If > 1, downsample the laser scans when creating a signature." Default value: 1 ( int ).
static int	defaultMemLaserScanDownsampleStepSize ()
	Default value of parameter Mem/LaserScanDownsampleStepSize : 1 .
static std::string	typeMemLaserScanDownsampleStepSize ()
	Type of parameter Mem/LaserScanDownsampleStepSize , as a string: int .
static std::string	kMemLaserScanVoxelSize ()
	Key of parameter Mem/LaserScanVoxelSize : uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()) Default value: 0.0 ( float ).
static float	defaultMemLaserScanVoxelSize ()
	Default value of parameter Mem/LaserScanVoxelSize : 0.0 .
static std::string	typeMemLaserScanVoxelSize ()
	Type of parameter Mem/LaserScanVoxelSize , as a string: float .
static std::string	kMemLaserScanNormalK ()
	Key of parameter Mem/LaserScanNormalK : "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature." Default value: 0 ( int ).
static int	defaultMemLaserScanNormalK ()
	Default value of parameter Mem/LaserScanNormalK : 0 .
static std::string	typeMemLaserScanNormalK ()
	Type of parameter Mem/LaserScanNormalK , as a string: int .
static std::string	kMemLaserScanNormalRadius ()
	Key of parameter Mem/LaserScanNormalRadius : "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature." Default value: 0.0 ( float ).
static float	defaultMemLaserScanNormalRadius ()
	Default value of parameter Mem/LaserScanNormalRadius : 0.0 .
static std::string	typeMemLaserScanNormalRadius ()
	Type of parameter Mem/LaserScanNormalRadius , as a string: float .
static std::string	kMemUseOdomFeatures ()
	Key of parameter Mem/UseOdomFeatures : "Use odometry features instead of regenerating them." Default value: true ( bool ).
static bool	defaultMemUseOdomFeatures ()
	Default value of parameter Mem/UseOdomFeatures : true .
static std::string	typeMemUseOdomFeatures ()
	Type of parameter Mem/UseOdomFeatures , as a string: bool .
static std::string	kMemUseOdomGravity ()
	Key of parameter Mem/UseOdomGravity : uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()) Default value: false ( bool ).
static bool	defaultMemUseOdomGravity ()
	Default value of parameter Mem/UseOdomGravity : false .
static std::string	typeMemUseOdomGravity ()
	Type of parameter Mem/UseOdomGravity , as a string: bool .
static std::string	kMemCovOffDiagIgnored ()
	Key of parameter Mem/CovOffDiagIgnored : "Ignore off diagonal values of the covariance matrix." Default value: true ( bool ).
static bool	defaultMemCovOffDiagIgnored ()
	Default value of parameter Mem/CovOffDiagIgnored : true .
static std::string	typeMemCovOffDiagIgnored ()
	Type of parameter Mem/CovOffDiagIgnored , as a string: bool .
static std::string	kMemGlobalDescriptorStrategy ()
	Key of parameter Mem/GlobalDescriptorStrategy : "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor" Default value: 0 ( int ).
static int	defaultMemGlobalDescriptorStrategy ()
	Default value of parameter Mem/GlobalDescriptorStrategy : 0 .
static std::string	typeMemGlobalDescriptorStrategy ()
	Type of parameter Mem/GlobalDescriptorStrategy , as a string: int .
static std::string	kMemRotateImagesUpsideUp ()
	Key of parameter Mem/RotateImagesUpsideUp : "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet." Default value: false ( bool ).
static bool	defaultMemRotateImagesUpsideUp ()
	Default value of parameter Mem/RotateImagesUpsideUp : false .
static std::string	typeMemRotateImagesUpsideUp ()
	Type of parameter Mem/RotateImagesUpsideUp , as a string: bool .
static std::string	kKpNNStrategy ()
	Key of parameter Kp/NNStrategy : "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4" Default value: 1 ( int ).
static int	defaultKpNNStrategy ()
	Default value of parameter Kp/NNStrategy : 1 .
static std::string	typeKpNNStrategy ()
	Type of parameter Kp/NNStrategy , as a string: int .
static std::string	kKpIncrementalDictionary ()
	Key of parameter Kp/IncrementalDictionary : "" Default value: true ( bool ).
static bool	defaultKpIncrementalDictionary ()
	Default value of parameter Kp/IncrementalDictionary : true .
static std::string	typeKpIncrementalDictionary ()
	Type of parameter Kp/IncrementalDictionary , as a string: bool .
static std::string	kKpIncrementalFlann ()
	Key of parameter Kp/IncrementalFlann : uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()) Default value: true ( bool ).
static bool	defaultKpIncrementalFlann ()
	Default value of parameter Kp/IncrementalFlann : true .
static std::string	typeKpIncrementalFlann ()
	Type of parameter Kp/IncrementalFlann , as a string: bool .
static std::string	kKpFlannRebalancingFactor ()
	Key of parameter Kp/FlannRebalancingFactor : uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()) Default value: 2.0 ( float ).
static float	defaultKpFlannRebalancingFactor ()
	Default value of parameter Kp/FlannRebalancingFactor : 2.0 .
static std::string	typeKpFlannRebalancingFactor ()
	Type of parameter Kp/FlannRebalancingFactor , as a string: float .
static std::string	kKpByteToFloat ()
	Key of parameter Kp/ByteToFloat : uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()) Default value: false ( bool ).
static bool	defaultKpByteToFloat ()
	Default value of parameter Kp/ByteToFloat : false .
static std::string	typeKpByteToFloat ()
	Type of parameter Kp/ByteToFloat , as a string: bool .
static std::string	kKpMaxDepth ()
	Key of parameter Kp/MaxDepth : "Filter extracted keypoints by depth (0=inf)." Default value: 0 ( float ).
static float	defaultKpMaxDepth ()
	Default value of parameter Kp/MaxDepth : 0 .
static std::string	typeKpMaxDepth ()
	Type of parameter Kp/MaxDepth , as a string: float .
static std::string	kKpMinDepth ()
	Key of parameter Kp/MinDepth : "Filter extracted keypoints by depth." Default value: 0 ( float ).
static float	defaultKpMinDepth ()
	Default value of parameter Kp/MinDepth : 0 .
static std::string	typeKpMinDepth ()
	Type of parameter Kp/MinDepth , as a string: float .
static std::string	kKpMaxFeatures ()
	Key of parameter Kp/MaxFeatures : "Maximum features extracted from the images (0 means not bounded, <0 means no extraction)." Default value: 500 ( int ).
static int	defaultKpMaxFeatures ()
	Default value of parameter Kp/MaxFeatures : 500 .
static std::string	typeKpMaxFeatures ()
	Type of parameter Kp/MaxFeatures , as a string: int .
static std::string	kKpSSC ()
	Key of parameter Kp/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).
static bool	defaultKpSSC ()
	Default value of parameter Kp/SSC : false .
static std::string	typeKpSSC ()
	Type of parameter Kp/SSC , as a string: bool .
static std::string	kKpBadSignRatio ()
	Key of parameter Kp/BadSignRatio : uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()) Default value: 0.5 ( float ).
static float	defaultKpBadSignRatio ()
	Default value of parameter Kp/BadSignRatio : 0.5 .
static std::string	typeKpBadSignRatio ()
	Type of parameter Kp/BadSignRatio , as a string: float .
static std::string	kKpNndrRatio ()
	Key of parameter Kp/NndrRatio : "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)" Default value: 0.8 ( float ).
static float	defaultKpNndrRatio ()
	Default value of parameter Kp/NndrRatio : 0.8 .
static std::string	typeKpNndrRatio ()
	Type of parameter Kp/NndrRatio , as a string: float .
static std::string	kKpDetectorStrategy ()
	Key of parameter Kp/DetectorStrategy : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).
static int	defaultKpDetectorStrategy ()
	Default value of parameter Kp/DetectorStrategy : 6 .
static std::string	typeKpDetectorStrategy ()
	Type of parameter Kp/DetectorStrategy , as a string: int .
static std::string	kKpTfIdfLikelihoodUsed ()
	Key of parameter Kp/TfIdfLikelihoodUsed : "Use of the td-idf strategy to compute the likelihood." Default value: true ( bool ).
static bool	defaultKpTfIdfLikelihoodUsed ()
	Default value of parameter Kp/TfIdfLikelihoodUsed : true .
static std::string	typeKpTfIdfLikelihoodUsed ()
	Type of parameter Kp/TfIdfLikelihoodUsed , as a string: bool .
static std::string	kKpParallelized ()
	Key of parameter Kp/Parallelized : "If the dictionary update and signature creation were parallelized." Default value: true ( bool ).
static bool	defaultKpParallelized ()
	Default value of parameter Kp/Parallelized : true .
static std::string	typeKpParallelized ()
	Type of parameter Kp/Parallelized , as a string: bool .
static std::string	kKpRoiRatios ()
	Key of parameter Kp/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).
static std::string	defaultKpRoiRatios ()
	Default value of parameter Kp/RoiRatios : "0.0 0.0 0.0 0.0" .
static std::string	typeKpRoiRatios ()
	Type of parameter Kp/RoiRatios , as a string: string.
static std::string	kKpDictionaryPath ()
	Key of parameter Kp/DictionaryPath : "Path of the pre-computed dictionary" Default value: "" (string).
static std::string	defaultKpDictionaryPath ()
	Default value of parameter Kp/DictionaryPath : "" .
static std::string	typeKpDictionaryPath ()
	Type of parameter Kp/DictionaryPath , as a string: string.
static std::string	kKpNewWordsComparedTogether ()
	Key of parameter Kp/NewWordsComparedTogether : "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature)." Default value: true ( bool ).
static bool	defaultKpNewWordsComparedTogether ()
	Default value of parameter Kp/NewWordsComparedTogether : true .
static std::string	typeKpNewWordsComparedTogether ()
	Type of parameter Kp/NewWordsComparedTogether , as a string: bool .
static std::string	kKpFlannIndexSaved ()
	Key of parameter Kp/FlannIndexSaved : uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str() Default value: false ( bool ).
static bool	defaultKpFlannIndexSaved ()
	Default value of parameter Kp/FlannIndexSaved : false .
static std::string	typeKpFlannIndexSaved ()
	Type of parameter Kp/FlannIndexSaved , as a string: bool .
static std::string	kKpSerializeWithChecksum ()
	Key of parameter Kp/SerializeWithChecksum : "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built." Default value: true ( bool ).
static bool	defaultKpSerializeWithChecksum ()
	Default value of parameter Kp/SerializeWithChecksum : true .
static std::string	typeKpSerializeWithChecksum ()
	Type of parameter Kp/SerializeWithChecksum , as a string: bool .
static std::string	kKpSubPixWinSize ()
	Key of parameter Kp/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).
static int	defaultKpSubPixWinSize ()
	Default value of parameter Kp/SubPixWinSize : 3 .
static std::string	typeKpSubPixWinSize ()
	Type of parameter Kp/SubPixWinSize , as a string: int .
static std::string	kKpSubPixIterations ()
	Key of parameter Kp/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).
static int	defaultKpSubPixIterations ()
	Default value of parameter Kp/SubPixIterations : 0 .
static std::string	typeKpSubPixIterations ()
	Type of parameter Kp/SubPixIterations , as a string: int .
static std::string	kKpSubPixEps ()
	Key of parameter Kp/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( double ).
static double	defaultKpSubPixEps ()
	Default value of parameter Kp/SubPixEps : 0.02 .
static std::string	typeKpSubPixEps ()
	Type of parameter Kp/SubPixEps , as a string: double .
static std::string	kKpGridRows ()
	Key of parameter Kp/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).
static int	defaultKpGridRows ()
	Default value of parameter Kp/GridRows : 1 .
static std::string	typeKpGridRows ()
	Type of parameter Kp/GridRows , as a string: int .
static std::string	kKpGridCols ()
	Key of parameter Kp/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).
static int	defaultKpGridCols ()
	Default value of parameter Kp/GridCols : 1 .
static std::string	typeKpGridCols ()
	Type of parameter Kp/GridCols , as a string: int .
static std::string	kDbSqlite3InMemory ()
	Key of parameter DbSqlite3/InMemory : "Using database in the memory instead of a file on the hard disk." Default value: false ( bool ).
static bool	defaultDbSqlite3InMemory ()
	Default value of parameter DbSqlite3/InMemory : false .
static std::string	typeDbSqlite3InMemory ()
	Type of parameter DbSqlite3/InMemory , as a string: bool .
static std::string	kDbSqlite3CacheSize ()
	Key of parameter DbSqlite3/CacheSize : "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). " "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages." Default value: 10000 ( unsigned int ).
static unsigned int	defaultDbSqlite3CacheSize ()
	Default value of parameter DbSqlite3/CacheSize : 10000 .
static std::string	typeDbSqlite3CacheSize ()
	Type of parameter DbSqlite3/CacheSize , as a string: unsigned int .
static std::string	kDbSqlite3JournalMode ()
	Key of parameter DbSqlite3/JournalMode : "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. " "0=DELETE (SQLite default): journal file deleted after each commit. " "1=TRUNCATE: journal truncated to zero length. " "2=PERSIST: journal file kept, header zeroed after commit. " "3=MEMORY: journal in RAM only; faster, weaker crash safety. " "4=OFF: no journal; fastest, risk of corruption on crash." Default value: 3 ( int ).
static int	defaultDbSqlite3JournalMode ()
	Default value of parameter DbSqlite3/JournalMode : 3 .
static std::string	typeDbSqlite3JournalMode ()
	Type of parameter DbSqlite3/JournalMode , as a string: int .
static std::string	kDbSqlite3Synchronous ()
	Key of parameter DbSqlite3/Synchronous : "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. " "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. " "1=NORMAL: sync at critical moments (common SQLite default with WAL). " "2=FULL (SQLite safest default): sync after every commit; slowest." Default value: 0 ( int ).
static int	defaultDbSqlite3Synchronous ()
	Default value of parameter DbSqlite3/Synchronous : 0 .
static std::string	typeDbSqlite3Synchronous ()
	Type of parameter DbSqlite3/Synchronous , as a string: int .
static std::string	kDbSqlite3TempStore ()
	Key of parameter DbSqlite3/TempStore : "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. " "0=DEFAULT: SQLite compile-time default (often on-disk temp files). " "1=FILE: temporary files in the system temp directory. " "2=MEMORY: temporary data in RAM when possible." Default value: 2 ( int ).
static int	defaultDbSqlite3TempStore ()
	Default value of parameter DbSqlite3/TempStore : 2 .
static std::string	typeDbSqlite3TempStore ()
	Type of parameter DbSqlite3/TempStore , as a string: int .
static std::string	kDbTargetVersion ()
	Key of parameter Db/TargetVersion : "Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database)." Default value: "" (string).
static std::string	defaultDbTargetVersion ()
	Default value of parameter Db/TargetVersion : "" .
static std::string	typeDbTargetVersion ()
	Type of parameter Db/TargetVersion , as a string: string.
static std::string	kSURFExtended ()
	Key of parameter SURF/Extended : "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)." Default value: false ( bool ).
static bool	defaultSURFExtended ()
	Default value of parameter SURF/Extended : false .
static std::string	typeSURFExtended ()
	Type of parameter SURF/Extended , as a string: bool .
static std::string	kSURFHessianThreshold ()
	Key of parameter SURF/HessianThreshold : "Threshold for hessian keypoint detector used in SURF." Default value: 500 ( float ).
static float	defaultSURFHessianThreshold ()
	Default value of parameter SURF/HessianThreshold : 500 .
static std::string	typeSURFHessianThreshold ()
	Type of parameter SURF/HessianThreshold , as a string: float .
static std::string	kSURFOctaves ()
	Key of parameter SURF/Octaves : "Number of pyramid octaves the keypoint detector will use." Default value: 4 ( int ).
static int	defaultSURFOctaves ()
	Default value of parameter SURF/Octaves : 4 .
static std::string	typeSURFOctaves ()
	Type of parameter SURF/Octaves , as a string: int .
static std::string	kSURFOctaveLayers ()
	Key of parameter SURF/OctaveLayers : "Number of octave layers within each octave." Default value: 2 ( int ).
static int	defaultSURFOctaveLayers ()
	Default value of parameter SURF/OctaveLayers : 2 .
static std::string	typeSURFOctaveLayers ()
	Type of parameter SURF/OctaveLayers , as a string: int .
static std::string	kSURFUpright ()
	Key of parameter SURF/Upright : "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation)." Default value: false ( bool ).
static bool	defaultSURFUpright ()
	Default value of parameter SURF/Upright : false .
static std::string	typeSURFUpright ()
	Type of parameter SURF/Upright , as a string: bool .
static std::string	kSURFGpuVersion ()
	Key of parameter SURF/GpuVersion : "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
static bool	defaultSURFGpuVersion ()
	Default value of parameter SURF/GpuVersion : false .
static std::string	typeSURFGpuVersion ()
	Type of parameter SURF/GpuVersion , as a string: bool .
static std::string	kSURFGpuKeypointsRatio ()
	Key of parameter SURF/GpuKeypointsRatio : "Used with SURF GPU." Default value: 0.01 ( float ).
static float	defaultSURFGpuKeypointsRatio ()
	Default value of parameter SURF/GpuKeypointsRatio : 0.01 .
static std::string	typeSURFGpuKeypointsRatio ()
	Type of parameter SURF/GpuKeypointsRatio , as a string: float .
static std::string	kSIFTNOctaveLayers ()
	Key of parameter SIFT/NOctaveLayers : "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically." Default value: 3 ( int ).
static int	defaultSIFTNOctaveLayers ()
	Default value of parameter SIFT/NOctaveLayers : 3 .
static std::string	typeSIFTNOctaveLayers ()
	Type of parameter SIFT/NOctaveLayers , as a string: int .
static std::string	kSIFTContrastThreshold ()
	Key of parameter SIFT/ContrastThreshold : uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()) Default value: 0.04 ( double ).
static double	defaultSIFTContrastThreshold ()
	Default value of parameter SIFT/ContrastThreshold : 0.04 .
static std::string	typeSIFTContrastThreshold ()
	Type of parameter SIFT/ContrastThreshold , as a string: double .
static std::string	kSIFTEdgeThreshold ()
	Key of parameter SIFT/EdgeThreshold : "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained)." Default value: 10 ( double ).
static double	defaultSIFTEdgeThreshold ()
	Default value of parameter SIFT/EdgeThreshold : 10 .
static std::string	typeSIFTEdgeThreshold ()
	Type of parameter SIFT/EdgeThreshold , as a string: double .
static std::string	kSIFTSigma ()
	Key of parameter SIFT/Sigma : "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number." Default value: 1.6 ( double ).
static double	defaultSIFTSigma ()
	Default value of parameter SIFT/Sigma : 1.6 .
static std::string	typeSIFTSigma ()
	Type of parameter SIFT/Sigma , as a string: double .
static std::string	kSIFTPreciseUpscale ()
	Key of parameter SIFT/PreciseUpscale : "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8)." Default value: false ( bool ).
static bool	defaultSIFTPreciseUpscale ()
	Default value of parameter SIFT/PreciseUpscale : false .
static std::string	typeSIFTPreciseUpscale ()
	Type of parameter SIFT/PreciseUpscale , as a string: bool .
static std::string	kSIFTRootSIFT ()
	Key of parameter SIFT/RootSIFT : "Apply RootSIFT normalization of the descriptors." Default value: false ( bool ).
static bool	defaultSIFTRootSIFT ()
	Default value of parameter SIFT/RootSIFT : false .
static std::string	typeSIFTRootSIFT ()
	Type of parameter SIFT/RootSIFT , as a string: bool .
static std::string	kSIFTGpu ()
	Key of parameter SIFT/Gpu : "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected." Default value: false ( bool ).
static bool	defaultSIFTGpu ()
	Default value of parameter SIFT/Gpu : false .
static std::string	typeSIFTGpu ()
	Type of parameter SIFT/Gpu , as a string: bool .
static std::string	kSIFTGaussianThreshold ()
	Key of parameter SIFT/GaussianThreshold : "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector." Default value: 2.0 ( float ).
static float	defaultSIFTGaussianThreshold ()
	Default value of parameter SIFT/GaussianThreshold : 2.0 .
static std::string	typeSIFTGaussianThreshold ()
	Type of parameter SIFT/GaussianThreshold , as a string: float .
static std::string	kSIFTMaxGaussianThreshold ()
	Key of parameter SIFT/MaxGaussianThreshold : uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()) Default value: 0.0 ( float ).
static float	defaultSIFTMaxGaussianThreshold ()
	Default value of parameter SIFT/MaxGaussianThreshold : 0.0 .
static std::string	typeSIFTMaxGaussianThreshold ()
	Type of parameter SIFT/MaxGaussianThreshold , as a string: float .
static std::string	kSIFTUpscale ()
	Key of parameter SIFT/Upscale : "CudaSift: Whether to enable upscaling." Default value: false ( bool ).
static bool	defaultSIFTUpscale ()
	Default value of parameter SIFT/Upscale : false .
static std::string	typeSIFTUpscale ()
	Type of parameter SIFT/Upscale , as a string: bool .
static std::string	kBRIEFBytes ()
	Key of parameter BRIEF/Bytes : "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes." Default value: 32 ( int ).
static int	defaultBRIEFBytes ()
	Default value of parameter BRIEF/Bytes : 32 .
static std::string	typeBRIEFBytes ()
	Type of parameter BRIEF/Bytes , as a string: int .
static std::string	kFASTThreshold ()
	Key of parameter FAST/Threshold : "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel." Default value: 20 ( int ).
static int	defaultFASTThreshold ()
	Default value of parameter FAST/Threshold : 20 .
static std::string	typeFASTThreshold ()
	Type of parameter FAST/Threshold , as a string: int .
static std::string	kFASTNonmaxSuppression ()
	Key of parameter FAST/NonmaxSuppression : "If true, non-maximum suppression is applied to detected corners (keypoints)." Default value: true ( bool ).
static bool	defaultFASTNonmaxSuppression ()
	Default value of parameter FAST/NonmaxSuppression : true .
static std::string	typeFASTNonmaxSuppression ()
	Type of parameter FAST/NonmaxSuppression , as a string: bool .
static std::string	kFASTGpu ()
	Key of parameter FAST/Gpu : "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
static bool	defaultFASTGpu ()
	Default value of parameter FAST/Gpu : false .
static std::string	typeFASTGpu ()
	Type of parameter FAST/Gpu , as a string: bool .
static std::string	kFASTGpuKeypointsRatio ()
	Key of parameter FAST/GpuKeypointsRatio : "Used with FAST GPU." Default value: 0.05 ( double ).
static double	defaultFASTGpuKeypointsRatio ()
	Default value of parameter FAST/GpuKeypointsRatio : 0.05 .
static std::string	typeFASTGpuKeypointsRatio ()
	Type of parameter FAST/GpuKeypointsRatio , as a string: double .
static std::string	kFASTMinThreshold ()
	Key of parameter FAST/MinThreshold : "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 7 ( int ).
static int	defaultFASTMinThreshold ()
	Default value of parameter FAST/MinThreshold : 7 .
static std::string	typeFASTMinThreshold ()
	Type of parameter FAST/MinThreshold , as a string: int .
static std::string	kFASTMaxThreshold ()
	Key of parameter FAST/MaxThreshold : "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 200 ( int ).
static int	defaultFASTMaxThreshold ()
	Default value of parameter FAST/MaxThreshold : 200 .
static std::string	typeFASTMaxThreshold ()
	Type of parameter FAST/MaxThreshold , as a string: int .
static std::string	kFASTGridRows ()
	Key of parameter FAST/GridRows : "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).
static int	defaultFASTGridRows ()
	Default value of parameter FAST/GridRows : 0 .
static std::string	typeFASTGridRows ()
	Type of parameter FAST/GridRows , as a string: int .
static std::string	kFASTGridCols ()
	Key of parameter FAST/GridCols : "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).
static int	defaultFASTGridCols ()
	Default value of parameter FAST/GridCols : 0 .
static std::string	typeFASTGridCols ()
	Type of parameter FAST/GridCols , as a string: int .
static std::string	kFASTCV ()
	Key of parameter FAST/CV : "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10." Default value: 0 ( int ).
static int	defaultFASTCV ()
	Default value of parameter FAST/CV : 0 .
static std::string	typeFASTCV ()
	Type of parameter FAST/CV , as a string: int .
static std::string	kGFTTQualityLevel ()
	Key of parameter GFTT/QualityLevel : "" Default value: 0.001 ( double ).
static double	defaultGFTTQualityLevel ()
	Default value of parameter GFTT/QualityLevel : 0.001 .
static std::string	typeGFTTQualityLevel ()
	Type of parameter GFTT/QualityLevel , as a string: double .
static std::string	kGFTTMinDistance ()
	Key of parameter GFTT/MinDistance : "" Default value: 7 ( double ).
static double	defaultGFTTMinDistance ()
	Default value of parameter GFTT/MinDistance : 7 .
static std::string	typeGFTTMinDistance ()
	Type of parameter GFTT/MinDistance , as a string: double .
static std::string	kGFTTBlockSize ()
	Key of parameter GFTT/BlockSize : "" Default value: 3 ( int ).
static int	defaultGFTTBlockSize ()
	Default value of parameter GFTT/BlockSize : 3 .
static std::string	typeGFTTBlockSize ()
	Type of parameter GFTT/BlockSize , as a string: int .
static std::string	kGFTTUseHarrisDetector ()
	Key of parameter GFTT/UseHarrisDetector : "" Default value: false ( bool ).
static bool	defaultGFTTUseHarrisDetector ()
	Default value of parameter GFTT/UseHarrisDetector : false .
static std::string	typeGFTTUseHarrisDetector ()
	Type of parameter GFTT/UseHarrisDetector , as a string: bool .
static std::string	kGFTTK ()
	Key of parameter GFTT/K : "" Default value: 0.04 ( double ).
static double	defaultGFTTK ()
	Default value of parameter GFTT/K : 0.04 .
static std::string	typeGFTTK ()
	Type of parameter GFTT/K , as a string: double .
static std::string	kGFTTGpu ()
	Key of parameter GFTT/Gpu : "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected." Default value: false ( bool ).
static bool	defaultGFTTGpu ()
	Default value of parameter GFTT/Gpu : false .
static std::string	typeGFTTGpu ()
	Type of parameter GFTT/Gpu , as a string: bool .
static std::string	kORBScaleFactor ()
	Key of parameter ORB/ScaleFactor : "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer." Default value: 2 ( float ).
static float	defaultORBScaleFactor ()
	Default value of parameter ORB/ScaleFactor : 2 .
static std::string	typeORBScaleFactor ()
	Type of parameter ORB/ScaleFactor , as a string: float .
static std::string	kORBNLevels ()
	Key of parameter ORB/NLevels : "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)." Default value: 3 ( int ).
static int	defaultORBNLevels ()
	Default value of parameter ORB/NLevels : 3 .
static std::string	typeORBNLevels ()
	Type of parameter ORB/NLevels , as a string: int .
static std::string	kORBEdgeThreshold ()
	Key of parameter ORB/EdgeThreshold : "This is size of the border where the features are not detected. It should roughly match the patchSize parameter." Default value: 19 ( int ).
static int	defaultORBEdgeThreshold ()
	Default value of parameter ORB/EdgeThreshold : 19 .
static std::string	typeORBEdgeThreshold ()
	Type of parameter ORB/EdgeThreshold , as a string: int .
static std::string	kORBFirstLevel ()
	Key of parameter ORB/FirstLevel : "It should be 0 in the current implementation." Default value: 0 ( int ).
static int	defaultORBFirstLevel ()
	Default value of parameter ORB/FirstLevel : 0 .
static std::string	typeORBFirstLevel ()
	Type of parameter ORB/FirstLevel , as a string: int .
static std::string	kORBWTA_K ()
	Key of parameter ORB/WTA_K : "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3)." Default value: 2 ( int ).
static int	defaultORBWTA_K ()
	Default value of parameter ORB/WTA_K : 2 .
static std::string	typeORBWTA_K ()
	Type of parameter ORB/WTA_K , as a string: int .
static std::string	kORBScoreType ()
	Key of parameter ORB/ScoreType : "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute." Default value: 0 ( int ).
static int	defaultORBScoreType ()
	Default value of parameter ORB/ScoreType : 0 .
static std::string	typeORBScoreType ()
	Type of parameter ORB/ScoreType , as a string: int .
static std::string	kORBPatchSize ()
	Key of parameter ORB/PatchSize : "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger." Default value: 31 ( int ).
static int	defaultORBPatchSize ()
	Default value of parameter ORB/PatchSize : 31 .
static std::string	typeORBPatchSize ()
	Type of parameter ORB/PatchSize , as a string: int .
static std::string	kORBGpu ()
	Key of parameter ORB/Gpu : "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).
static bool	defaultORBGpu ()
	Default value of parameter ORB/Gpu : false .
static std::string	typeORBGpu ()
	Type of parameter ORB/Gpu , as a string: bool .
static std::string	kFREAKOrientationNormalized ()
	Key of parameter FREAK/OrientationNormalized : "Enable orientation normalization." Default value: true ( bool ).
static bool	defaultFREAKOrientationNormalized ()
	Default value of parameter FREAK/OrientationNormalized : true .
static std::string	typeFREAKOrientationNormalized ()
	Type of parameter FREAK/OrientationNormalized , as a string: bool .
static std::string	kFREAKScaleNormalized ()
	Key of parameter FREAK/ScaleNormalized : "Enable scale normalization." Default value: true ( bool ).
static bool	defaultFREAKScaleNormalized ()
	Default value of parameter FREAK/ScaleNormalized : true .
static std::string	typeFREAKScaleNormalized ()
	Type of parameter FREAK/ScaleNormalized , as a string: bool .
static std::string	kFREAKPatternScale ()
	Key of parameter FREAK/PatternScale : "Scaling of the description pattern." Default value: 22 ( float ).
static float	defaultFREAKPatternScale ()
	Default value of parameter FREAK/PatternScale : 22 .
static std::string	typeFREAKPatternScale ()
	Type of parameter FREAK/PatternScale , as a string: float .
static std::string	kFREAKNOctaves ()
	Key of parameter FREAK/NOctaves : "Number of octaves covered by the detected keypoints." Default value: 4 ( int ).
static int	defaultFREAKNOctaves ()
	Default value of parameter FREAK/NOctaves : 4 .
static std::string	typeFREAKNOctaves ()
	Type of parameter FREAK/NOctaves , as a string: int .
static std::string	kBRISKThresh ()
	Key of parameter BRISK/Thresh : "FAST/AGAST detection threshold score." Default value: 30 ( int ).
static int	defaultBRISKThresh ()
	Default value of parameter BRISK/Thresh : 30 .
static std::string	typeBRISKThresh ()
	Type of parameter BRISK/Thresh , as a string: int .
static std::string	kBRISKOctaves ()
	Key of parameter BRISK/Octaves : "Detection octaves. Use 0 to do single scale." Default value: 3 ( int ).
static int	defaultBRISKOctaves ()
	Default value of parameter BRISK/Octaves : 3 .
static std::string	typeBRISKOctaves ()
	Type of parameter BRISK/Octaves , as a string: int .
static std::string	kBRISKPatternScale ()
	Key of parameter BRISK/PatternScale : "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint." Default value: 1 ( float ).
static float	defaultBRISKPatternScale ()
	Default value of parameter BRISK/PatternScale : 1 .
static std::string	typeBRISKPatternScale ()
	Type of parameter BRISK/PatternScale , as a string: float .
static std::string	kKAZEExtended ()
	Key of parameter KAZE/Extended : "Set to enable extraction of extended (128-byte) descriptor." Default value: false ( bool ).
static bool	defaultKAZEExtended ()
	Default value of parameter KAZE/Extended : false .
static std::string	typeKAZEExtended ()
	Type of parameter KAZE/Extended , as a string: bool .
static std::string	kKAZEUpright ()
	Key of parameter KAZE/Upright : "Set to enable use of upright descriptors (non rotation-invariant)." Default value: false ( bool ).
static bool	defaultKAZEUpright ()
	Default value of parameter KAZE/Upright : false .
static std::string	typeKAZEUpright ()
	Type of parameter KAZE/Upright , as a string: bool .
static std::string	kKAZEThreshold ()
	Key of parameter KAZE/Threshold : "Detector response threshold to accept keypoint." Default value: 0.001 ( float ).
static float	defaultKAZEThreshold ()
	Default value of parameter KAZE/Threshold : 0.001 .
static std::string	typeKAZEThreshold ()
	Type of parameter KAZE/Threshold , as a string: float .
static std::string	kKAZENOctaves ()
	Key of parameter KAZE/NOctaves : "Maximum octave evolution of the image." Default value: 4 ( int ).
static int	defaultKAZENOctaves ()
	Default value of parameter KAZE/NOctaves : 4 .
static std::string	typeKAZENOctaves ()
	Type of parameter KAZE/NOctaves , as a string: int .
static std::string	kKAZENOctaveLayers ()
	Key of parameter KAZE/NOctaveLayers : "Default number of sublevels per scale level." Default value: 4 ( int ).
static int	defaultKAZENOctaveLayers ()
	Default value of parameter KAZE/NOctaveLayers : 4 .
static std::string	typeKAZENOctaveLayers ()
	Type of parameter KAZE/NOctaveLayers , as a string: int .
static std::string	kKAZEDiffusivity ()
	Key of parameter KAZE/Diffusivity : "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER." Default value: 1 ( int ).
static int	defaultKAZEDiffusivity ()
	Default value of parameter KAZE/Diffusivity : 1 .
static std::string	typeKAZEDiffusivity ()
	Type of parameter KAZE/Diffusivity , as a string: int .
static std::string	kSuperPointModelPath ()
	Key of parameter SuperPoint/ModelPath : "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt)." Default value: "" (string).
static std::string	defaultSuperPointModelPath ()
	Default value of parameter SuperPoint/ModelPath : "" .
static std::string	typeSuperPointModelPath ()
	Type of parameter SuperPoint/ModelPath , as a string: string.
static std::string	kSuperPointThreshold ()
	Key of parameter SuperPoint/Threshold : "Detector response threshold to accept keypoint." Default value: 0.010 ( float ).
static float	defaultSuperPointThreshold ()
	Default value of parameter SuperPoint/Threshold : 0.010 .
static std::string	typeSuperPointThreshold ()
	Type of parameter SuperPoint/Threshold , as a string: float .
static std::string	kSuperPointNMS ()
	Key of parameter SuperPoint/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).
static bool	defaultSuperPointNMS ()
	Default value of parameter SuperPoint/NMS : true .
static std::string	typeSuperPointNMS ()
	Type of parameter SuperPoint/NMS , as a string: bool .
static std::string	kSuperPointNMSRadius ()
	Key of parameter SuperPoint/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()) Default value: 4 ( int ).
static int	defaultSuperPointNMSRadius ()
	Default value of parameter SuperPoint/NMSRadius : 4 .
static std::string	typeSuperPointNMSRadius ()
	Type of parameter SuperPoint/NMSRadius , as a string: int .
static std::string	kSuperPointCuda ()
	Key of parameter SuperPoint/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).
static bool	defaultSuperPointCuda ()
	Default value of parameter SuperPoint/Cuda : true .
static std::string	typeSuperPointCuda ()
	Type of parameter SuperPoint/Cuda , as a string: bool .
static std::string	kSuperPointRpautratWeightsPath ()
	Key of parameter SuperPointRpautrat/WeightsPath : "[Required] SuperPoint weights file (*.pth)." Default value: "" (string).
static std::string	defaultSuperPointRpautratWeightsPath ()
	Default value of parameter SuperPointRpautrat/WeightsPath : "" .
static std::string	typeSuperPointRpautratWeightsPath ()
	Type of parameter SuperPointRpautrat/WeightsPath , as a string: string.
static std::string	kSuperPointRpautratModelPath ()
	Key of parameter SuperPointRpautrat/ModelPath : "[Required] SuperPoint python model file (superpoint_pytorch.py)." Default value: "" (string).
static std::string	defaultSuperPointRpautratModelPath ()
	Default value of parameter SuperPointRpautrat/ModelPath : "" .
static std::string	typeSuperPointRpautratModelPath ()
	Type of parameter SuperPointRpautrat/ModelPath , as a string: string.
static std::string	kSuperPointRpautratThreshold ()
	Key of parameter SuperPointRpautrat/Threshold : "Detector response threshold to accept keypoint." Default value: 0.005 ( float ).
static float	defaultSuperPointRpautratThreshold ()
	Default value of parameter SuperPointRpautrat/Threshold : 0.005 .
static std::string	typeSuperPointRpautratThreshold ()
	Type of parameter SuperPointRpautrat/Threshold , as a string: float .
static std::string	kSuperPointRpautratNMS ()
	Key of parameter SuperPointRpautrat/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).
static bool	defaultSuperPointRpautratNMS ()
	Default value of parameter SuperPointRpautrat/NMS : true .
static std::string	typeSuperPointRpautratNMS ()
	Type of parameter SuperPointRpautrat/NMS , as a string: bool .
static std::string	kSuperPointRpautratNMSRadius ()
	Key of parameter SuperPointRpautrat/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()) Default value: 4 ( int ).
static int	defaultSuperPointRpautratNMSRadius ()
	Default value of parameter SuperPointRpautrat/NMSRadius : 4 .
static std::string	typeSuperPointRpautratNMSRadius ()
	Type of parameter SuperPointRpautrat/NMSRadius , as a string: int .
static std::string	kSuperPointRpautratCuda ()
	Key of parameter SuperPointRpautrat/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).
static bool	defaultSuperPointRpautratCuda ()
	Default value of parameter SuperPointRpautrat/Cuda : true .
static std::string	typeSuperPointRpautratCuda ()
	Type of parameter SuperPointRpautrat/Cuda , as a string: bool .
static std::string	kPyDetectorPath ()
	Key of parameter PyDetector/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).
static std::string	defaultPyDetectorPath ()
	Default value of parameter PyDetector/Path : "" .
static std::string	typePyDetectorPath ()
	Type of parameter PyDetector/Path , as a string: string.
static std::string	kPyDetectorCuda ()
	Key of parameter PyDetector/Cuda : "Use cuda." Default value: true ( bool ).
static bool	defaultPyDetectorCuda ()
	Default value of parameter PyDetector/Cuda : true .
static std::string	typePyDetectorCuda ()
	Type of parameter PyDetector/Cuda , as a string: bool .
static std::string	kBayesVirtualPlacePriorThr ()
	Key of parameter Bayes/VirtualPlacePriorThr : "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations)." Default value: 0.9 ( float ).
static float	defaultBayesVirtualPlacePriorThr ()
	Default value of parameter Bayes/VirtualPlacePriorThr : 0.9 .
static std::string	typeBayesVirtualPlacePriorThr ()
	Type of parameter Bayes/VirtualPlacePriorThr , as a string: float .
static std::string	kBayesPredictionLC ()
	Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).
static std::string	defaultBayesPredictionLC ()
	Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .
static std::string	typeBayesPredictionLC ()
	Type of parameter Bayes/PredictionLC , as a string: string.
static std::string	kBayesFullPredictionUpdate ()
	Key of parameter Bayes/FullPredictionUpdate : "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated)." Default value: false ( bool ).
static bool	defaultBayesFullPredictionUpdate ()
	Default value of parameter Bayes/FullPredictionUpdate : false .
static std::string	typeBayesFullPredictionUpdate ()
	Type of parameter Bayes/FullPredictionUpdate , as a string: bool .
static std::string	kVhEpEnabled ()
	Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).
static bool	defaultVhEpEnabled ()
	Default value of parameter VhEp/Enabled : false .
static std::string	typeVhEpEnabled ()
	Type of parameter VhEp/Enabled , as a string: bool .
static std::string	kVhEpMatchCountMin ()
	Key of parameter VhEp/MatchCountMin : "Minimum of matching visual words pairs to accept the loop hypothesis." Default value: 8 ( int ).
static int	defaultVhEpMatchCountMin ()
	Default value of parameter VhEp/MatchCountMin : 8 .
static std::string	typeVhEpMatchCountMin ()
	Type of parameter VhEp/MatchCountMin , as a string: int .
static std::string	kVhEpRansacParam1 ()
	Key of parameter VhEp/RansacParam1 : "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier." Default value: 3 ( float ).
static float	defaultVhEpRansacParam1 ()
	Default value of parameter VhEp/RansacParam1 : 3 .
static std::string	typeVhEpRansacParam1 ()
	Type of parameter VhEp/RansacParam1 , as a string: float .
static std::string	kVhEpRansacParam2 ()
	Key of parameter VhEp/RansacParam2 : "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC." Default value: 0.99 ( float ).
static float	defaultVhEpRansacParam2 ()
	Default value of parameter VhEp/RansacParam2 : 0.99 .
static std::string	typeVhEpRansacParam2 ()
	Type of parameter VhEp/RansacParam2 , as a string: float .
static std::string	kRGBDEnabled ()
	Key of parameter RGBD/Enabled : "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information." Default value: true ( bool ).
static bool	defaultRGBDEnabled ()
	Default value of parameter RGBD/Enabled : true .
static std::string	typeRGBDEnabled ()
	Type of parameter RGBD/Enabled , as a string: bool .
static std::string	kRGBDLinearUpdate ()
	Key of parameter RGBD/LinearUpdate : uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).
static float	defaultRGBDLinearUpdate ()
	Default value of parameter RGBD/LinearUpdate : 0.1 .
static std::string	typeRGBDLinearUpdate ()
	Type of parameter RGBD/LinearUpdate , as a string: float .
static std::string	kRGBDAngularUpdate ()
	Key of parameter RGBD/AngularUpdate : uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).
static float	defaultRGBDAngularUpdate ()
	Default value of parameter RGBD/AngularUpdate : 0.1 .
static std::string	typeRGBDAngularUpdate ()
	Type of parameter RGBD/AngularUpdate , as a string: float .
static std::string	kRGBDLinearSpeedUpdate ()
	Key of parameter RGBD/LinearSpeedUpdate : "Maximum linear speed (m/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).
static float	defaultRGBDLinearSpeedUpdate ()
	Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .
static std::string	typeRGBDLinearSpeedUpdate ()
	Type of parameter RGBD/LinearSpeedUpdate , as a string: float .
static std::string	kRGBDAngularSpeedUpdate ()
	Key of parameter RGBD/AngularSpeedUpdate : "Maximum angular speed (rad/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).
static float	defaultRGBDAngularSpeedUpdate ()
	Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .
static std::string	typeRGBDAngularSpeedUpdate ()
	Type of parameter RGBD/AngularSpeedUpdate , as a string: float .
static std::string	kRGBDAggressiveLoopThr ()
	Key of parameter RGBD/AggressiveLoopThr : uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()) Default value: 0.05 ( float ).
static float	defaultRGBDAggressiveLoopThr ()
	Default value of parameter RGBD/AggressiveLoopThr : 0.05 .
static std::string	typeRGBDAggressiveLoopThr ()
	Type of parameter RGBD/AggressiveLoopThr , as a string: float .
static std::string	kRGBDNewMapOdomChangeDistance ()
	Key of parameter RGBD/NewMapOdomChangeDistance : "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)." Default value: 0 ( float ).
static float	defaultRGBDNewMapOdomChangeDistance ()
	Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .
static std::string	typeRGBDNewMapOdomChangeDistance ()
	Type of parameter RGBD/NewMapOdomChangeDistance , as a string: float .
static std::string	kRGBDOptimizeFromGraphEnd ()
	Key of parameter RGBD/OptimizeFromGraphEnd : "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation)." Default value: false ( bool ).
static bool	defaultRGBDOptimizeFromGraphEnd ()
	Default value of parameter RGBD/OptimizeFromGraphEnd : false .
static std::string	typeRGBDOptimizeFromGraphEnd ()
	Type of parameter RGBD/OptimizeFromGraphEnd , as a string: bool .
static std::string	kRGBDOptimizeMaxError ()
	Key of parameter RGBD/OptimizeMaxError : uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()) Default value: 3.0 ( float ).
static float	defaultRGBDOptimizeMaxError ()
	Default value of parameter RGBD/OptimizeMaxError : 3.0 .
static std::string	typeRGBDOptimizeMaxError ()
	Type of parameter RGBD/OptimizeMaxError , as a string: float .
static std::string	kRGBDOptimizeMaxErrorRepairRadius ()
	Key of parameter RGBD/OptimizeMaxErrorRepairRadius : uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()) Default value: 0.0 ( float ).
static float	defaultRGBDOptimizeMaxErrorRepairRadius ()
	Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .
static std::string	typeRGBDOptimizeMaxErrorRepairRadius ()
	Type of parameter RGBD/OptimizeMaxErrorRepairRadius , as a string: float .
static std::string	kRGBDMaxLoopClosureDistance ()
	Key of parameter RGBD/MaxLoopClosureDistance : "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled)." Default value: 0.0 ( float ).
static float	defaultRGBDMaxLoopClosureDistance ()
	Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .
static std::string	typeRGBDMaxLoopClosureDistance ()
	Type of parameter RGBD/MaxLoopClosureDistance , as a string: float .
static std::string	kRGBDForceOdom3DoF ()
	Key of parameter RGBD/ForceOdom3DoF : uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()) Default value: true ( bool ).
static bool	defaultRGBDForceOdom3DoF ()
	Default value of parameter RGBD/ForceOdom3DoF : true .
static std::string	typeRGBDForceOdom3DoF ()
	Type of parameter RGBD/ForceOdom3DoF , as a string: bool .
static std::string	kRGBDStartAtOrigin ()
	Key of parameter RGBD/StartAtOrigin : uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()) Default value: false ( bool ).
static bool	defaultRGBDStartAtOrigin ()
	Default value of parameter RGBD/StartAtOrigin : false .
static std::string	typeRGBDStartAtOrigin ()
	Type of parameter RGBD/StartAtOrigin , as a string: bool .
static std::string	kRGBDGoalReachedRadius ()
	Key of parameter RGBD/GoalReachedRadius : "Goal reached radius (m)." Default value: 0.5 ( float ).
static float	defaultRGBDGoalReachedRadius ()
	Default value of parameter RGBD/GoalReachedRadius : 0.5 .
static std::string	typeRGBDGoalReachedRadius ()
	Type of parameter RGBD/GoalReachedRadius , as a string: float .
static std::string	kRGBDPlanStuckIterations ()
	Key of parameter RGBD/PlanStuckIterations : "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails." Default value: 0 ( int ).
static int	defaultRGBDPlanStuckIterations ()
	Default value of parameter RGBD/PlanStuckIterations : 0 .
static std::string	typeRGBDPlanStuckIterations ()
	Type of parameter RGBD/PlanStuckIterations , as a string: int .
static std::string	kRGBDPlanLinearVelocity ()
	Key of parameter RGBD/PlanLinearVelocity : "Linear velocity (m/sec) used to compute path weights." Default value: 0 ( float ).
static float	defaultRGBDPlanLinearVelocity ()
	Default value of parameter RGBD/PlanLinearVelocity : 0 .
static std::string	typeRGBDPlanLinearVelocity ()
	Type of parameter RGBD/PlanLinearVelocity , as a string: float .
static std::string	kRGBDPlanAngularVelocity ()
	Key of parameter RGBD/PlanAngularVelocity : "Angular velocity (rad/sec) used to compute path weights." Default value: 0 ( float ).
static float	defaultRGBDPlanAngularVelocity ()
	Default value of parameter RGBD/PlanAngularVelocity : 0 .
static std::string	typeRGBDPlanAngularVelocity ()
	Type of parameter RGBD/PlanAngularVelocity , as a string: float .
static std::string	kRGBDGoalsSavedInUserData ()
	Key of parameter RGBD/GoalsSavedInUserData : "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\"." Default value: false ( bool ).
static bool	defaultRGBDGoalsSavedInUserData ()
	Default value of parameter RGBD/GoalsSavedInUserData : false .
static std::string	typeRGBDGoalsSavedInUserData ()
	Type of parameter RGBD/GoalsSavedInUserData , as a string: bool .
static std::string	kRGBDMaxLocalRetrieved ()
	Key of parameter RGBD/MaxLocalRetrieved : "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority)." Default value: 2 ( unsigned int ).
static unsigned int	defaultRGBDMaxLocalRetrieved ()
	Default value of parameter RGBD/MaxLocalRetrieved : 2 .
static std::string	typeRGBDMaxLocalRetrieved ()
	Type of parameter RGBD/MaxLocalRetrieved , as a string: unsigned int .
static std::string	kRGBDLocalRadius ()
	Key of parameter RGBD/LocalRadius : "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management." Default value: 10 ( float ).
static float	defaultRGBDLocalRadius ()
	Default value of parameter RGBD/LocalRadius : 10 .
static std::string	typeRGBDLocalRadius ()
	Type of parameter RGBD/LocalRadius , as a string: float .
static std::string	kRGBDLocalImmunizationRatio ()
	Key of parameter RGBD/LocalImmunizationRatio : "Ratio of working memory for which local nodes are immunized from transfer." Default value: 0.25 ( float ).
static float	defaultRGBDLocalImmunizationRatio ()
	Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .
static std::string	typeRGBDLocalImmunizationRatio ()
	Type of parameter RGBD/LocalImmunizationRatio , as a string: float .
static std::string	kRGBDScanMatchingIdsSavedInLinks ()
	Key of parameter RGBD/ScanMatchingIdsSavedInLinks : "Save scan matching IDs from one-to-many proximity detection in link's user data." Default value: true ( bool ).
static bool	defaultRGBDScanMatchingIdsSavedInLinks ()
	Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .
static std::string	typeRGBDScanMatchingIdsSavedInLinks ()
	Type of parameter RGBD/ScanMatchingIdsSavedInLinks , as a string: bool .
static std::string	kRGBDNeighborLinkRefining ()
	Key of parameter RGBD/NeighborLinkRefining : uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()) Default value: false ( bool ).
static bool	defaultRGBDNeighborLinkRefining ()
	Default value of parameter RGBD/NeighborLinkRefining : false .
static std::string	typeRGBDNeighborLinkRefining ()
	Type of parameter RGBD/NeighborLinkRefining , as a string: bool .
static std::string	kRGBDLoopClosureIdentityGuess ()
	Key of parameter RGBD/LoopClosureIdentityGuess : uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()) Default value: false ( bool ).
static bool	defaultRGBDLoopClosureIdentityGuess ()
	Default value of parameter RGBD/LoopClosureIdentityGuess : false .
static std::string	typeRGBDLoopClosureIdentityGuess ()
	Type of parameter RGBD/LoopClosureIdentityGuess , as a string: bool .
static std::string	kRGBDLoopClosureReextractFeatures ()
	Key of parameter RGBD/LoopClosureReextractFeatures : "Extract features even if there are some already in the nodes. Raw features are not saved in database." Default value: false ( bool ).
static bool	defaultRGBDLoopClosureReextractFeatures ()
	Default value of parameter RGBD/LoopClosureReextractFeatures : false .
static std::string	typeRGBDLoopClosureReextractFeatures ()
	Type of parameter RGBD/LoopClosureReextractFeatures , as a string: bool .
static std::string	kRGBDLocalBundleOnLoopClosure ()
	Key of parameter RGBD/LocalBundleOnLoopClosure : "Do local bundle adjustment with neighborhood of the loop closure." Default value: false ( bool ).
static bool	defaultRGBDLocalBundleOnLoopClosure ()
	Default value of parameter RGBD/LocalBundleOnLoopClosure : false .
static std::string	typeRGBDLocalBundleOnLoopClosure ()
	Type of parameter RGBD/LocalBundleOnLoopClosure , as a string: bool .
static std::string	kRGBDInvertedReg ()
	Key of parameter RGBD/InvertedReg : "On loop closure, do registration from the target to reference instead of reference to target." Default value: false ( bool ).
static bool	defaultRGBDInvertedReg ()
	Default value of parameter RGBD/InvertedReg : false .
static std::string	typeRGBDInvertedReg ()
	Type of parameter RGBD/InvertedReg , as a string: bool .
static std::string	kRGBDCreateOccupancyGrid ()
	Key of parameter RGBD/CreateOccupancyGrid : "Create local occupancy grid maps. See \"Grid\" group for parameters." Default value: false ( bool ).
static bool	defaultRGBDCreateOccupancyGrid ()
	Default value of parameter RGBD/CreateOccupancyGrid : false .
static std::string	typeRGBDCreateOccupancyGrid ()
	Type of parameter RGBD/CreateOccupancyGrid , as a string: bool .
static std::string	kRGBDMarkerDetection ()
	Key of parameter RGBD/MarkerDetection : "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters." Default value: false ( bool ).
static bool	defaultRGBDMarkerDetection ()
	Default value of parameter RGBD/MarkerDetection : false .
static std::string	typeRGBDMarkerDetection ()
	Type of parameter RGBD/MarkerDetection , as a string: bool .
static std::string	kRGBDLoopCovLimited ()
	Key of parameter RGBD/LoopCovLimited : "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links." Default value: false ( bool ).
static bool	defaultRGBDLoopCovLimited ()
	Default value of parameter RGBD/LoopCovLimited : false .
static std::string	typeRGBDLoopCovLimited ()
	Type of parameter RGBD/LoopCovLimited , as a string: bool .
static std::string	kRGBDMaxOdomCacheSize ()
	Key of parameter RGBD/MaxOdomCacheSize : uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()) Default value: 10 ( int ).
static int	defaultRGBDMaxOdomCacheSize ()
	Default value of parameter RGBD/MaxOdomCacheSize : 10 .
static std::string	typeRGBDMaxOdomCacheSize ()
	Type of parameter RGBD/MaxOdomCacheSize , as a string: int .
static std::string	kRGBDLocalizationSmoothing ()
	Key of parameter RGBD/LocalizationSmoothing : uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).
static bool	defaultRGBDLocalizationSmoothing ()
	Default value of parameter RGBD/LocalizationSmoothing : true .
static std::string	typeRGBDLocalizationSmoothing ()
	Type of parameter RGBD/LocalizationSmoothing , as a string: bool .
static std::string	kRGBDLocalizationPriorError ()
	Key of parameter RGBD/LocalizationPriorError : uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: 0.001 ( double ).
static double	defaultRGBDLocalizationPriorError ()
	Default value of parameter RGBD/LocalizationPriorError : 0.001 .
static std::string	typeRGBDLocalizationPriorError ()
	Type of parameter RGBD/LocalizationPriorError , as a string: double .
static std::string	kRGBDLocalizationSecondTryWithoutProximityLinks ()
	Key of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).
static bool	defaultRGBDLocalizationSecondTryWithoutProximityLinks ()
	Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .
static std::string	typeRGBDLocalizationSecondTryWithoutProximityLinks ()
	Type of parameter RGBD/LocalizationSecondTryWithoutProximityLinks , as a string: bool .
static std::string	kRGBDProximityByTime ()
	Key of parameter RGBD/ProximityByTime : "Detection over all locations in STM." Default value: false ( bool ).
static bool	defaultRGBDProximityByTime ()
	Default value of parameter RGBD/ProximityByTime : false .
static std::string	typeRGBDProximityByTime ()
	Type of parameter RGBD/ProximityByTime , as a string: bool .
static std::string	kRGBDProximityBySpace ()
	Key of parameter RGBD/ProximityBySpace : "Detection over locations (in Working Memory) near in space." Default value: true ( bool ).
static bool	defaultRGBDProximityBySpace ()
	Default value of parameter RGBD/ProximityBySpace : true .
static std::string	typeRGBDProximityBySpace ()
	Type of parameter RGBD/ProximityBySpace , as a string: bool .
static std::string	kRGBDProximityMaxGraphDepth ()
	Key of parameter RGBD/ProximityMaxGraphDepth : "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore." Default value: 50 ( int ).
static int	defaultRGBDProximityMaxGraphDepth ()
	Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .
static std::string	typeRGBDProximityMaxGraphDepth ()
	Type of parameter RGBD/ProximityMaxGraphDepth , as a string: int .
static std::string	kRGBDProximityMaxPaths ()
	Key of parameter RGBD/ProximityMaxPaths : "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit." Default value: 3 ( int ).
static int	defaultRGBDProximityMaxPaths ()
	Default value of parameter RGBD/ProximityMaxPaths : 3 .
static std::string	typeRGBDProximityMaxPaths ()
	Type of parameter RGBD/ProximityMaxPaths , as a string: int .
static std::string	kRGBDProximityPathFilteringRadius ()
	Key of parameter RGBD/ProximityPathFilteringRadius : "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection." Default value: 1 ( float ).
static float	defaultRGBDProximityPathFilteringRadius ()
	Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .
static std::string	typeRGBDProximityPathFilteringRadius ()
	Type of parameter RGBD/ProximityPathFilteringRadius , as a string: float .
static std::string	kRGBDProximityPathMaxNeighbors ()
	Key of parameter RGBD/ProximityPathMaxNeighbors : "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans)." Default value: 0 ( int ).
static int	defaultRGBDProximityPathMaxNeighbors ()
	Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .
static std::string	typeRGBDProximityPathMaxNeighbors ()
	Type of parameter RGBD/ProximityPathMaxNeighbors , as a string: int .
static std::string	kRGBDProximityPathRawPosesUsed ()
	Key of parameter RGBD/ProximityPathRawPosesUsed : "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph." Default value: true ( bool ).
static bool	defaultRGBDProximityPathRawPosesUsed ()
	Default value of parameter RGBD/ProximityPathRawPosesUsed : true .
static std::string	typeRGBDProximityPathRawPosesUsed ()
	Type of parameter RGBD/ProximityPathRawPosesUsed , as a string: bool .
static std::string	kRGBDProximityAngle ()
	Key of parameter RGBD/ProximityAngle : "Maximum angle (degrees) for one-to-one proximity detection." Default value: 45 ( float ).
static float	defaultRGBDProximityAngle ()
	Default value of parameter RGBD/ProximityAngle : 45 .
static std::string	typeRGBDProximityAngle ()
	Type of parameter RGBD/ProximityAngle , as a string: float .
static std::string	kRGBDProximityOdomGuess ()
	Key of parameter RGBD/ProximityOdomGuess : "Use odometry as motion guess for one-to-one proximity detection." Default value: false ( bool ).
static bool	defaultRGBDProximityOdomGuess ()
	Default value of parameter RGBD/ProximityOdomGuess : false .
static std::string	typeRGBDProximityOdomGuess ()
	Type of parameter RGBD/ProximityOdomGuess , as a string: bool .
static std::string	kRGBDProximityGlobalScanMap ()
	Key of parameter RGBD/ProximityGlobalScanMap : uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()) Default value: false ( bool ).
static bool	defaultRGBDProximityGlobalScanMap ()
	Default value of parameter RGBD/ProximityGlobalScanMap : false .
static std::string	typeRGBDProximityGlobalScanMap ()
	Type of parameter RGBD/ProximityGlobalScanMap , as a string: bool .
static std::string	kRGBDProximityMergedScanCovFactor ()
	Key of parameter RGBD/ProximityMergedScanCovFactor : uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()) Default value: 100.0 ( double ).
static double	defaultRGBDProximityMergedScanCovFactor ()
	Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .
static std::string	typeRGBDProximityMergedScanCovFactor ()
	Type of parameter RGBD/ProximityMergedScanCovFactor , as a string: double .
static std::string	kOptimizerStrategy ()
	Key of parameter Optimizer/Strategy : "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres." Default value: 0 ( int ).
static int	defaultOptimizerStrategy ()
	Default value of parameter Optimizer/Strategy : 0 .
static std::string	typeOptimizerStrategy ()
	Type of parameter Optimizer/Strategy , as a string: int .
static std::string	kOptimizerIterations ()
	Key of parameter Optimizer/Iterations : "Optimization iterations." Default value: 100 ( int ).
static int	defaultOptimizerIterations ()
	Default value of parameter Optimizer/Iterations : 100 .
static std::string	typeOptimizerIterations ()
	Type of parameter Optimizer/Iterations , as a string: int .
static std::string	kOptimizerEpsilon ()
	Key of parameter Optimizer/Epsilon : "Stop optimizing when the error improvement is less than this value." Default value: 0.00001 ( double ).
static double	defaultOptimizerEpsilon ()
	Default value of parameter Optimizer/Epsilon : 0.00001 .
static std::string	typeOptimizerEpsilon ()
	Type of parameter Optimizer/Epsilon , as a string: double .
static std::string	kOptimizerVarianceIgnored ()
	Key of parameter Optimizer/VarianceIgnored : "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links." Default value: false ( bool ).
static bool	defaultOptimizerVarianceIgnored ()
	Default value of parameter Optimizer/VarianceIgnored : false .
static std::string	typeOptimizerVarianceIgnored ()
	Type of parameter Optimizer/VarianceIgnored , as a string: bool .
static std::string	kOptimizerRobust ()
	Key of parameter Optimizer/Robust : "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)." Default value: false ( bool ).
static bool	defaultOptimizerRobust ()
	Default value of parameter Optimizer/Robust : false .
static std::string	typeOptimizerRobust ()
	Type of parameter Optimizer/Robust , as a string: bool .
static std::string	kOptimizerPriorsIgnored ()
	Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ).
static bool	defaultOptimizerPriorsIgnored ()
	Default value of parameter Optimizer/PriorsIgnored : true .
static std::string	typeOptimizerPriorsIgnored ()
	Type of parameter Optimizer/PriorsIgnored , as a string: bool .
static std::string	kOptimizerLandmarksIgnored ()
	Key of parameter Optimizer/LandmarksIgnored : "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this." Default value: false ( bool ).
static bool	defaultOptimizerLandmarksIgnored ()
	Default value of parameter Optimizer/LandmarksIgnored : false .
static std::string	typeOptimizerLandmarksIgnored ()
	Type of parameter Optimizer/LandmarksIgnored , as a string: bool .
static std::string	kOptimizerGravitySigma ()
	Key of parameter Optimizer/GravitySigma : uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()) Default value: 0.0 ( float ).
static float	defaultOptimizerGravitySigma ()
	Default value of parameter Optimizer/GravitySigma : 0.0 .
static std::string	typeOptimizerGravitySigma ()
	Type of parameter Optimizer/GravitySigma , as a string: float .
static std::string	kg2oSolver ()
	Key of parameter g2o/Solver : "0=csparse 1=pcg 2=cholmod 3=Eigen" Default value: 0 ( int ).
static int	defaultg2oSolver ()
	Default value of parameter g2o/Solver : 0 .
static std::string	typeg2oSolver ()
	Type of parameter g2o/Solver , as a string: int .
static std::string	kg2oOptimizer ()
	Key of parameter g2o/Optimizer : "0=Levenberg 1=GaussNewton" Default value: 0 ( int ).
static int	defaultg2oOptimizer ()
	Default value of parameter g2o/Optimizer : 0 .
static std::string	typeg2oOptimizer ()
	Type of parameter g2o/Optimizer , as a string: int .
static std::string	kOptimizerBaseline ()
	Key of parameter Optimizer/Baseline : "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly." Default value: 0.075 ( double ).
static double	defaultOptimizerBaseline ()
	Default value of parameter Optimizer/Baseline : 0.075 .
static std::string	typeOptimizerBaseline ()
	Type of parameter Optimizer/Baseline , as a string: double .
static std::string	kOptimizerPixelVariance ()
	Key of parameter Optimizer/PixelVariance : "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions." Default value: 1.0 ( double ).
static double	defaultOptimizerPixelVariance ()
	Default value of parameter Optimizer/PixelVariance : 1.0 .
static std::string	typeOptimizerPixelVariance ()
	Type of parameter Optimizer/PixelVariance , as a string: double .
static std::string	kOptimizerDisparityVariance ()
	Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).
static double	defaultOptimizerDisparityVariance ()
	Default value of parameter Optimizer/DisparityVariance : 1.0 .
static std::string	typeOptimizerDisparityVariance ()
	Type of parameter Optimizer/DisparityVariance , as a string: double .
static std::string	kOptimizerRobustKernelDelta ()
	Key of parameter Optimizer/RobustKernelDelta : "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass." Default value: 8 ( double ).
static double	defaultOptimizerRobustKernelDelta ()
	Default value of parameter Optimizer/RobustKernelDelta : 8 .
static std::string	typeOptimizerRobustKernelDelta ()
	Type of parameter Optimizer/RobustKernelDelta , as a string: double .
static std::string	kGTSAMOptimizer ()
	Key of parameter GTSAM/Optimizer : "0=Levenberg 1=GaussNewton 2=Dogleg" Default value: 1 ( int ).
static int	defaultGTSAMOptimizer ()
	Default value of parameter GTSAM/Optimizer : 1 .
static std::string	typeGTSAMOptimizer ()
	Type of parameter GTSAM/Optimizer , as a string: int .
static std::string	kGTSAMIncremental ()
	Key of parameter GTSAM/Incremental : uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()) Default value: false ( bool ).
static bool	defaultGTSAMIncremental ()
	Default value of parameter GTSAM/Incremental : false .
static std::string	typeGTSAMIncremental ()
	Type of parameter GTSAM/Incremental , as a string: bool .
static std::string	kGTSAMIncRelinearizeThreshold ()
	Key of parameter GTSAM/IncRelinearizeThreshold : "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info." Default value: 0.01 ( double ).
static double	defaultGTSAMIncRelinearizeThreshold ()
	Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .
static std::string	typeGTSAMIncRelinearizeThreshold ()
	Type of parameter GTSAM/IncRelinearizeThreshold , as a string: double .
static std::string	kGTSAMIncRelinearizeSkip ()
	Key of parameter GTSAM/IncRelinearizeSkip : "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info." Default value: 1 ( int ).
static int	defaultGTSAMIncRelinearizeSkip ()
	Default value of parameter GTSAM/IncRelinearizeSkip : 1 .
static std::string	typeGTSAMIncRelinearizeSkip ()
	Type of parameter GTSAM/IncRelinearizeSkip , as a string: int .
static std::string	kOdomStrategy ()
	Key of parameter Odom/Strategy : "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM" Default value: 0 ( int ).
static int	defaultOdomStrategy ()
	Default value of parameter Odom/Strategy : 0 .
static std::string	typeOdomStrategy ()
	Type of parameter Odom/Strategy , as a string: int .
static std::string	kOdomResetCountdown ()
	Key of parameter Odom/ResetCountdown : "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered." Default value: 0 ( int ).
static int	defaultOdomResetCountdown ()
	Default value of parameter Odom/ResetCountdown : 0 .
static std::string	typeOdomResetCountdown ()
	Type of parameter Odom/ResetCountdown , as a string: int .
static std::string	kOdomHolonomic ()
	Key of parameter Odom/Holonomic : "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))." Default value: true ( bool ).
static bool	defaultOdomHolonomic ()
	Default value of parameter Odom/Holonomic : true .
static std::string	typeOdomHolonomic ()
	Type of parameter Odom/Holonomic , as a string: bool .
static std::string	kOdomFillInfoData ()
	Key of parameter Odom/FillInfoData : "Fill info with data (inliers/outliers features)." Default value: true ( bool ).
static bool	defaultOdomFillInfoData ()
	Default value of parameter Odom/FillInfoData : true .
static std::string	typeOdomFillInfoData ()
	Type of parameter Odom/FillInfoData , as a string: bool .
static std::string	kOdomImageBufferSize ()
	Key of parameter Odom/ImageBufferSize : "Data buffer size (0 min inf)." Default value: 1 ( unsigned int ).
static unsigned int	defaultOdomImageBufferSize ()
	Default value of parameter Odom/ImageBufferSize : 1 .
static std::string	typeOdomImageBufferSize ()
	Type of parameter Odom/ImageBufferSize , as a string: unsigned int .
static std::string	kOdomFilteringStrategy ()
	Key of parameter Odom/FilteringStrategy : "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output." Default value: 0 ( int ).
static int	defaultOdomFilteringStrategy ()
	Default value of parameter Odom/FilteringStrategy : 0 .
static std::string	typeOdomFilteringStrategy ()
	Type of parameter Odom/FilteringStrategy , as a string: int .
static std::string	kOdomParticleSize ()
	Key of parameter Odom/ParticleSize : "Number of particles of the filter." Default value: 400 ( unsigned int ).
static unsigned int	defaultOdomParticleSize ()
	Default value of parameter Odom/ParticleSize : 400 .
static std::string	typeOdomParticleSize ()
	Type of parameter Odom/ParticleSize , as a string: unsigned int .
static std::string	kOdomParticleNoiseT ()
	Key of parameter Odom/ParticleNoiseT : "Noise (m) of translation components (x,y,z)." Default value: 0.002 ( float ).
static float	defaultOdomParticleNoiseT ()
	Default value of parameter Odom/ParticleNoiseT : 0.002 .
static std::string	typeOdomParticleNoiseT ()
	Type of parameter Odom/ParticleNoiseT , as a string: float .
static std::string	kOdomParticleLambdaT ()
	Key of parameter Odom/ParticleLambdaT : "Lambda of translation components (x,y,z)." Default value: 100 ( float ).
static float	defaultOdomParticleLambdaT ()
	Default value of parameter Odom/ParticleLambdaT : 100 .
static std::string	typeOdomParticleLambdaT ()
	Type of parameter Odom/ParticleLambdaT , as a string: float .
static std::string	kOdomParticleNoiseR ()
	Key of parameter Odom/ParticleNoiseR : "Noise (rad) of rotational components (roll,pitch,yaw)." Default value: 0.002 ( float ).
static float	defaultOdomParticleNoiseR ()
	Default value of parameter Odom/ParticleNoiseR : 0.002 .
static std::string	typeOdomParticleNoiseR ()
	Type of parameter Odom/ParticleNoiseR , as a string: float .
static std::string	kOdomParticleLambdaR ()
	Key of parameter Odom/ParticleLambdaR : "Lambda of rotational components (roll,pitch,yaw)." Default value: 100 ( float ).
static float	defaultOdomParticleLambdaR ()
	Default value of parameter Odom/ParticleLambdaR : 100 .
static std::string	typeOdomParticleLambdaR ()
	Type of parameter Odom/ParticleLambdaR , as a string: float .
static std::string	kOdomKalmanProcessNoise ()
	Key of parameter Odom/KalmanProcessNoise : "Process noise covariance value." Default value: 0.001 ( float ).
static float	defaultOdomKalmanProcessNoise ()
	Default value of parameter Odom/KalmanProcessNoise : 0.001 .
static std::string	typeOdomKalmanProcessNoise ()
	Type of parameter Odom/KalmanProcessNoise , as a string: float .
static std::string	kOdomKalmanMeasurementNoise ()
	Key of parameter Odom/KalmanMeasurementNoise : "Process measurement covariance value." Default value: 0.01 ( float ).
static float	defaultOdomKalmanMeasurementNoise ()
	Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .
static std::string	typeOdomKalmanMeasurementNoise ()
	Type of parameter Odom/KalmanMeasurementNoise , as a string: float .
static std::string	kOdomGuessMotion ()
	Key of parameter Odom/GuessMotion : "Guess next transformation from the last motion computed." Default value: true ( bool ).
static bool	defaultOdomGuessMotion ()
	Default value of parameter Odom/GuessMotion : true .
static std::string	typeOdomGuessMotion ()
	Type of parameter Odom/GuessMotion , as a string: bool .
static std::string	kOdomGuessSmoothingDelay ()
	Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).
static float	defaultOdomGuessSmoothingDelay ()
	Default value of parameter Odom/GuessSmoothingDelay : 0 .
static std::string	typeOdomGuessSmoothingDelay ()
	Type of parameter Odom/GuessSmoothingDelay , as a string: float .
static std::string	kOdomKeyFrameThr ()
	Key of parameter Odom/KeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.3 ( float ).
static float	defaultOdomKeyFrameThr ()
	Default value of parameter Odom/KeyFrameThr : 0.3 .
static std::string	typeOdomKeyFrameThr ()
	Type of parameter Odom/KeyFrameThr , as a string: float .
static std::string	kOdomVisKeyFrameThr ()
	Key of parameter Odom/VisKeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 150 ( int ).
static int	defaultOdomVisKeyFrameThr ()
	Default value of parameter Odom/VisKeyFrameThr : 150 .
static std::string	typeOdomVisKeyFrameThr ()
	Type of parameter Odom/VisKeyFrameThr , as a string: int .
static std::string	kOdomScanKeyFrameThr ()
	Key of parameter Odom/ScanKeyFrameThr : "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.9 ( float ).
static float	defaultOdomScanKeyFrameThr ()
	Default value of parameter Odom/ScanKeyFrameThr : 0.9 .
static std::string	typeOdomScanKeyFrameThr ()
	Type of parameter Odom/ScanKeyFrameThr , as a string: float .
static std::string	kOdomImageDecimation ()
	Key of parameter Odom/ImageDecimation : uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()) Default value: 1 ( unsigned int ).
static unsigned int	defaultOdomImageDecimation ()
	Default value of parameter Odom/ImageDecimation : 1 .
static std::string	typeOdomImageDecimation ()
	Type of parameter Odom/ImageDecimation , as a string: unsigned int .
static std::string	kOdomAlignWithGround ()
	Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).
static bool	defaultOdomAlignWithGround ()
	Default value of parameter Odom/AlignWithGround : false .
static std::string	typeOdomAlignWithGround ()
	Type of parameter Odom/AlignWithGround , as a string: bool .
static std::string	kOdomDeskewing ()
	Key of parameter Odom/Deskewing : "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided)." Default value: true ( bool ).
static bool	defaultOdomDeskewing ()
	Default value of parameter Odom/Deskewing : true .
static std::string	typeOdomDeskewing ()
	Type of parameter Odom/Deskewing , as a string: bool .
static std::string	kOdomF2MMaxSize ()
	Key of parameter OdomF2M/MaxSize : "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words." Default value: 2000 ( int ).
static int	defaultOdomF2MMaxSize ()
	Default value of parameter OdomF2M/MaxSize : 2000 .
static std::string	typeOdomF2MMaxSize ()
	Type of parameter OdomF2M/MaxSize , as a string: int .
static std::string	kOdomF2MMaxNewFeatures ()
	Key of parameter OdomF2M/MaxNewFeatures : "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit." Default value: 0 ( int ).
static int	defaultOdomF2MMaxNewFeatures ()
	Default value of parameter OdomF2M/MaxNewFeatures : 0 .
static std::string	typeOdomF2MMaxNewFeatures ()
	Type of parameter OdomF2M/MaxNewFeatures , as a string: int .
static std::string	kOdomF2MInitDepthFactor ()
	Key of parameter OdomF2M/InitDepthFactor : "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx." Default value: 0.05 ( float ).
static float	defaultOdomF2MInitDepthFactor ()
	Default value of parameter OdomF2M/InitDepthFactor : 0.05 .
static std::string	typeOdomF2MInitDepthFactor ()
	Type of parameter OdomF2M/InitDepthFactor , as a string: float .
static std::string	kOdomF2MFloorThreshold ()
	Key of parameter OdomF2M/FloorThreshold : "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled." Default value: 0.0 ( float ).
static float	defaultOdomF2MFloorThreshold ()
	Default value of parameter OdomF2M/FloorThreshold : 0.0 .
static std::string	typeOdomF2MFloorThreshold ()
	Type of parameter OdomF2M/FloorThreshold , as a string: float .
static std::string	kOdomF2MScanMaxSize ()
	Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).
static int	defaultOdomF2MScanMaxSize ()
	Default value of parameter OdomF2M/ScanMaxSize : 2000 .
static std::string	typeOdomF2MScanMaxSize ()
	Type of parameter OdomF2M/ScanMaxSize , as a string: int .
static std::string	kOdomF2MScanSubtractRadius ()
	Key of parameter OdomF2M/ScanSubtractRadius : "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans." Default value: 0.05 ( float ).
static float	defaultOdomF2MScanSubtractRadius ()
	Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .
static std::string	typeOdomF2MScanSubtractRadius ()
	Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .
static std::string	kOdomF2MScanSubtractAngle ()
	Key of parameter OdomF2M/ScanSubtractAngle : uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str() Default value: 45 ( float ).
static float	defaultOdomF2MScanSubtractAngle ()
	Default value of parameter OdomF2M/ScanSubtractAngle : 45 .
static std::string	typeOdomF2MScanSubtractAngle ()
	Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .
static std::string	kOdomF2MScanRange ()
	Key of parameter OdomF2M/ScanRange : "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range." Default value: 0 ( float ).
static float	defaultOdomF2MScanRange ()
	Default value of parameter OdomF2M/ScanRange : 0 .
static std::string	typeOdomF2MScanRange ()
	Type of parameter OdomF2M/ScanRange , as a string: float .
static std::string	kOdomF2MValidDepthRatio ()
	Key of parameter OdomF2M/ValidDepthRatio : "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map." Default value: 0.75 ( float ).
static float	defaultOdomF2MValidDepthRatio ()
	Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .
static std::string	typeOdomF2MValidDepthRatio ()
	Type of parameter OdomF2M/ValidDepthRatio , as a string: float .
static std::string	kOdomF2MBundleAdjustment ()
	Key of parameter OdomF2M/BundleAdjustment : uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).
static int	defaultOdomF2MBundleAdjustment ()
	Default value of parameter OdomF2M/BundleAdjustment : 0 .
static std::string	typeOdomF2MBundleAdjustment ()
	Type of parameter OdomF2M/BundleAdjustment , as a string: int .
static std::string	kOdomF2MBundleAdjustmentMaxFrames ()
	Key of parameter OdomF2M/BundleAdjustmentMaxFrames : "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)." Default value: 10 ( int ).
static int	defaultOdomF2MBundleAdjustmentMaxFrames ()
	Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .
static std::string	typeOdomF2MBundleAdjustmentMaxFrames ()
	Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .
static std::string	kOdomF2MBundleAdjustmentMinMotion ()
	Key of parameter OdomF2M/BundleAdjustmentMinMotion : "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame." Default value: 0.0 ( float ).
static float	defaultOdomF2MBundleAdjustmentMinMotion ()
	Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .
static std::string	typeOdomF2MBundleAdjustmentMinMotion ()
	Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .
static std::string	kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
	Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).
static int	defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
	Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .
static std::string	typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ()
	Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .
static std::string	kOdomF2MBundleUpdateFeatureMapOnAllFrames ()
	Key of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()) Default value: false ( bool ).
static bool	defaultOdomF2MBundleUpdateFeatureMapOnAllFrames ()
	Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .
static std::string	typeOdomF2MBundleUpdateFeatureMapOnAllFrames ()
	Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .
static std::string	kOdomMonoInitMinFlow ()
	Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).
static float	defaultOdomMonoInitMinFlow ()
	Default value of parameter OdomMono/InitMinFlow : 100 .
static std::string	typeOdomMonoInitMinFlow ()
	Type of parameter OdomMono/InitMinFlow , as a string: float .
static std::string	kOdomMonoInitMinTranslation ()
	Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).
static float	defaultOdomMonoInitMinTranslation ()
	Default value of parameter OdomMono/InitMinTranslation : 0.1 .
static std::string	typeOdomMonoInitMinTranslation ()
	Type of parameter OdomMono/InitMinTranslation , as a string: float .
static std::string	kOdomMonoMinTranslation ()
	Key of parameter OdomMono/MinTranslation : "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum." Default value: 0.02 ( float ).
static float	defaultOdomMonoMinTranslation ()
	Default value of parameter OdomMono/MinTranslation : 0.02 .
static std::string	typeOdomMonoMinTranslation ()
	Type of parameter OdomMono/MinTranslation , as a string: float .
static std::string	kOdomMonoMaxVariance ()
	Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).
static float	defaultOdomMonoMaxVariance ()
	Default value of parameter OdomMono/MaxVariance : 0.01 .
static std::string	typeOdomMonoMaxVariance ()
	Type of parameter OdomMono/MaxVariance , as a string: float .
static std::string	kOdomFovisFeatureWindowSize ()
	Key of parameter OdomFovis/FeatureWindowSize : "The size of the n x n image patch surrounding each feature, used for keypoint matching." Default value: 9 ( int ).
static int	defaultOdomFovisFeatureWindowSize ()
	Default value of parameter OdomFovis/FeatureWindowSize : 9 .
static std::string	typeOdomFovisFeatureWindowSize ()
	Type of parameter OdomFovis/FeatureWindowSize , as a string: int .
static std::string	kOdomFovisMaxPyramidLevel ()
	Key of parameter OdomFovis/MaxPyramidLevel : "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image." Default value: 3 ( int ).
static int	defaultOdomFovisMaxPyramidLevel ()
	Default value of parameter OdomFovis/MaxPyramidLevel : 3 .
static std::string	typeOdomFovisMaxPyramidLevel ()
	Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .
static std::string	kOdomFovisMinPyramidLevel ()
	Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).
static int	defaultOdomFovisMinPyramidLevel ()
	Default value of parameter OdomFovis/MinPyramidLevel : 0 .
static std::string	typeOdomFovisMinPyramidLevel ()
	Type of parameter OdomFovis/MinPyramidLevel , as a string: int .
static std::string	kOdomFovisTargetPixelsPerFeature ()
	Key of parameter OdomFovis/TargetPixelsPerFeature : "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding." Default value: 250 ( int ).
static int	defaultOdomFovisTargetPixelsPerFeature ()
	Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .
static std::string	typeOdomFovisTargetPixelsPerFeature ()
	Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .
static std::string	kOdomFovisFastThreshold ()
	Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).
static int	defaultOdomFovisFastThreshold ()
	Default value of parameter OdomFovis/FastThreshold : 20 .
static std::string	typeOdomFovisFastThreshold ()
	Type of parameter OdomFovis/FastThreshold , as a string: int .
static std::string	kOdomFovisUseAdaptiveThreshold ()
	Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).
static bool	defaultOdomFovisUseAdaptiveThreshold ()
	Default value of parameter OdomFovis/UseAdaptiveThreshold : true .
static std::string	typeOdomFovisUseAdaptiveThreshold ()
	Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .
static std::string	kOdomFovisFastThresholdAdaptiveGain ()
	Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).
static double	defaultOdomFovisFastThresholdAdaptiveGain ()
	Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .
static std::string	typeOdomFovisFastThresholdAdaptiveGain ()
	Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .
static std::string	kOdomFovisUseHomographyInitialization ()
	Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).
static bool	defaultOdomFovisUseHomographyInitialization ()
	Default value of parameter OdomFovis/UseHomographyInitialization : true .
static std::string	typeOdomFovisUseHomographyInitialization ()
	Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .
static std::string	kOdomFovisUseBucketing ()
	Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).
static bool	defaultOdomFovisUseBucketing ()
	Default value of parameter OdomFovis/UseBucketing : true .
static std::string	typeOdomFovisUseBucketing ()
	Type of parameter OdomFovis/UseBucketing , as a string: bool .
static std::string	kOdomFovisBucketWidth ()
	Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).
static int	defaultOdomFovisBucketWidth ()
	Default value of parameter OdomFovis/BucketWidth : 80 .
static std::string	typeOdomFovisBucketWidth ()
	Type of parameter OdomFovis/BucketWidth , as a string: int .
static std::string	kOdomFovisBucketHeight ()
	Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).
static int	defaultOdomFovisBucketHeight ()
	Default value of parameter OdomFovis/BucketHeight : 80 .
static std::string	typeOdomFovisBucketHeight ()
	Type of parameter OdomFovis/BucketHeight , as a string: int .
static std::string	kOdomFovisMaxKeypointsPerBucket ()
	Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).
static int	defaultOdomFovisMaxKeypointsPerBucket ()
	Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .
static std::string	typeOdomFovisMaxKeypointsPerBucket ()
	Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .
static std::string	kOdomFovisUseImageNormalization ()
	Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).
static bool	defaultOdomFovisUseImageNormalization ()
	Default value of parameter OdomFovis/UseImageNormalization : false .
static std::string	typeOdomFovisUseImageNormalization ()
	Type of parameter OdomFovis/UseImageNormalization , as a string: bool .
static std::string	kOdomFovisInlierMaxReprojectionError ()
	Key of parameter OdomFovis/InlierMaxReprojectionError : "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation." Default value: 1.5 ( double ).
static double	defaultOdomFovisInlierMaxReprojectionError ()
	Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .
static std::string	typeOdomFovisInlierMaxReprojectionError ()
	Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .
static std::string	kOdomFovisCliqueInlierThreshold ()
	Key of parameter OdomFovis/CliqueInlierThreshold : "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters." Default value: 0.1 ( double ).
static double	defaultOdomFovisCliqueInlierThreshold ()
	Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .
static std::string	typeOdomFovisCliqueInlierThreshold ()
	Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .
static std::string	kOdomFovisMinFeaturesForEstimate ()
	Key of parameter OdomFovis/MinFeaturesForEstimate : "Minimum number of features in the inlier set for the motion estimate to be considered valid." Default value: 20 ( int ).
static int	defaultOdomFovisMinFeaturesForEstimate ()
	Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .
static std::string	typeOdomFovisMinFeaturesForEstimate ()
	Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .
static std::string	kOdomFovisMaxMeanReprojectionError ()
	Key of parameter OdomFovis/MaxMeanReprojectionError : "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid." Default value: 10.0 ( double ).
static double	defaultOdomFovisMaxMeanReprojectionError ()
	Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .
static std::string	typeOdomFovisMaxMeanReprojectionError ()
	Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .
static std::string	kOdomFovisUseSubpixelRefinement ()
	Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).
static bool	defaultOdomFovisUseSubpixelRefinement ()
	Default value of parameter OdomFovis/UseSubpixelRefinement : true .
static std::string	typeOdomFovisUseSubpixelRefinement ()
	Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .
static std::string	kOdomFovisFeatureSearchWindow ()
	Key of parameter OdomFovis/FeatureSearchWindow : "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate." Default value: 25 ( int ).
static int	defaultOdomFovisFeatureSearchWindow ()
	Default value of parameter OdomFovis/FeatureSearchWindow : 25 .
static std::string	typeOdomFovisFeatureSearchWindow ()
	Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .
static std::string	kOdomFovisUpdateTargetFeaturesWithRefined ()
	Key of parameter OdomFovis/UpdateTargetFeaturesWithRefined : "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm." Default value: false ( bool ).
static bool	defaultOdomFovisUpdateTargetFeaturesWithRefined ()
	Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .
static std::string	typeOdomFovisUpdateTargetFeaturesWithRefined ()
	Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .
static std::string	kOdomFovisStereoRequireMutualMatch ()
	Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).
static bool	defaultOdomFovisStereoRequireMutualMatch ()
	Default value of parameter OdomFovis/StereoRequireMutualMatch : true .
static std::string	typeOdomFovisStereoRequireMutualMatch ()
	Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .
static std::string	kOdomFovisStereoMaxDistEpipolarLine ()
	Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).
static double	defaultOdomFovisStereoMaxDistEpipolarLine ()
	Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .
static std::string	typeOdomFovisStereoMaxDistEpipolarLine ()
	Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .
static std::string	kOdomFovisStereoMaxRefinementDisplacement ()
	Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).
static double	defaultOdomFovisStereoMaxRefinementDisplacement ()
	Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .
static std::string	typeOdomFovisStereoMaxRefinementDisplacement ()
	Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .
static std::string	kOdomFovisStereoMaxDisparity ()
	Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).
static int	defaultOdomFovisStereoMaxDisparity ()
	Default value of parameter OdomFovis/StereoMaxDisparity : 128 .
static std::string	typeOdomFovisStereoMaxDisparity ()
	Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .
static std::string	kOdomViso2RansacIters ()
	Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).
static int	defaultOdomViso2RansacIters ()
	Default value of parameter OdomViso2/RansacIters : 200 .
static std::string	typeOdomViso2RansacIters ()
	Type of parameter OdomViso2/RansacIters , as a string: int .
static std::string	kOdomViso2InlierThreshold ()
	Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).
static double	defaultOdomViso2InlierThreshold ()
	Default value of parameter OdomViso2/InlierThreshold : 2.0 .
static std::string	typeOdomViso2InlierThreshold ()
	Type of parameter OdomViso2/InlierThreshold , as a string: double .
static std::string	kOdomViso2Reweighting ()
	Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).
static bool	defaultOdomViso2Reweighting ()
	Default value of parameter OdomViso2/Reweighting : true .
static std::string	typeOdomViso2Reweighting ()
	Type of parameter OdomViso2/Reweighting , as a string: bool .
static std::string	kOdomViso2MatchNmsN ()
	Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).
static int	defaultOdomViso2MatchNmsN ()
	Default value of parameter OdomViso2/MatchNmsN : 3 .
static std::string	typeOdomViso2MatchNmsN ()
	Type of parameter OdomViso2/MatchNmsN , as a string: int .
static std::string	kOdomViso2MatchNmsTau ()
	Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).
static int	defaultOdomViso2MatchNmsTau ()
	Default value of parameter OdomViso2/MatchNmsTau : 50 .
static std::string	typeOdomViso2MatchNmsTau ()
	Type of parameter OdomViso2/MatchNmsTau , as a string: int .
static std::string	kOdomViso2MatchBinsize ()
	Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).
static int	defaultOdomViso2MatchBinsize ()
	Default value of parameter OdomViso2/MatchBinsize : 50 .
static std::string	typeOdomViso2MatchBinsize ()
	Type of parameter OdomViso2/MatchBinsize , as a string: int .
static std::string	kOdomViso2MatchRadius ()
	Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).
static int	defaultOdomViso2MatchRadius ()
	Default value of parameter OdomViso2/MatchRadius : 200 .
static std::string	typeOdomViso2MatchRadius ()
	Type of parameter OdomViso2/MatchRadius , as a string: int .
static std::string	kOdomViso2MatchDispTolerance ()
	Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).
static int	defaultOdomViso2MatchDispTolerance ()
	Default value of parameter OdomViso2/MatchDispTolerance : 2 .
static std::string	typeOdomViso2MatchDispTolerance ()
	Type of parameter OdomViso2/MatchDispTolerance , as a string: int .
static std::string	kOdomViso2MatchOutlierDispTolerance ()
	Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).
static int	defaultOdomViso2MatchOutlierDispTolerance ()
	Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .
static std::string	typeOdomViso2MatchOutlierDispTolerance ()
	Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .
static std::string	kOdomViso2MatchOutlierFlowTolerance ()
	Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).
static int	defaultOdomViso2MatchOutlierFlowTolerance ()
	Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .
static std::string	typeOdomViso2MatchOutlierFlowTolerance ()
	Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .
static std::string	kOdomViso2MatchMultiStage ()
	Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).
static bool	defaultOdomViso2MatchMultiStage ()
	Default value of parameter OdomViso2/MatchMultiStage : true .
static std::string	typeOdomViso2MatchMultiStage ()
	Type of parameter OdomViso2/MatchMultiStage , as a string: bool .
static std::string	kOdomViso2MatchHalfResolution ()
	Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).
static bool	defaultOdomViso2MatchHalfResolution ()
	Default value of parameter OdomViso2/MatchHalfResolution : true .
static std::string	typeOdomViso2MatchHalfResolution ()
	Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .
static std::string	kOdomViso2MatchRefinement ()
	Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).
static int	defaultOdomViso2MatchRefinement ()
	Default value of parameter OdomViso2/MatchRefinement : 1 .
static std::string	typeOdomViso2MatchRefinement ()
	Type of parameter OdomViso2/MatchRefinement , as a string: int .
static std::string	kOdomViso2BucketMaxFeatures ()
	Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).
static int	defaultOdomViso2BucketMaxFeatures ()
	Default value of parameter OdomViso2/BucketMaxFeatures : 2 .
static std::string	typeOdomViso2BucketMaxFeatures ()
	Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .
static std::string	kOdomViso2BucketWidth ()
	Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).
static double	defaultOdomViso2BucketWidth ()
	Default value of parameter OdomViso2/BucketWidth : 50 .
static std::string	typeOdomViso2BucketWidth ()
	Type of parameter OdomViso2/BucketWidth , as a string: double .
static std::string	kOdomViso2BucketHeight ()
	Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).
static double	defaultOdomViso2BucketHeight ()
	Default value of parameter OdomViso2/BucketHeight : 50 .
static std::string	typeOdomViso2BucketHeight ()
	Type of parameter OdomViso2/BucketHeight , as a string: double .
static std::string	kOdomORBSLAMVocPath ()
	Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).
static std::string	defaultOdomORBSLAMVocPath ()
	Default value of parameter OdomORBSLAM/VocPath : "" .
static std::string	typeOdomORBSLAMVocPath ()
	Type of parameter OdomORBSLAM/VocPath , as a string: string.
static std::string	kOdomORBSLAMBf ()
	Key of parameter OdomORBSLAM/Bf : "Fake IR projector baseline (m) used only when stereo is not used." Default value: 0.076 ( double ).
static double	defaultOdomORBSLAMBf ()
	Default value of parameter OdomORBSLAM/Bf : 0.076 .
static std::string	typeOdomORBSLAMBf ()
	Type of parameter OdomORBSLAM/Bf , as a string: double .
static std::string	kOdomORBSLAMThDepth ()
	Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).
static double	defaultOdomORBSLAMThDepth ()
	Default value of parameter OdomORBSLAM/ThDepth : 40.0 .
static std::string	typeOdomORBSLAMThDepth ()
	Type of parameter OdomORBSLAM/ThDepth , as a string: double .
static std::string	kOdomORBSLAMFps ()
	Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).
static float	defaultOdomORBSLAMFps ()
	Default value of parameter OdomORBSLAM/Fps : 0.0 .
static std::string	typeOdomORBSLAMFps ()
	Type of parameter OdomORBSLAM/Fps , as a string: float .
static std::string	kOdomORBSLAMMaxFeatures ()
	Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).
static int	defaultOdomORBSLAMMaxFeatures ()
	Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .
static std::string	typeOdomORBSLAMMaxFeatures ()
	Type of parameter OdomORBSLAM/MaxFeatures , as a string: int .
static std::string	kOdomORBSLAMMapSize ()
	Key of parameter OdomORBSLAM/MapSize : "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2." Default value: 3000 ( int ).
static int	defaultOdomORBSLAMMapSize ()
	Default value of parameter OdomORBSLAM/MapSize : 3000 .
static std::string	typeOdomORBSLAMMapSize ()
	Type of parameter OdomORBSLAM/MapSize , as a string: int .
static std::string	kOdomORBSLAMInertial ()
	Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).
static bool	defaultOdomORBSLAMInertial ()
	Default value of parameter OdomORBSLAM/Inertial : false .
static std::string	typeOdomORBSLAMInertial ()
	Type of parameter OdomORBSLAM/Inertial , as a string: bool .
static std::string	kOdomORBSLAMGyroNoise ()
	Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).
static double	defaultOdomORBSLAMGyroNoise ()
	Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .
static std::string	typeOdomORBSLAMGyroNoise ()
	Type of parameter OdomORBSLAM/GyroNoise , as a string: double .
static std::string	kOdomORBSLAMAccNoise ()
	Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).
static double	defaultOdomORBSLAMAccNoise ()
	Default value of parameter OdomORBSLAM/AccNoise : 0.1 .
static std::string	typeOdomORBSLAMAccNoise ()
	Type of parameter OdomORBSLAM/AccNoise , as a string: double .
static std::string	kOdomORBSLAMGyroWalk ()
	Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).
static double	defaultOdomORBSLAMGyroWalk ()
	Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .
static std::string	typeOdomORBSLAMGyroWalk ()
	Type of parameter OdomORBSLAM/GyroWalk , as a string: double .
static std::string	kOdomORBSLAMAccWalk ()
	Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).
static double	defaultOdomORBSLAMAccWalk ()
	Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .
static std::string	typeOdomORBSLAMAccWalk ()
	Type of parameter OdomORBSLAM/AccWalk , as a string: double .
static std::string	kOdomORBSLAMSamplingRate ()
	Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).
static double	defaultOdomORBSLAMSamplingRate ()
	Default value of parameter OdomORBSLAM/SamplingRate : 0 .
static std::string	typeOdomORBSLAMSamplingRate ()
	Type of parameter OdomORBSLAM/SamplingRate , as a string: double .
static std::string	kOdomOKVISConfigPath ()
	Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).
static std::string	defaultOdomOKVISConfigPath ()
	Default value of parameter OdomOKVIS/ConfigPath : "" .
static std::string	typeOdomOKVISConfigPath ()
	Type of parameter OdomOKVIS/ConfigPath , as a string: string.
static std::string	kOdomLOAMSensor ()
	Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).
static int	defaultOdomLOAMSensor ()
	Default value of parameter OdomLOAM/Sensor : 2 .
static std::string	typeOdomLOAMSensor ()
	Type of parameter OdomLOAM/Sensor , as a string: int .
static std::string	kOdomLOAMScanPeriod ()
	Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).
static float	defaultOdomLOAMScanPeriod ()
	Default value of parameter OdomLOAM/ScanPeriod : 0.1 .
static std::string	typeOdomLOAMScanPeriod ()
	Type of parameter OdomLOAM/ScanPeriod , as a string: float .
static std::string	kOdomLOAMResolution ()
	Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).
static float	defaultOdomLOAMResolution ()
	Default value of parameter OdomLOAM/Resolution : 0.2 .
static std::string	typeOdomLOAMResolution ()
	Type of parameter OdomLOAM/Resolution , as a string: float .
static std::string	kOdomLOAMLinVar ()
	Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).
static float	defaultOdomLOAMLinVar ()
	Default value of parameter OdomLOAM/LinVar : 0.01 .
static std::string	typeOdomLOAMLinVar ()
	Type of parameter OdomLOAM/LinVar , as a string: float .
static std::string	kOdomLOAMAngVar ()
	Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).
static float	defaultOdomLOAMAngVar ()
	Default value of parameter OdomLOAM/AngVar : 0.01 .
static std::string	typeOdomLOAMAngVar ()
	Type of parameter OdomLOAM/AngVar , as a string: float .
static std::string	kOdomLOAMLocalMapping ()
	Key of parameter OdomLOAM/LocalMapping : "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved." Default value: true ( bool ).
static bool	defaultOdomLOAMLocalMapping ()
	Default value of parameter OdomLOAM/LocalMapping : true .
static std::string	typeOdomLOAMLocalMapping ()
	Type of parameter OdomLOAM/LocalMapping , as a string: bool .
static std::string	kOdomMSCKFGridRow ()
	Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).
static int	defaultOdomMSCKFGridRow ()
	Default value of parameter OdomMSCKF/GridRow : 4 .
static std::string	typeOdomMSCKFGridRow ()
	Type of parameter OdomMSCKF/GridRow , as a string: int .
static std::string	kOdomMSCKFGridCol ()
	Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).
static int	defaultOdomMSCKFGridCol ()
	Default value of parameter OdomMSCKF/GridCol : 5 .
static std::string	typeOdomMSCKFGridCol ()
	Type of parameter OdomMSCKF/GridCol , as a string: int .
static std::string	kOdomMSCKFGridMinFeatureNum ()
	Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).
static int	defaultOdomMSCKFGridMinFeatureNum ()
	Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .
static std::string	typeOdomMSCKFGridMinFeatureNum ()
	Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .
static std::string	kOdomMSCKFGridMaxFeatureNum ()
	Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).
static int	defaultOdomMSCKFGridMaxFeatureNum ()
	Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .
static std::string	typeOdomMSCKFGridMaxFeatureNum ()
	Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .
static std::string	kOdomMSCKFPyramidLevels ()
	Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).
static int	defaultOdomMSCKFPyramidLevels ()
	Default value of parameter OdomMSCKF/PyramidLevels : 3 .
static std::string	typeOdomMSCKFPyramidLevels ()
	Type of parameter OdomMSCKF/PyramidLevels , as a string: int .
static std::string	kOdomMSCKFPatchSize ()
	Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).
static int	defaultOdomMSCKFPatchSize ()
	Default value of parameter OdomMSCKF/PatchSize : 15 .
static std::string	typeOdomMSCKFPatchSize ()
	Type of parameter OdomMSCKF/PatchSize , as a string: int .
static std::string	kOdomMSCKFFastThreshold ()
	Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).
static int	defaultOdomMSCKFFastThreshold ()
	Default value of parameter OdomMSCKF/FastThreshold : 10 .
static std::string	typeOdomMSCKFFastThreshold ()
	Type of parameter OdomMSCKF/FastThreshold , as a string: int .
static std::string	kOdomMSCKFMaxIteration ()
	Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).
static int	defaultOdomMSCKFMaxIteration ()
	Default value of parameter OdomMSCKF/MaxIteration : 30 .
static std::string	typeOdomMSCKFMaxIteration ()
	Type of parameter OdomMSCKF/MaxIteration , as a string: int .
static std::string	kOdomMSCKFTrackPrecision ()
	Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).
static double	defaultOdomMSCKFTrackPrecision ()
	Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .
static std::string	typeOdomMSCKFTrackPrecision ()
	Type of parameter OdomMSCKF/TrackPrecision , as a string: double .
static std::string	kOdomMSCKFRansacThreshold ()
	Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).
static double	defaultOdomMSCKFRansacThreshold ()
	Default value of parameter OdomMSCKF/RansacThreshold : 3 .
static std::string	typeOdomMSCKFRansacThreshold ()
	Type of parameter OdomMSCKF/RansacThreshold , as a string: double .
static std::string	kOdomMSCKFStereoThreshold ()
	Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).
static double	defaultOdomMSCKFStereoThreshold ()
	Default value of parameter OdomMSCKF/StereoThreshold : 5 .
static std::string	typeOdomMSCKFStereoThreshold ()
	Type of parameter OdomMSCKF/StereoThreshold , as a string: double .
static std::string	kOdomMSCKFPositionStdThreshold ()
	Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).
static double	defaultOdomMSCKFPositionStdThreshold ()
	Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .
static std::string	typeOdomMSCKFPositionStdThreshold ()
	Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .
static std::string	kOdomMSCKFRotationThreshold ()
	Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).
static double	defaultOdomMSCKFRotationThreshold ()
	Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .
static std::string	typeOdomMSCKFRotationThreshold ()
	Type of parameter OdomMSCKF/RotationThreshold , as a string: double .
static std::string	kOdomMSCKFTranslationThreshold ()
	Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).
static double	defaultOdomMSCKFTranslationThreshold ()
	Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .
static std::string	typeOdomMSCKFTranslationThreshold ()
	Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .
static std::string	kOdomMSCKFTrackingRateThreshold ()
	Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).
static double	defaultOdomMSCKFTrackingRateThreshold ()
	Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .
static std::string	typeOdomMSCKFTrackingRateThreshold ()
	Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .
static std::string	kOdomMSCKFOptTranslationThreshold ()
	Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).
static double	defaultOdomMSCKFOptTranslationThreshold ()
	Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .
static std::string	typeOdomMSCKFOptTranslationThreshold ()
	Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .
static std::string	kOdomMSCKFNoiseGyro ()
	Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).
static double	defaultOdomMSCKFNoiseGyro ()
	Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .
static std::string	typeOdomMSCKFNoiseGyro ()
	Type of parameter OdomMSCKF/NoiseGyro , as a string: double .
static std::string	kOdomMSCKFNoiseAcc ()
	Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).
static double	defaultOdomMSCKFNoiseAcc ()
	Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .
static std::string	typeOdomMSCKFNoiseAcc ()
	Type of parameter OdomMSCKF/NoiseAcc , as a string: double .
static std::string	kOdomMSCKFNoiseGyroBias ()
	Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).
static double	defaultOdomMSCKFNoiseGyroBias ()
	Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .
static std::string	typeOdomMSCKFNoiseGyroBias ()
	Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .
static std::string	kOdomMSCKFNoiseAccBias ()
	Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).
static double	defaultOdomMSCKFNoiseAccBias ()
	Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .
static std::string	typeOdomMSCKFNoiseAccBias ()
	Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .
static std::string	kOdomMSCKFNoiseFeature ()
	Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).
static double	defaultOdomMSCKFNoiseFeature ()
	Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .
static std::string	typeOdomMSCKFNoiseFeature ()
	Type of parameter OdomMSCKF/NoiseFeature , as a string: double .
static std::string	kOdomMSCKFInitCovVel ()
	Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).
static double	defaultOdomMSCKFInitCovVel ()
	Default value of parameter OdomMSCKF/InitCovVel : 0.25 .
static std::string	typeOdomMSCKFInitCovVel ()
	Type of parameter OdomMSCKF/InitCovVel , as a string: double .
static std::string	kOdomMSCKFInitCovGyroBias ()
	Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).
static double	defaultOdomMSCKFInitCovGyroBias ()
	Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .
static std::string	typeOdomMSCKFInitCovGyroBias ()
	Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .
static std::string	kOdomMSCKFInitCovAccBias ()
	Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).
static double	defaultOdomMSCKFInitCovAccBias ()
	Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .
static std::string	typeOdomMSCKFInitCovAccBias ()
	Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .
static std::string	kOdomMSCKFInitCovExRot ()
	Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).
static double	defaultOdomMSCKFInitCovExRot ()
	Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .
static std::string	typeOdomMSCKFInitCovExRot ()
	Type of parameter OdomMSCKF/InitCovExRot , as a string: double .
static std::string	kOdomMSCKFInitCovExTrans ()
	Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).
static double	defaultOdomMSCKFInitCovExTrans ()
	Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .
static std::string	typeOdomMSCKFInitCovExTrans ()
	Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .
static std::string	kOdomMSCKFMaxCamStateSize ()
	Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).
static int	defaultOdomMSCKFMaxCamStateSize ()
	Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .
static std::string	typeOdomMSCKFMaxCamStateSize ()
	Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .
static std::string	kOdomVINSFusionConfigPath ()
	Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).
static std::string	defaultOdomVINSFusionConfigPath ()
	Default value of parameter OdomVINSFusion/ConfigPath : "" .
static std::string	typeOdomVINSFusionConfigPath ()
	Type of parameter OdomVINSFusion/ConfigPath , as a string: string.
static std::string	kOdomOpenVINSConfigPath ()
	Key of parameter OdomOpenVINS/ConfigPath : "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group." Default value: "" (string).
static std::string	defaultOdomOpenVINSConfigPath ()
	Default value of parameter OdomOpenVINS/ConfigPath : "" .
static std::string	typeOdomOpenVINSConfigPath ()
	Type of parameter OdomOpenVINS/ConfigPath , as a string: string.
static std::string	kOdomOpenVINSUseStereo ()
	Key of parameter OdomOpenVINS/UseStereo : "If we have more than 1 camera, if we should try to track stereo constraints between pairs." Default value: true ( bool ).
static bool	defaultOdomOpenVINSUseStereo ()
	Default value of parameter OdomOpenVINS/UseStereo : true .
static std::string	typeOdomOpenVINSUseStereo ()
	Type of parameter OdomOpenVINS/UseStereo , as a string: bool .
static std::string	kOdomOpenVINSUseKLT ()
	Key of parameter OdomOpenVINS/UseKLT : "If true we will use KLT, otherwise use a ORB descriptor + robust matching." Default value: true ( bool ).
static bool	defaultOdomOpenVINSUseKLT ()
	Default value of parameter OdomOpenVINS/UseKLT : true .
static std::string	typeOdomOpenVINSUseKLT ()
	Type of parameter OdomOpenVINS/UseKLT , as a string: bool .
static std::string	kOdomOpenVINSNumPts ()
	Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).
static int	defaultOdomOpenVINSNumPts ()
	Default value of parameter OdomOpenVINS/NumPts : 200 .
static std::string	typeOdomOpenVINSNumPts ()
	Type of parameter OdomOpenVINS/NumPts , as a string: int .
static std::string	kOdomOpenVINSMinPxDist ()
	Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).
static int	defaultOdomOpenVINSMinPxDist ()
	Default value of parameter OdomOpenVINS/MinPxDist : 15 .
static std::string	typeOdomOpenVINSMinPxDist ()
	Type of parameter OdomOpenVINS/MinPxDist , as a string: int .
static std::string	kOdomOpenVINSFiTriangulate1d ()
	Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).
static bool	defaultOdomOpenVINSFiTriangulate1d ()
	Default value of parameter OdomOpenVINS/FiTriangulate1d : false .
static std::string	typeOdomOpenVINSFiTriangulate1d ()
	Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .
static std::string	kOdomOpenVINSFiRefineFeatures ()
	Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).
static bool	defaultOdomOpenVINSFiRefineFeatures ()
	Default value of parameter OdomOpenVINS/FiRefineFeatures : true .
static std::string	typeOdomOpenVINSFiRefineFeatures ()
	Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .
static std::string	kOdomOpenVINSFiMaxRuns ()
	Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).
static int	defaultOdomOpenVINSFiMaxRuns ()
	Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .
static std::string	typeOdomOpenVINSFiMaxRuns ()
	Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .
static std::string	kOdomOpenVINSFiMaxBaseline ()
	Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).
static double	defaultOdomOpenVINSFiMaxBaseline ()
	Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .
static std::string	typeOdomOpenVINSFiMaxBaseline ()
	Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .
static std::string	kOdomOpenVINSFiMaxCondNumber ()
	Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).
static double	defaultOdomOpenVINSFiMaxCondNumber ()
	Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .
static std::string	typeOdomOpenVINSFiMaxCondNumber ()
	Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .
static std::string	kOdomOpenVINSUseFEJ ()
	Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).
static bool	defaultOdomOpenVINSUseFEJ ()
	Default value of parameter OdomOpenVINS/UseFEJ : true .
static std::string	typeOdomOpenVINSUseFEJ ()
	Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .
static std::string	kOdomOpenVINSIntegration ()
	Key of parameter OdomOpenVINS/Integration : "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)." Default value: 1 ( int ).
static int	defaultOdomOpenVINSIntegration ()
	Default value of parameter OdomOpenVINS/Integration : 1 .
static std::string	typeOdomOpenVINSIntegration ()
	Type of parameter OdomOpenVINS/Integration , as a string: int .
static std::string	kOdomOpenVINSCalibCamExtrinsics ()
	Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).
static bool	defaultOdomOpenVINSCalibCamExtrinsics ()
	Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .
static std::string	typeOdomOpenVINSCalibCamExtrinsics ()
	Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .
static std::string	kOdomOpenVINSCalibCamIntrinsics ()
	Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).
static bool	defaultOdomOpenVINSCalibCamIntrinsics ()
	Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .
static std::string	typeOdomOpenVINSCalibCamIntrinsics ()
	Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .
static std::string	kOdomOpenVINSCalibCamTimeoffset ()
	Key of parameter OdomOpenVINS/CalibCamTimeoffset : "Bool to determine whether or not to calibrate camera to IMU time offset." Default value: false ( bool ).
static bool	defaultOdomOpenVINSCalibCamTimeoffset ()
	Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .
static std::string	typeOdomOpenVINSCalibCamTimeoffset ()
	Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .
static std::string	kOdomOpenVINSCalibIMUIntrinsics ()
	Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).
static bool	defaultOdomOpenVINSCalibIMUIntrinsics ()
	Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .
static std::string	typeOdomOpenVINSCalibIMUIntrinsics ()
	Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .
static std::string	kOdomOpenVINSCalibIMUGSensitivity ()
	Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).
static bool	defaultOdomOpenVINSCalibIMUGSensitivity ()
	Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .
static std::string	typeOdomOpenVINSCalibIMUGSensitivity ()
	Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .
static std::string	kOdomOpenVINSMaxClones ()
	Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).
static int	defaultOdomOpenVINSMaxClones ()
	Default value of parameter OdomOpenVINS/MaxClones : 11 .
static std::string	typeOdomOpenVINSMaxClones ()
	Type of parameter OdomOpenVINS/MaxClones , as a string: int .
static std::string	kOdomOpenVINSMaxSLAM ()
	Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).
static int	defaultOdomOpenVINSMaxSLAM ()
	Default value of parameter OdomOpenVINS/MaxSLAM : 50 .
static std::string	typeOdomOpenVINSMaxSLAM ()
	Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .
static std::string	kOdomOpenVINSMaxSLAMInUpdate ()
	Key of parameter OdomOpenVINS/MaxSLAMInUpdate : "Max number of SLAM features we allow to be included in a single EKF update.." Default value: 25 ( int ).
static int	defaultOdomOpenVINSMaxSLAMInUpdate ()
	Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .
static std::string	typeOdomOpenVINSMaxSLAMInUpdate ()
	Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .
static std::string	kOdomOpenVINSMaxMSCKFInUpdate ()
	Key of parameter OdomOpenVINS/MaxMSCKFInUpdate : "Max number of MSCKF features we will use at a given image timestep.." Default value: 50 ( int ).
static int	defaultOdomOpenVINSMaxMSCKFInUpdate ()
	Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .
static std::string	typeOdomOpenVINSMaxMSCKFInUpdate ()
	Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .
static std::string	kOdomOpenVINSFeatRepMSCKF ()
	Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).
static int	defaultOdomOpenVINSFeatRepMSCKF ()
	Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .
static std::string	typeOdomOpenVINSFeatRepMSCKF ()
	Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .
static std::string	kOdomOpenVINSFeatRepSLAM ()
	Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).
static int	defaultOdomOpenVINSFeatRepSLAM ()
	Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .
static std::string	typeOdomOpenVINSFeatRepSLAM ()
	Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .
static std::string	kOdomOpenVINSDtSLAMDelay ()
	Key of parameter OdomOpenVINS/DtSLAMDelay : "Delay, in seconds, that we should wait from init before we start estimating SLAM features." Default value: 0.0 ( double ).
static double	defaultOdomOpenVINSDtSLAMDelay ()
	Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .
static std::string	typeOdomOpenVINSDtSLAMDelay ()
	Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .
static std::string	kOdomOpenVINSGravityMag ()
	Key of parameter OdomOpenVINS/GravityMag : "Gravity magnitude in the global frame (i.e. should be 9.81 typically)." Default value: 9.81 ( double ).
static double	defaultOdomOpenVINSGravityMag ()
	Default value of parameter OdomOpenVINS/GravityMag : 9.81 .
static std::string	typeOdomOpenVINSGravityMag ()
	Type of parameter OdomOpenVINS/GravityMag , as a string: double .
static std::string	kOdomOpenVINSLeftMaskPath ()
	Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).
static std::string	defaultOdomOpenVINSLeftMaskPath ()
	Default value of parameter OdomOpenVINS/LeftMaskPath : "" .
static std::string	typeOdomOpenVINSLeftMaskPath ()
	Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.
static std::string	kOdomOpenVINSRightMaskPath ()
	Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).
static std::string	defaultOdomOpenVINSRightMaskPath ()
	Default value of parameter OdomOpenVINS/RightMaskPath : "" .
static std::string	typeOdomOpenVINSRightMaskPath ()
	Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.
static std::string	kOdomOpenVINSInitWindowTime ()
	Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).
static double	defaultOdomOpenVINSInitWindowTime ()
	Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .
static std::string	typeOdomOpenVINSInitWindowTime ()
	Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .
static std::string	kOdomOpenVINSInitIMUThresh ()
	Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).
static double	defaultOdomOpenVINSInitIMUThresh ()
	Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .
static std::string	typeOdomOpenVINSInitIMUThresh ()
	Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .
static std::string	kOdomOpenVINSInitMaxDisparity ()
	Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).
static double	defaultOdomOpenVINSInitMaxDisparity ()
	Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .
static std::string	typeOdomOpenVINSInitMaxDisparity ()
	Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .
static std::string	kOdomOpenVINSInitMaxFeatures ()
	Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).
static int	defaultOdomOpenVINSInitMaxFeatures ()
	Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .
static std::string	typeOdomOpenVINSInitMaxFeatures ()
	Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .
static std::string	kOdomOpenVINSInitDynUse ()
	Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).
static bool	defaultOdomOpenVINSInitDynUse ()
	Default value of parameter OdomOpenVINS/InitDynUse : false .
static std::string	typeOdomOpenVINSInitDynUse ()
	Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .
static std::string	kOdomOpenVINSInitDynMLEOptCalib ()
	Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).
static bool	defaultOdomOpenVINSInitDynMLEOptCalib ()
	Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .
static std::string	typeOdomOpenVINSInitDynMLEOptCalib ()
	Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .
static std::string	kOdomOpenVINSInitDynMLEMaxIter ()
	Key of parameter OdomOpenVINS/InitDynMLEMaxIter : "How many iterations the MLE refinement should use (zero to skip the MLE)." Default value: 50 ( int ).
static int	defaultOdomOpenVINSInitDynMLEMaxIter ()
	Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .
static std::string	typeOdomOpenVINSInitDynMLEMaxIter ()
	Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .
static std::string	kOdomOpenVINSInitDynMLEMaxTime ()
	Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).
static double	defaultOdomOpenVINSInitDynMLEMaxTime ()
	Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .
static std::string	typeOdomOpenVINSInitDynMLEMaxTime ()
	Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .
static std::string	kOdomOpenVINSInitDynMLEMaxThreads ()
	Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).
static int	defaultOdomOpenVINSInitDynMLEMaxThreads ()
	Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .
static std::string	typeOdomOpenVINSInitDynMLEMaxThreads ()
	Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .
static std::string	kOdomOpenVINSInitDynNumPose ()
	Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).
static int	defaultOdomOpenVINSInitDynNumPose ()
	Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .
static std::string	typeOdomOpenVINSInitDynNumPose ()
	Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .
static std::string	kOdomOpenVINSInitDynMinDeg ()
	Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).
static double	defaultOdomOpenVINSInitDynMinDeg ()
	Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .
static std::string	typeOdomOpenVINSInitDynMinDeg ()
	Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .
static std::string	kOdomOpenVINSInitDynInflationOri ()
	Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).
static double	defaultOdomOpenVINSInitDynInflationOri ()
	Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .
static std::string	typeOdomOpenVINSInitDynInflationOri ()
	Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .
static std::string	kOdomOpenVINSInitDynInflationVel ()
	Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).
static double	defaultOdomOpenVINSInitDynInflationVel ()
	Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .
static std::string	typeOdomOpenVINSInitDynInflationVel ()
	Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .
static std::string	kOdomOpenVINSInitDynInflationBg ()
	Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).
static double	defaultOdomOpenVINSInitDynInflationBg ()
	Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .
static std::string	typeOdomOpenVINSInitDynInflationBg ()
	Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .
static std::string	kOdomOpenVINSInitDynInflationBa ()
	Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).
static double	defaultOdomOpenVINSInitDynInflationBa ()
	Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .
static std::string	typeOdomOpenVINSInitDynInflationBa ()
	Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .
static std::string	kOdomOpenVINSInitDynMinRecCond ()
	Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).
static double	defaultOdomOpenVINSInitDynMinRecCond ()
	Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .
static std::string	typeOdomOpenVINSInitDynMinRecCond ()
	Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .
static std::string	kOdomOpenVINSTryZUPT ()
	Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).
static bool	defaultOdomOpenVINSTryZUPT ()
	Default value of parameter OdomOpenVINS/TryZUPT : true .
static std::string	typeOdomOpenVINSTryZUPT ()
	Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .
static std::string	kOdomOpenVINSZUPTChi2Multiplier ()
	Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).
static double	defaultOdomOpenVINSZUPTChi2Multiplier ()
	Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .
static std::string	typeOdomOpenVINSZUPTChi2Multiplier ()
	Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .
static std::string	kOdomOpenVINSZUPTMaxVelodicy ()
	Key of parameter OdomOpenVINS/ZUPTMaxVelodicy : "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.1 ( double ).
static double	defaultOdomOpenVINSZUPTMaxVelodicy ()
	Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .
static std::string	typeOdomOpenVINSZUPTMaxVelodicy ()
	Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .
static std::string	kOdomOpenVINSZUPTNoiseMultiplier ()
	Key of parameter OdomOpenVINS/ZUPTNoiseMultiplier : "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)." Default value: 10.0 ( double ).
static double	defaultOdomOpenVINSZUPTNoiseMultiplier ()
	Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .
static std::string	typeOdomOpenVINSZUPTNoiseMultiplier ()
	Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .
static std::string	kOdomOpenVINSZUPTMaxDisparity ()
	Key of parameter OdomOpenVINS/ZUPTMaxDisparity : "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.5 ( double ).
static double	defaultOdomOpenVINSZUPTMaxDisparity ()
	Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .
static std::string	typeOdomOpenVINSZUPTMaxDisparity ()
	Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .
static std::string	kOdomOpenVINSZUPTOnlyAtBeginning ()
	Key of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : "If we should only use the zupt at the very beginning static initialization phase." Default value: false ( bool ).
static bool	defaultOdomOpenVINSZUPTOnlyAtBeginning ()
	Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .
static std::string	typeOdomOpenVINSZUPTOnlyAtBeginning ()
	Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .
static std::string	kOdomOpenVINSAccelerometerNoiseDensity ()
	Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).
static double	defaultOdomOpenVINSAccelerometerNoiseDensity ()
	Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .
static std::string	typeOdomOpenVINSAccelerometerNoiseDensity ()
	Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .
static std::string	kOdomOpenVINSAccelerometerRandomWalk ()
	Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).
static double	defaultOdomOpenVINSAccelerometerRandomWalk ()
	Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .
static std::string	typeOdomOpenVINSAccelerometerRandomWalk ()
	Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .
static std::string	kOdomOpenVINSGyroscopeNoiseDensity ()
	Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).
static double	defaultOdomOpenVINSGyroscopeNoiseDensity ()
	Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .
static std::string	typeOdomOpenVINSGyroscopeNoiseDensity ()
	Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .
static std::string	kOdomOpenVINSGyroscopeRandomWalk ()
	Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).
static double	defaultOdomOpenVINSGyroscopeRandomWalk ()
	Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .
static std::string	typeOdomOpenVINSGyroscopeRandomWalk ()
	Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .
static std::string	kOdomOpenVINSUpMSCKFSigmaPx ()
	Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).
static double	defaultOdomOpenVINSUpMSCKFSigmaPx ()
	Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .
static std::string	typeOdomOpenVINSUpMSCKFSigmaPx ()
	Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .
static std::string	kOdomOpenVINSUpMSCKFChi2Multiplier ()
	Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).
static double	defaultOdomOpenVINSUpMSCKFChi2Multiplier ()
	Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .
static std::string	typeOdomOpenVINSUpMSCKFChi2Multiplier ()
	Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .
static std::string	kOdomOpenVINSUpSLAMSigmaPx ()
	Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).
static double	defaultOdomOpenVINSUpSLAMSigmaPx ()
	Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .
static std::string	typeOdomOpenVINSUpSLAMSigmaPx ()
	Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .
static std::string	kOdomOpenVINSUpSLAMChi2Multiplier ()
	Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).
static double	defaultOdomOpenVINSUpSLAMChi2Multiplier ()
	Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .
static std::string	typeOdomOpenVINSUpSLAMChi2Multiplier ()
	Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .
static std::string	kOdomOpen3DMaxDepth ()
	Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).
static float	defaultOdomOpen3DMaxDepth ()
	Default value of parameter OdomOpen3D/MaxDepth : 3.0 .
static std::string	typeOdomOpen3DMaxDepth ()
	Type of parameter OdomOpen3D/MaxDepth , as a string: float .
static std::string	kOdomOpen3DMethod ()
	Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).
static int	defaultOdomOpen3DMethod ()
	Default value of parameter OdomOpen3D/Method : 0 .
static std::string	typeOdomOpen3DMethod ()
	Type of parameter OdomOpen3D/Method , as a string: int .
static std::string	kOdomCuVSLAMMulticamMode ()
	Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).
static int	defaultOdomCuVSLAMMulticamMode ()
	Default value of parameter OdomCuVSLAM/MulticamMode : 0 .
static std::string	typeOdomCuVSLAMMulticamMode ()
	Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .
static std::string	kOdomLIOSAMConfigPath ()
	Key of parameter OdomLIOSAM/ConfigPath : "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored." Default value: "" (string).
static std::string	defaultOdomLIOSAMConfigPath ()
	Default value of parameter OdomLIOSAM/ConfigPath : "" .
static std::string	typeOdomLIOSAMConfigPath ()
	Type of parameter OdomLIOSAM/ConfigPath , as a string: string.
static std::string	kOdomLIOSAMSensor ()
	Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).
static int	defaultOdomLIOSAMSensor ()
	Default value of parameter OdomLIOSAM/Sensor : 0 .
static std::string	typeOdomLIOSAMSensor ()
	Type of parameter OdomLIOSAM/Sensor , as a string: int .
static std::string	kOdomLIOSAMNScan ()
	Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).
static int	defaultOdomLIOSAMNScan ()
	Default value of parameter OdomLIOSAM/NScan : 16 .
static std::string	typeOdomLIOSAMNScan ()
	Type of parameter OdomLIOSAM/NScan , as a string: int .
static std::string	kOdomLIOSAMHorizonScan ()
	Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).
static int	defaultOdomLIOSAMHorizonScan ()
	Default value of parameter OdomLIOSAM/HorizonScan : 1800 .
static std::string	typeOdomLIOSAMHorizonScan ()
	Type of parameter OdomLIOSAM/HorizonScan , as a string: int .
static std::string	kOdomLIOSAMImuAccNoise ()
	Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).
static float	defaultOdomLIOSAMImuAccNoise ()
	Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .
static std::string	typeOdomLIOSAMImuAccNoise ()
	Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .
static std::string	kOdomLIOSAMImuGyrNoise ()
	Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).
static float	defaultOdomLIOSAMImuGyrNoise ()
	Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .
static std::string	typeOdomLIOSAMImuGyrNoise ()
	Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .
static std::string	kOdomLIOSAMImuAccBiasN ()
	Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).
static float	defaultOdomLIOSAMImuAccBiasN ()
	Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .
static std::string	typeOdomLIOSAMImuAccBiasN ()
	Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .
static std::string	kOdomLIOSAMImuGyrBiasN ()
	Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).
static float	defaultOdomLIOSAMImuGyrBiasN ()
	Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .
static std::string	typeOdomLIOSAMImuGyrBiasN ()
	Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .
static std::string	kOdomLIOSAMImuGravity ()
	Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).
static float	defaultOdomLIOSAMImuGravity ()
	Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .
static std::string	typeOdomLIOSAMImuGravity ()
	Type of parameter OdomLIOSAM/ImuGravity , as a string: float .
static std::string	kOdomLIOSAMEdgeThreshold ()
	Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).
static float	defaultOdomLIOSAMEdgeThreshold ()
	Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .
static std::string	typeOdomLIOSAMEdgeThreshold ()
	Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .
static std::string	kOdomLIOSAMSurfThreshold ()
	Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).
static float	defaultOdomLIOSAMSurfThreshold ()
	Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .
static std::string	typeOdomLIOSAMSurfThreshold ()
	Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .
static std::string	kOdomLIOSAMLinVar ()
	Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).
static float	defaultOdomLIOSAMLinVar ()
	Default value of parameter OdomLIOSAM/LinVar : 0.01 .
static std::string	typeOdomLIOSAMLinVar ()
	Type of parameter OdomLIOSAM/LinVar , as a string: float .
static std::string	kOdomLIOSAMAngVar ()
	Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).
static float	defaultOdomLIOSAMAngVar ()
	Default value of parameter OdomLIOSAM/AngVar : 0.01 .
static std::string	typeOdomLIOSAMAngVar ()
	Type of parameter OdomLIOSAM/AngVar , as a string: float .
static std::string	kRegRepeatOnce ()
	Key of parameter Reg/RepeatOnce : "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches." Default value: true ( bool ).
static bool	defaultRegRepeatOnce ()
	Default value of parameter Reg/RepeatOnce : true .
static std::string	typeRegRepeatOnce ()
	Type of parameter Reg/RepeatOnce , as a string: bool .
static std::string	kRegStrategy ()
	Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).
static int	defaultRegStrategy ()
	Default value of parameter Reg/Strategy : 0 .
static std::string	typeRegStrategy ()
	Type of parameter Reg/Strategy , as a string: int .
static std::string	kRegForce3DoF ()
	Key of parameter Reg/Force3DoF : "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0." Default value: false ( bool ).
static bool	defaultRegForce3DoF ()
	Default value of parameter Reg/Force3DoF : false .
static std::string	typeRegForce3DoF ()
	Type of parameter Reg/Force3DoF , as a string: bool .
static std::string	kVisEstimationType ()
	Key of parameter Vis/EstimationType : "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)" Default value: 1 ( int ).
static int	defaultVisEstimationType ()
	Default value of parameter Vis/EstimationType : 1 .
static std::string	typeVisEstimationType ()
	Type of parameter Vis/EstimationType , as a string: int .
static std::string	kVisInlierDistance ()
	Key of parameter Vis/InlierDistance : uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).
static float	defaultVisInlierDistance ()
	Default value of parameter Vis/InlierDistance : 0.1 .
static std::string	typeVisInlierDistance ()
	Type of parameter Vis/InlierDistance , as a string: float .
static std::string	kVisRefineIterations ()
	Key of parameter Vis/RefineIterations : uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()) Default value: 5 ( int ).
static int	defaultVisRefineIterations ()
	Default value of parameter Vis/RefineIterations : 5 .
static std::string	typeVisRefineIterations ()
	Type of parameter Vis/RefineIterations , as a string: int .
static std::string	kVisPnPReprojError ()
	Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).
static float	defaultVisPnPReprojError ()
	Default value of parameter Vis/PnPReprojError : 2 .
static std::string	typeVisPnPReprojError ()
	Type of parameter Vis/PnPReprojError , as a string: float .
static std::string	kVisPnPFlags ()
	Key of parameter Vis/PnPFlags : uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()) Default value: 0 ( int ).
static int	defaultVisPnPFlags ()
	Default value of parameter Vis/PnPFlags : 0 .
static std::string	typeVisPnPFlags ()
	Type of parameter Vis/PnPFlags , as a string: int .
static std::string	kVisPnPRefineIterations ()
	Key of parameter Vis/PnPRefineIterations : uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()) Default value: 1 ( int ).
static int	defaultVisPnPRefineIterations ()
	Default value of parameter Vis/PnPRefineIterations : 1 .
static std::string	typeVisPnPRefineIterations ()
	Type of parameter Vis/PnPRefineIterations , as a string: int .
static std::string	kVisPnPVarianceMedianRatio ()
	Key of parameter Vis/PnPVarianceMedianRatio : uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()) Default value: 4 ( int ).
static int	defaultVisPnPVarianceMedianRatio ()
	Default value of parameter Vis/PnPVarianceMedianRatio : 4 .
static std::string	typeVisPnPVarianceMedianRatio ()
	Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .
static std::string	kVisPnPMaxVariance ()
	Key of parameter Vis/PnPMaxVariance : uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()) Default value: 0.0 ( float ).
static float	defaultVisPnPMaxVariance ()
	Default value of parameter Vis/PnPMaxVariance : 0.0 .
static std::string	typeVisPnPMaxVariance ()
	Type of parameter Vis/PnPMaxVariance , as a string: float .
static std::string	kVisPnPSamplingPolicy ()
	Key of parameter Vis/PnPSamplingPolicy : uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str() Default value: 1 ( unsigned int ).
static unsigned int	defaultVisPnPSamplingPolicy ()
	Default value of parameter Vis/PnPSamplingPolicy : 1 .
static std::string	typeVisPnPSamplingPolicy ()
	Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .
static std::string	kVisPnPSplitLinearCovComponents ()
	Key of parameter Vis/PnPSplitLinearCovComponents : uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str() Default value: false ( bool ).
static bool	defaultVisPnPSplitLinearCovComponents ()
	Default value of parameter Vis/PnPSplitLinearCovComponents : false .
static std::string	typeVisPnPSplitLinearCovComponents ()
	Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .
static std::string	kVisEpipolarGeometryVar ()
	Key of parameter Vis/EpipolarGeometryVar : uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).
static float	defaultVisEpipolarGeometryVar ()
	Default value of parameter Vis/EpipolarGeometryVar : 0.1 .
static std::string	typeVisEpipolarGeometryVar ()
	Type of parameter Vis/EpipolarGeometryVar , as a string: float .
static std::string	kVisMinInliers ()
	Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).
static int	defaultVisMinInliers ()
	Default value of parameter Vis/MinInliers : 20 .
static std::string	typeVisMinInliers ()
	Type of parameter Vis/MinInliers , as a string: int .
static std::string	kVisMeanInliersDistance ()
	Key of parameter Vis/MeanInliersDistance : "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled." Default value: 0.0 ( float ).
static float	defaultVisMeanInliersDistance ()
	Default value of parameter Vis/MeanInliersDistance : 0.0 .
static std::string	typeVisMeanInliersDistance ()
	Type of parameter Vis/MeanInliersDistance , as a string: float .
static std::string	kVisMinInliersDistribution ()
	Key of parameter Vis/MinInliersDistribution : "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled." Default value: 0.0 ( float ).
static float	defaultVisMinInliersDistribution ()
	Default value of parameter Vis/MinInliersDistribution : 0.0 .
static std::string	typeVisMinInliersDistribution ()
	Type of parameter Vis/MinInliersDistribution , as a string: float .
static std::string	kVisIterations ()
	Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).
static int	defaultVisIterations ()
	Default value of parameter Vis/Iterations : 300 .
static std::string	typeVisIterations ()
	Type of parameter Vis/Iterations , as a string: int .
static std::string	kVisFeatureType ()
	Key of parameter Vis/FeatureType : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).
static int	defaultVisFeatureType ()
	Default value of parameter Vis/FeatureType : 6 .
static std::string	typeVisFeatureType ()
	Type of parameter Vis/FeatureType , as a string: int .
static std::string	kVisMaxFeatures ()
	Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).
static int	defaultVisMaxFeatures ()
	Default value of parameter Vis/MaxFeatures : 1000 .
static std::string	typeVisMaxFeatures ()
	Type of parameter Vis/MaxFeatures , as a string: int .
static std::string	kVisSSC ()
	Key of parameter Vis/SSC : "If true, SSC (Suppression via Square Covering) is applied to limit keypoints." Default value: false ( bool ).
static bool	defaultVisSSC ()
	Default value of parameter Vis/SSC : false .
static std::string	typeVisSSC ()
	Type of parameter Vis/SSC , as a string: bool .
static std::string	kVisMaxDepth ()
	Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).
static float	defaultVisMaxDepth ()
	Default value of parameter Vis/MaxDepth : 0 .
static std::string	typeVisMaxDepth ()
	Type of parameter Vis/MaxDepth , as a string: float .
static std::string	kVisMinDepth ()
	Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).
static float	defaultVisMinDepth ()
	Default value of parameter Vis/MinDepth : 0 .
static std::string	typeVisMinDepth ()
	Type of parameter Vis/MinDepth , as a string: float .
static std::string	kVisDepthAsMask ()
	Key of parameter Vis/DepthAsMask : "Use depth image as mask when extracting features." Default value: true ( bool ).
static bool	defaultVisDepthAsMask ()
	Default value of parameter Vis/DepthAsMask : true .
static std::string	typeVisDepthAsMask ()
	Type of parameter Vis/DepthAsMask , as a string: bool .
static std::string	kVisDepthMaskFloorThr ()
	Key of parameter Vis/DepthMaskFloorThr : uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()) Default value: 0.0 ( float ).
static float	defaultVisDepthMaskFloorThr ()
	Default value of parameter Vis/DepthMaskFloorThr : 0.0 .
static std::string	typeVisDepthMaskFloorThr ()
	Type of parameter Vis/DepthMaskFloorThr , as a string: float .
static std::string	kVisRoiRatios ()
	Key of parameter Vis/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).
static std::string	defaultVisRoiRatios ()
	Default value of parameter Vis/RoiRatios : "0.0 0.0 0.0 0.0" .
static std::string	typeVisRoiRatios ()
	Type of parameter Vis/RoiRatios , as a string: string.
static std::string	kVisSubPixWinSize ()
	Key of parameter Vis/SubPixWinSize : "See cv::cornerSubPix()." Default value: 3 ( int ).
static int	defaultVisSubPixWinSize ()
	Default value of parameter Vis/SubPixWinSize : 3 .
static std::string	typeVisSubPixWinSize ()
	Type of parameter Vis/SubPixWinSize , as a string: int .
static std::string	kVisSubPixIterations ()
	Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).
static int	defaultVisSubPixIterations ()
	Default value of parameter Vis/SubPixIterations : 0 .
static std::string	typeVisSubPixIterations ()
	Type of parameter Vis/SubPixIterations , as a string: int .
static std::string	kVisSubPixEps ()
	Key of parameter Vis/SubPixEps : "See cv::cornerSubPix()." Default value: 0.02 ( float ).
static float	defaultVisSubPixEps ()
	Default value of parameter Vis/SubPixEps : 0.02 .
static std::string	typeVisSubPixEps ()
	Type of parameter Vis/SubPixEps , as a string: float .
static std::string	kVisGridRows ()
	Key of parameter Vis/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).
static int	defaultVisGridRows ()
	Default value of parameter Vis/GridRows : 1 .
static std::string	typeVisGridRows ()
	Type of parameter Vis/GridRows , as a string: int .
static std::string	kVisGridCols ()
	Key of parameter Vis/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).
static int	defaultVisGridCols ()
	Default value of parameter Vis/GridCols : 1 .
static std::string	typeVisGridCols ()
	Type of parameter Vis/GridCols , as a string: int .
static std::string	kVisCorType ()
	Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).
static int	defaultVisCorType ()
	Default value of parameter Vis/CorType : 0 .
static std::string	typeVisCorType ()
	Type of parameter Vis/CorType , as a string: int .
static std::string	kVisCorNNType ()
	Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).
static int	defaultVisCorNNType ()
	Default value of parameter Vis/CorNNType : 1 .
static std::string	typeVisCorNNType ()
	Type of parameter Vis/CorNNType , as a string: int .
static std::string	kVisCorNNDR ()
	Key of parameter Vis/CorNNDR : uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()) Default value: 0.8 ( float ).
static float	defaultVisCorNNDR ()
	Default value of parameter Vis/CorNNDR : 0.8 .
static std::string	typeVisCorNNDR ()
	Type of parameter Vis/CorNNDR , as a string: float .
static std::string	kVisCorGuessWinSize ()
	Key of parameter Vis/CorGuessWinSize : uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()) Default value: 40 ( int ).
static int	defaultVisCorGuessWinSize ()
	Default value of parameter Vis/CorGuessWinSize : 40 .
static std::string	typeVisCorGuessWinSize ()
	Type of parameter Vis/CorGuessWinSize , as a string: int .
static std::string	kVisCorGuessMatchToProjection ()
	Key of parameter Vis/CorGuessMatchToProjection : uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()) Default value: false ( bool ).
static bool	defaultVisCorGuessMatchToProjection ()
	Default value of parameter Vis/CorGuessMatchToProjection : false .
static std::string	typeVisCorGuessMatchToProjection ()
	Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .
static std::string	kVisCorFlowWinSize ()
	Key of parameter Vis/CorFlowWinSize : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 16 ( int ).
static int	defaultVisCorFlowWinSize ()
	Default value of parameter Vis/CorFlowWinSize : 16 .
static std::string	typeVisCorFlowWinSize ()
	Type of parameter Vis/CorFlowWinSize , as a string: int .
static std::string	kVisCorFlowIterations ()
	Key of parameter Vis/CorFlowIterations : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 30 ( int ).
static int	defaultVisCorFlowIterations ()
	Default value of parameter Vis/CorFlowIterations : 30 .
static std::string	typeVisCorFlowIterations ()
	Type of parameter Vis/CorFlowIterations , as a string: int .
static std::string	kVisCorFlowEps ()
	Key of parameter Vis/CorFlowEps : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 0.01 ( float ).
static float	defaultVisCorFlowEps ()
	Default value of parameter Vis/CorFlowEps : 0.01 .
static std::string	typeVisCorFlowEps ()
	Type of parameter Vis/CorFlowEps , as a string: float .
static std::string	kVisCorFlowMaxLevel ()
	Key of parameter Vis/CorFlowMaxLevel : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 3 ( int ).
static int	defaultVisCorFlowMaxLevel ()
	Default value of parameter Vis/CorFlowMaxLevel : 3 .
static std::string	typeVisCorFlowMaxLevel ()
	Type of parameter Vis/CorFlowMaxLevel , as a string: int .
static std::string	kVisCorFlowUseMinEigenVals ()
	Key of parameter Vis/CorFlowUseMinEigenVals : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()) Default value: true ( bool ).
static bool	defaultVisCorFlowUseMinEigenVals ()
	Default value of parameter Vis/CorFlowUseMinEigenVals : true .
static std::string	typeVisCorFlowUseMinEigenVals ()
	Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .
static std::string	kVisCorFlowMinEigThreshold ()
	Key of parameter Vis/CorFlowMinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 1e-4 ( float ).
static float	defaultVisCorFlowMinEigThreshold ()
	Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .
static std::string	typeVisCorFlowMinEigThreshold ()
	Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .
static std::string	kVisCorFlowErrorThreshold ()
	Key of parameter Vis/CorFlowErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 20 ( float ).
static float	defaultVisCorFlowErrorThreshold ()
	Default value of parameter Vis/CorFlowErrorThreshold : 20 .
static std::string	typeVisCorFlowErrorThreshold ()
	Type of parameter Vis/CorFlowErrorThreshold , as a string: float .
static std::string	kVisCorFlowGpu ()
	Key of parameter Vis/CorFlowGpu : uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()) Default value: false ( bool ).
static bool	defaultVisCorFlowGpu ()
	Default value of parameter Vis/CorFlowGpu : false .
static std::string	typeVisCorFlowGpu ()
	Type of parameter Vis/CorFlowGpu , as a string: bool .
static std::string	kVisBundleAdjustment ()
	Key of parameter Vis/BundleAdjustment : uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).
static int	defaultVisBundleAdjustment ()
	Default value of parameter Vis/BundleAdjustment : 0 .
static std::string	typeVisBundleAdjustment ()
	Type of parameter Vis/BundleAdjustment , as a string: int .
static std::string	kPyMatcherPath ()
	Key of parameter PyMatcher/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).
static std::string	defaultPyMatcherPath ()
	Default value of parameter PyMatcher/Path : "" .
static std::string	typePyMatcherPath ()
	Type of parameter PyMatcher/Path , as a string: string.
static std::string	kPyMatcherIterations ()
	Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).
static int	defaultPyMatcherIterations ()
	Default value of parameter PyMatcher/Iterations : 20 .
static std::string	typePyMatcherIterations ()
	Type of parameter PyMatcher/Iterations , as a string: int .
static std::string	kPyMatcherThreshold ()
	Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).
static float	defaultPyMatcherThreshold ()
	Default value of parameter PyMatcher/Threshold : 0.2 .
static std::string	typePyMatcherThreshold ()
	Type of parameter PyMatcher/Threshold , as a string: float .
static std::string	kPyMatcherCuda ()
	Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).
static bool	defaultPyMatcherCuda ()
	Default value of parameter PyMatcher/Cuda : true .
static std::string	typePyMatcherCuda ()
	Type of parameter PyMatcher/Cuda , as a string: bool .
static std::string	kPyMatcherModel ()
	Key of parameter PyMatcher/Model : "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\")." Default value: "indoor" (string).
static std::string	defaultPyMatcherModel ()
	Default value of parameter PyMatcher/Model : "indoor" .
static std::string	typePyMatcherModel ()
	Type of parameter PyMatcher/Model , as a string: string.
static std::string	kGMSWithRotation ()
	Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).
static bool	defaultGMSWithRotation ()
	Default value of parameter GMS/WithRotation : false .
static std::string	typeGMSWithRotation ()
	Type of parameter GMS/WithRotation , as a string: bool .
static std::string	kGMSWithScale ()
	Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).
static bool	defaultGMSWithScale ()
	Default value of parameter GMS/WithScale : false .
static std::string	typeGMSWithScale ()
	Type of parameter GMS/WithScale , as a string: bool .
static std::string	kGMSThresholdFactor ()
	Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).
static double	defaultGMSThresholdFactor ()
	Default value of parameter GMS/ThresholdFactor : 6.0 .
static std::string	typeGMSThresholdFactor ()
	Type of parameter GMS/ThresholdFactor , as a string: double .
static std::string	kPyDescriptorPath ()
	Key of parameter PyDescriptor/Path : "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used." Default value: "" (string).
static std::string	defaultPyDescriptorPath ()
	Default value of parameter PyDescriptor/Path : "" .
static std::string	typePyDescriptorPath ()
	Type of parameter PyDescriptor/Path , as a string: string.
static std::string	kPyDescriptorDim ()
	Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).
static int	defaultPyDescriptorDim ()
	Default value of parameter PyDescriptor/Dim : 4096 .
static std::string	typePyDescriptorDim ()
	Type of parameter PyDescriptor/Dim , as a string: int .
static std::string	kIcpStrategy ()
	Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).
static int	defaultIcpStrategy ()
	Default value of parameter Icp/Strategy : 0 .
static std::string	typeIcpStrategy ()
	Type of parameter Icp/Strategy , as a string: int .
static std::string	kIcpMaxTranslation ()
	Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).
static float	defaultIcpMaxTranslation ()
	Default value of parameter Icp/MaxTranslation : 0.2 .
static std::string	typeIcpMaxTranslation ()
	Type of parameter Icp/MaxTranslation , as a string: float .
static std::string	kIcpMaxRotation ()
	Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).
static float	defaultIcpMaxRotation ()
	Default value of parameter Icp/MaxRotation : 0.78 .
static std::string	typeIcpMaxRotation ()
	Type of parameter Icp/MaxRotation , as a string: float .
static std::string	kIcpVoxelSize ()
	Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).
static float	defaultIcpVoxelSize ()
	Default value of parameter Icp/VoxelSize : 0.05 .
static std::string	typeIcpVoxelSize ()
	Type of parameter Icp/VoxelSize , as a string: float .
static std::string	kIcpDownsamplingStep ()
	Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).
static int	defaultIcpDownsamplingStep ()
	Default value of parameter Icp/DownsamplingStep : 1 .
static std::string	typeIcpDownsamplingStep ()
	Type of parameter Icp/DownsamplingStep , as a string: int .
static std::string	kIcpRangeMin ()
	Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).
static float	defaultIcpRangeMin ()
	Default value of parameter Icp/RangeMin : 0 .
static std::string	typeIcpRangeMin ()
	Type of parameter Icp/RangeMin , as a string: float .
static std::string	kIcpRangeMax ()
	Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).
static float	defaultIcpRangeMax ()
	Default value of parameter Icp/RangeMax : 0 .
static std::string	typeIcpRangeMax ()
	Type of parameter Icp/RangeMax , as a string: float .
static std::string	kIcpMaxCorrespondenceDistance ()
	Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).
static float	defaultIcpMaxCorrespondenceDistance ()
	Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .
static std::string	typeIcpMaxCorrespondenceDistance ()
	Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .
static std::string	kIcpReciprocalCorrespondences ()
	Key of parameter Icp/ReciprocalCorrespondences : "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence." Default value: true ( bool ).
static bool	defaultIcpReciprocalCorrespondences ()
	Default value of parameter Icp/ReciprocalCorrespondences : true .
static std::string	typeIcpReciprocalCorrespondences ()
	Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .
static std::string	kIcpIterations ()
	Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).
static int	defaultIcpIterations ()
	Default value of parameter Icp/Iterations : 30 .
static std::string	typeIcpIterations ()
	Type of parameter Icp/Iterations , as a string: int .
static std::string	kIcpEpsilon ()
	Key of parameter Icp/Epsilon : "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution." Default value: 0 ( float ).
static float	defaultIcpEpsilon ()
	Default value of parameter Icp/Epsilon : 0 .
static std::string	typeIcpEpsilon ()
	Type of parameter Icp/Epsilon , as a string: float .
static std::string	kIcpCorrespondenceRatio ()
	Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).
static float	defaultIcpCorrespondenceRatio ()
	Default value of parameter Icp/CorrespondenceRatio : 0.1 .
static std::string	typeIcpCorrespondenceRatio ()
	Type of parameter Icp/CorrespondenceRatio , as a string: float .
static std::string	kIcpForce4DoF ()
	Key of parameter Icp/Force4DoF : uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()) Default value: false ( bool ).
static bool	defaultIcpForce4DoF ()
	Default value of parameter Icp/Force4DoF : false .
static std::string	typeIcpForce4DoF ()
	Type of parameter Icp/Force4DoF , as a string: bool .
static std::string	kIcpFiltersEnabled ()
	Key of parameter Icp/FiltersEnabled : "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both." Default value: 3 ( int ).
static int	defaultIcpFiltersEnabled ()
	Default value of parameter Icp/FiltersEnabled : 3 .
static std::string	typeIcpFiltersEnabled ()
	Type of parameter Icp/FiltersEnabled , as a string: int .
static std::string	kIcpPointToPlane ()
	Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).
static bool	defaultIcpPointToPlane ()
	Default value of parameter Icp/PointToPlane : false .
static std::string	typeIcpPointToPlane ()
	Type of parameter Icp/PointToPlane , as a string: bool .
static std::string	kIcpPointToPlaneK ()
	Key of parameter Icp/PointToPlaneK : "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals." Default value: 5 ( int ).
static int	defaultIcpPointToPlaneK ()
	Default value of parameter Icp/PointToPlaneK : 5 .
static std::string	typeIcpPointToPlaneK ()
	Type of parameter Icp/PointToPlaneK , as a string: int .
static std::string	kIcpPointToPlaneRadius ()
	Key of parameter Icp/PointToPlaneRadius : "Search radius to compute normals for point to plane if the cloud doesn't have already normals." Default value: 0.0 ( float ).
static float	defaultIcpPointToPlaneRadius ()
	Default value of parameter Icp/PointToPlaneRadius : 0.0 .
static std::string	typeIcpPointToPlaneRadius ()
	Type of parameter Icp/PointToPlaneRadius , as a string: float .
static std::string	kIcpPointToPlaneGroundNormalsUp ()
	Key of parameter Icp/PointToPlaneGroundNormalsUp : "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans." Default value: 0.0 ( float ).
static float	defaultIcpPointToPlaneGroundNormalsUp ()
	Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .
static std::string	typeIcpPointToPlaneGroundNormalsUp ()
	Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .
static std::string	kIcpPointToPlaneMinComplexity ()
	Key of parameter Icp/PointToPlaneMinComplexity : uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()) Default value: 0.02 ( float ).
static float	defaultIcpPointToPlaneMinComplexity ()
	Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .
static std::string	typeIcpPointToPlaneMinComplexity ()
	Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .
static std::string	kIcpPointToPlaneComplexityCentered ()
	Key of parameter Icp/PointToPlaneComplexityCentered : uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()) Default value: false ( bool ).
static bool	defaultIcpPointToPlaneComplexityCentered ()
	Default value of parameter Icp/PointToPlaneComplexityCentered : false .
static std::string	typeIcpPointToPlaneComplexityCentered ()
	Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .
static std::string	kIcpPointToPlaneLowComplexityStrategy ()
	Key of parameter Icp/PointToPlaneLowComplexityStrategy : uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()) Default value: 1 ( int ).
static int	defaultIcpPointToPlaneLowComplexityStrategy ()
	Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .
static std::string	typeIcpPointToPlaneLowComplexityStrategy ()
	Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .
static std::string	kIcpOutlierRatio ()
	Key of parameter Icp/OutlierRatio : uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()) Default value: 0.85 ( float ).
static float	defaultIcpOutlierRatio ()
	Default value of parameter Icp/OutlierRatio : 0.85 .
static std::string	typeIcpOutlierRatio ()
	Type of parameter Icp/OutlierRatio , as a string: float .
static std::string	kIcpDebugExportFormat ()
	Key of parameter Icp/DebugExportFormat : "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten." Default value: "" (string).
static std::string	defaultIcpDebugExportFormat ()
	Default value of parameter Icp/DebugExportFormat : "" .
static std::string	typeIcpDebugExportFormat ()
	Type of parameter Icp/DebugExportFormat , as a string: string.
static std::string	kIcpPMConfig ()
	Key of parameter Icp/PMConfig : uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str() Default value: "" (string).
static std::string	defaultIcpPMConfig ()
	Default value of parameter Icp/PMConfig : "" .
static std::string	typeIcpPMConfig ()
	Type of parameter Icp/PMConfig , as a string: string.
static std::string	kIcpPMMatcherKnn ()
	Key of parameter Icp/PMMatcherKnn : "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set." Default value: 1 ( int ).
static int	defaultIcpPMMatcherKnn ()
	Default value of parameter Icp/PMMatcherKnn : 1 .
static std::string	typeIcpPMMatcherKnn ()
	Type of parameter Icp/PMMatcherKnn , as a string: int .
static std::string	kIcpPMMatcherEpsilon ()
	Key of parameter Icp/PMMatcherEpsilon : "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set." Default value: 0.0 ( float ).
static float	defaultIcpPMMatcherEpsilon ()
	Default value of parameter Icp/PMMatcherEpsilon : 0.0 .
static std::string	typeIcpPMMatcherEpsilon ()
	Type of parameter Icp/PMMatcherEpsilon , as a string: float .
static std::string	kIcpPMMatcherIntensity ()
	Key of parameter Icp/PMMatcherIntensity : uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()) Default value: false ( bool ).
static bool	defaultIcpPMMatcherIntensity ()
	Default value of parameter Icp/PMMatcherIntensity : false .
static std::string	typeIcpPMMatcherIntensity ()
	Type of parameter Icp/PMMatcherIntensity , as a string: bool .
static std::string	kIcpCCSamplingLimit ()
	Key of parameter Icp/CCSamplingLimit : "Maximum number of points per cloud (they are randomly resampled below this limit otherwise)." Default value: 50000 ( unsigned int ).
static unsigned int	defaultIcpCCSamplingLimit ()
	Default value of parameter Icp/CCSamplingLimit : 50000 .
static std::string	typeIcpCCSamplingLimit ()
	Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .
static std::string	kIcpCCFilterOutFarthestPoints ()
	Key of parameter Icp/CCFilterOutFarthestPoints : "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence." Default value: false ( bool ).
static bool	defaultIcpCCFilterOutFarthestPoints ()
	Default value of parameter Icp/CCFilterOutFarthestPoints : false .
static std::string	typeIcpCCFilterOutFarthestPoints ()
	Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .
static std::string	kIcpCCMaxFinalRMS ()
	Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).
static float	defaultIcpCCMaxFinalRMS ()
	Default value of parameter Icp/CCMaxFinalRMS : 0.2 .
static std::string	typeIcpCCMaxFinalRMS ()
	Type of parameter Icp/CCMaxFinalRMS , as a string: float .
static std::string	kStereoWinWidth ()
	Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).
static int	defaultStereoWinWidth ()
	Default value of parameter Stereo/WinWidth : 15 .
static std::string	typeStereoWinWidth ()
	Type of parameter Stereo/WinWidth , as a string: int .
static std::string	kStereoWinHeight ()
	Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).
static int	defaultStereoWinHeight ()
	Default value of parameter Stereo/WinHeight : 3 .
static std::string	typeStereoWinHeight ()
	Type of parameter Stereo/WinHeight , as a string: int .
static std::string	kStereoIterations ()
	Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).
static int	defaultStereoIterations ()
	Default value of parameter Stereo/Iterations : 30 .
static std::string	typeStereoIterations ()
	Type of parameter Stereo/Iterations , as a string: int .
static std::string	kStereoMaxLevel ()
	Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).
static int	defaultStereoMaxLevel ()
	Default value of parameter Stereo/MaxLevel : 5 .
static std::string	typeStereoMaxLevel ()
	Type of parameter Stereo/MaxLevel , as a string: int .
static std::string	kStereoMinDisparity ()
	Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).
static float	defaultStereoMinDisparity ()
	Default value of parameter Stereo/MinDisparity : 0.5 .
static std::string	typeStereoMinDisparity ()
	Type of parameter Stereo/MinDisparity , as a string: float .
static std::string	kStereoMaxDisparity ()
	Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).
static float	defaultStereoMaxDisparity ()
	Default value of parameter Stereo/MaxDisparity : 128.0 .
static std::string	typeStereoMaxDisparity ()
	Type of parameter Stereo/MaxDisparity , as a string: float .
static std::string	kStereoOpticalFlow ()
	Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used." Default value: true ( bool ).
static bool	defaultStereoOpticalFlow ()
	Default value of parameter Stereo/OpticalFlow : true .
static std::string	typeStereoOpticalFlow ()
	Type of parameter Stereo/OpticalFlow , as a string: bool .
static std::string	kStereoSSD ()
	Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).
static bool	defaultStereoSSD ()
	Default value of parameter Stereo/SSD : true .
static std::string	typeStereoSSD ()
	Type of parameter Stereo/SSD , as a string: bool .
static std::string	kStereoEps ()
	Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).
static double	defaultStereoEps ()
	Default value of parameter Stereo/Eps : 0.01 .
static std::string	typeStereoEps ()
	Type of parameter Stereo/Eps , as a string: double .
static std::string	kStereoUseMinEigenVals ()
	Key of parameter Stereo/UseMinEigenVals : uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).
static bool	defaultStereoUseMinEigenVals ()
	Default value of parameter Stereo/UseMinEigenVals : true .
static std::string	typeStereoUseMinEigenVals ()
	Type of parameter Stereo/UseMinEigenVals , as a string: bool .
static std::string	kStereoMinEigThreshold ()
	Key of parameter Stereo/MinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()) Default value: 1e-4 ( double ).
static double	defaultStereoMinEigThreshold ()
	Default value of parameter Stereo/MinEigThreshold : 1e-4 .
static std::string	typeStereoMinEigThreshold ()
	Type of parameter Stereo/MinEigThreshold , as a string: double .
static std::string	kStereoErrorThreshold ()
	Key of parameter Stereo/ErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()) Default value: 50 ( double ).
static double	defaultStereoErrorThreshold ()
	Default value of parameter Stereo/ErrorThreshold : 50 .
static std::string	typeStereoErrorThreshold ()
	Type of parameter Stereo/ErrorThreshold , as a string: double .
static std::string	kStereoGpu ()
	Key of parameter Stereo/Gpu : uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()) Default value: false ( bool ).
static bool	defaultStereoGpu ()
	Default value of parameter Stereo/Gpu : false .
static std::string	typeStereoGpu ()
	Type of parameter Stereo/Gpu , as a string: bool .
static std::string	kStereoDenseStrategy ()
	Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).
static int	defaultStereoDenseStrategy ()
	Default value of parameter Stereo/DenseStrategy : 0 .
static std::string	typeStereoDenseStrategy ()
	Type of parameter Stereo/DenseStrategy , as a string: int .
static std::string	kStereoBMBlockSize ()
	Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).
static int	defaultStereoBMBlockSize ()
	Default value of parameter StereoBM/BlockSize : 15 .
static std::string	typeStereoBMBlockSize ()
	Type of parameter StereoBM/BlockSize , as a string: int .
static std::string	kStereoBMMinDisparity ()
	Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).
static int	defaultStereoBMMinDisparity ()
	Default value of parameter StereoBM/MinDisparity : 0 .
static std::string	typeStereoBMMinDisparity ()
	Type of parameter StereoBM/MinDisparity , as a string: int .
static std::string	kStereoBMNumDisparities ()
	Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).
static int	defaultStereoBMNumDisparities ()
	Default value of parameter StereoBM/NumDisparities : 128 .
static std::string	typeStereoBMNumDisparities ()
	Type of parameter StereoBM/NumDisparities , as a string: int .
static std::string	kStereoBMPreFilterSize ()
	Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).
static int	defaultStereoBMPreFilterSize ()
	Default value of parameter StereoBM/PreFilterSize : 9 .
static std::string	typeStereoBMPreFilterSize ()
	Type of parameter StereoBM/PreFilterSize , as a string: int .
static std::string	kStereoBMPreFilterCap ()
	Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).
static int	defaultStereoBMPreFilterCap ()
	Default value of parameter StereoBM/PreFilterCap : 31 .
static std::string	typeStereoBMPreFilterCap ()
	Type of parameter StereoBM/PreFilterCap , as a string: int .
static std::string	kStereoBMUniquenessRatio ()
	Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).
static int	defaultStereoBMUniquenessRatio ()
	Default value of parameter StereoBM/UniquenessRatio : 15 .
static std::string	typeStereoBMUniquenessRatio ()
	Type of parameter StereoBM/UniquenessRatio , as a string: int .
static std::string	kStereoBMTextureThreshold ()
	Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).
static int	defaultStereoBMTextureThreshold ()
	Default value of parameter StereoBM/TextureThreshold : 10 .
static std::string	typeStereoBMTextureThreshold ()
	Type of parameter StereoBM/TextureThreshold , as a string: int .
static std::string	kStereoBMSpeckleWindowSize ()
	Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).
static int	defaultStereoBMSpeckleWindowSize ()
	Default value of parameter StereoBM/SpeckleWindowSize : 100 .
static std::string	typeStereoBMSpeckleWindowSize ()
	Type of parameter StereoBM/SpeckleWindowSize , as a string: int .
static std::string	kStereoBMSpeckleRange ()
	Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).
static int	defaultStereoBMSpeckleRange ()
	Default value of parameter StereoBM/SpeckleRange : 4 .
static std::string	typeStereoBMSpeckleRange ()
	Type of parameter StereoBM/SpeckleRange , as a string: int .
static std::string	kStereoBMDisp12MaxDiff ()
	Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).
static int	defaultStereoBMDisp12MaxDiff ()
	Default value of parameter StereoBM/Disp12MaxDiff : -1 .
static std::string	typeStereoBMDisp12MaxDiff ()
	Type of parameter StereoBM/Disp12MaxDiff , as a string: int .
static std::string	kStereoSGBMBlockSize ()
	Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).
static int	defaultStereoSGBMBlockSize ()
	Default value of parameter StereoSGBM/BlockSize : 15 .
static std::string	typeStereoSGBMBlockSize ()
	Type of parameter StereoSGBM/BlockSize , as a string: int .
static std::string	kStereoSGBMMinDisparity ()
	Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).
static int	defaultStereoSGBMMinDisparity ()
	Default value of parameter StereoSGBM/MinDisparity : 0 .
static std::string	typeStereoSGBMMinDisparity ()
	Type of parameter StereoSGBM/MinDisparity , as a string: int .
static std::string	kStereoSGBMNumDisparities ()
	Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).
static int	defaultStereoSGBMNumDisparities ()
	Default value of parameter StereoSGBM/NumDisparities : 128 .
static std::string	typeStereoSGBMNumDisparities ()
	Type of parameter StereoSGBM/NumDisparities , as a string: int .
static std::string	kStereoSGBMPreFilterCap ()
	Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).
static int	defaultStereoSGBMPreFilterCap ()
	Default value of parameter StereoSGBM/PreFilterCap : 31 .
static std::string	typeStereoSGBMPreFilterCap ()
	Type of parameter StereoSGBM/PreFilterCap , as a string: int .
static std::string	kStereoSGBMUniquenessRatio ()
	Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).
static int	defaultStereoSGBMUniquenessRatio ()
	Default value of parameter StereoSGBM/UniquenessRatio : 20 .
static std::string	typeStereoSGBMUniquenessRatio ()
	Type of parameter StereoSGBM/UniquenessRatio , as a string: int .
static std::string	kStereoSGBMSpeckleWindowSize ()
	Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).
static int	defaultStereoSGBMSpeckleWindowSize ()
	Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .
static std::string	typeStereoSGBMSpeckleWindowSize ()
	Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .
static std::string	kStereoSGBMSpeckleRange ()
	Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).
static int	defaultStereoSGBMSpeckleRange ()
	Default value of parameter StereoSGBM/SpeckleRange : 4 .
static std::string	typeStereoSGBMSpeckleRange ()
	Type of parameter StereoSGBM/SpeckleRange , as a string: int .
static std::string	kStereoSGBMDisp12MaxDiff ()
	Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).
static int	defaultStereoSGBMDisp12MaxDiff ()
	Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .
static std::string	typeStereoSGBMDisp12MaxDiff ()
	Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .
static std::string	kStereoSGBMP1 ()
	Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).
static int	defaultStereoSGBMP1 ()
	Default value of parameter StereoSGBM/P1 : 2 .
static std::string	typeStereoSGBMP1 ()
	Type of parameter StereoSGBM/P1 , as a string: int .
static std::string	kStereoSGBMP2 ()
	Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).
static int	defaultStereoSGBMP2 ()
	Default value of parameter StereoSGBM/P2 : 5 .
static std::string	typeStereoSGBMP2 ()
	Type of parameter StereoSGBM/P2 , as a string: int .
static std::string	kStereoSGBMMode ()
	Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).
static int	defaultStereoSGBMMode ()
	Default value of parameter StereoSGBM/Mode : 0 .
static std::string	typeStereoSGBMMode ()
	Type of parameter StereoSGBM/Mode , as a string: int .
static std::string	kGridSensor ()
	Key of parameter Grid/Sensor : "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s)." Default value: 1 ( int ).
static int	defaultGridSensor ()
	Default value of parameter Grid/Sensor : 1 .
static std::string	typeGridSensor ()
	Type of parameter Grid/Sensor , as a string: int .
static std::string	kGridDepthDecimation ()
	Key of parameter Grid/DepthDecimation : uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()) Default value: 4 ( unsigned int ).
static unsigned int	defaultGridDepthDecimation ()
	Default value of parameter Grid/DepthDecimation : 4 .
static std::string	typeGridDepthDecimation ()
	Type of parameter Grid/DepthDecimation , as a string: unsigned int .
static std::string	kGridRangeMin ()
	Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).
static float	defaultGridRangeMin ()
	Default value of parameter Grid/RangeMin : 0.0 .
static std::string	typeGridRangeMin ()
	Type of parameter Grid/RangeMin , as a string: float .
static std::string	kGridRangeMax ()
	Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).
static float	defaultGridRangeMax ()
	Default value of parameter Grid/RangeMax : 5.0 .
static std::string	typeGridRangeMax ()
	Type of parameter Grid/RangeMax , as a string: float .
static std::string	kGridDepthRoiRatios ()
	Key of parameter Grid/DepthRoiRatios : uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()) Default value: "0.0 0.0 0.0 0.0" (string).
static std::string	defaultGridDepthRoiRatios ()
	Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .
static std::string	typeGridDepthRoiRatios ()
	Type of parameter Grid/DepthRoiRatios , as a string: string.
static std::string	kGridFootprintLength ()
	Key of parameter Grid/FootprintLength : "Footprint length used to filter points over the footprint of the robot." Default value: 0.0 ( float ).
static float	defaultGridFootprintLength ()
	Default value of parameter Grid/FootprintLength : 0.0 .
static std::string	typeGridFootprintLength ()
	Type of parameter Grid/FootprintLength , as a string: float .
static std::string	kGridFootprintWidth ()
	Key of parameter Grid/FootprintWidth : "Footprint width used to filter points over the footprint of the robot. Footprint length should be set." Default value: 0.0 ( float ).
static float	defaultGridFootprintWidth ()
	Default value of parameter Grid/FootprintWidth : 0.0 .
static std::string	typeGridFootprintWidth ()
	Type of parameter Grid/FootprintWidth , as a string: float .
static std::string	kGridFootprintHeight ()
	Key of parameter Grid/FootprintHeight : "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set." Default value: 0.0 ( float ).
static float	defaultGridFootprintHeight ()
	Default value of parameter Grid/FootprintHeight : 0.0 .
static std::string	typeGridFootprintHeight ()
	Type of parameter Grid/FootprintHeight , as a string: float .
static std::string	kGridScanDecimation ()
	Key of parameter Grid/ScanDecimation : uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()) Default value: 1 ( int ).
static int	defaultGridScanDecimation ()
	Default value of parameter Grid/ScanDecimation : 1 .
static std::string	typeGridScanDecimation ()
	Type of parameter Grid/ScanDecimation , as a string: int .
static std::string	kGridCellSize ()
	Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).
static float	defaultGridCellSize ()
	Default value of parameter Grid/CellSize : 0.05 .
static std::string	typeGridCellSize ()
	Type of parameter Grid/CellSize , as a string: float .
static std::string	kGridPreVoxelFiltering ()
	Key of parameter Grid/PreVoxelFiltering : uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()) Default value: true ( bool ).
static bool	defaultGridPreVoxelFiltering ()
	Default value of parameter Grid/PreVoxelFiltering : true .
static std::string	typeGridPreVoxelFiltering ()
	Type of parameter Grid/PreVoxelFiltering , as a string: bool .
static std::string	kGridMapFrameProjection ()
	Key of parameter Grid/MapFrameProjection : "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead." Default value: false ( bool ).
static bool	defaultGridMapFrameProjection ()
	Default value of parameter Grid/MapFrameProjection : false .
static std::string	typeGridMapFrameProjection ()
	Type of parameter Grid/MapFrameProjection , as a string: bool .
static std::string	kGridNormalsSegmentation ()
	Key of parameter Grid/NormalsSegmentation : "Segment ground from obstacles using point normals, otherwise a fast passthrough is used." Default value: true ( bool ).
static bool	defaultGridNormalsSegmentation ()
	Default value of parameter Grid/NormalsSegmentation : true .
static std::string	typeGridNormalsSegmentation ()
	Type of parameter Grid/NormalsSegmentation , as a string: bool .
static std::string	kGridMaxObstacleHeight ()
	Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).
static float	defaultGridMaxObstacleHeight ()
	Default value of parameter Grid/MaxObstacleHeight : 0.0 .
static std::string	typeGridMaxObstacleHeight ()
	Type of parameter Grid/MaxObstacleHeight , as a string: float .
static std::string	kGridMinGroundHeight ()
	Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).
static float	defaultGridMinGroundHeight ()
	Default value of parameter Grid/MinGroundHeight : 0.0 .
static std::string	typeGridMinGroundHeight ()
	Type of parameter Grid/MinGroundHeight , as a string: float .
static std::string	kGridMaxGroundHeight ()
	Key of parameter Grid/MaxGroundHeight : uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()) Default value: 0.0 ( float ).
static float	defaultGridMaxGroundHeight ()
	Default value of parameter Grid/MaxGroundHeight : 0.0 .
static std::string	typeGridMaxGroundHeight ()
	Type of parameter Grid/MaxGroundHeight , as a string: float .
static std::string	kGridMaxGroundAngle ()
	Key of parameter Grid/MaxGroundAngle : uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()) Default value: 45 ( float ).
static float	defaultGridMaxGroundAngle ()
	Default value of parameter Grid/MaxGroundAngle : 45 .
static std::string	typeGridMaxGroundAngle ()
	Type of parameter Grid/MaxGroundAngle , as a string: float .
static std::string	kGridNormalK ()
	Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).
static int	defaultGridNormalK ()
	Default value of parameter Grid/NormalK : 20 .
static std::string	typeGridNormalK ()
	Type of parameter Grid/NormalK , as a string: int .
static std::string	kGridClusterRadius ()
	Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).
static float	defaultGridClusterRadius ()
	Default value of parameter Grid/ClusterRadius : 0.1 .
static std::string	typeGridClusterRadius ()
	Type of parameter Grid/ClusterRadius , as a string: float .
static std::string	kGridMinClusterSize ()
	Key of parameter Grid/MinClusterSize : uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()) Default value: 10 ( int ).
static int	defaultGridMinClusterSize ()
	Default value of parameter Grid/MinClusterSize : 10 .
static std::string	typeGridMinClusterSize ()
	Type of parameter Grid/MinClusterSize , as a string: int .
static std::string	kGridFlatObstacleDetected ()
	Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).
static bool	defaultGridFlatObstacleDetected ()
	Default value of parameter Grid/FlatObstacleDetected : true .
static std::string	typeGridFlatObstacleDetected ()
	Type of parameter Grid/FlatObstacleDetected , as a string: bool .
static std::string	kGrid3D ()
	Key of parameter Grid/3D : uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()) Default value: false ( bool ).
static bool	defaultGrid3D ()
	Default value of parameter Grid/3D : false .
static std::string	typeGrid3D ()
	Type of parameter Grid/3D , as a string: bool .
static std::string	kGridGroundIsObstacle ()
	Key of parameter Grid/GroundIsObstacle : uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()) Default value: false ( bool ).
static bool	defaultGridGroundIsObstacle ()
	Default value of parameter Grid/GroundIsObstacle : false .
static std::string	typeGridGroundIsObstacle ()
	Type of parameter Grid/GroundIsObstacle , as a string: bool .
static std::string	kGridNoiseFilteringRadius ()
	Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).
static float	defaultGridNoiseFilteringRadius ()
	Default value of parameter Grid/NoiseFilteringRadius : 0.0 .
static std::string	typeGridNoiseFilteringRadius ()
	Type of parameter Grid/NoiseFilteringRadius , as a string: float .
static std::string	kGridNoiseFilteringMinNeighbors ()
	Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).
static int	defaultGridNoiseFilteringMinNeighbors ()
	Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .
static std::string	typeGridNoiseFilteringMinNeighbors ()
	Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .
static std::string	kGridScan2dUnknownSpaceFilled ()
	Key of parameter Grid/Scan2dUnknownSpaceFilled : uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()) Default value: false ( bool ).
static bool	defaultGridScan2dUnknownSpaceFilled ()
	Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .
static std::string	typeGridScan2dUnknownSpaceFilled ()
	Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .
static std::string	kGridRayTracing ()
	Key of parameter Grid/RayTracing : uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()) Default value: false ( bool ).
static bool	defaultGridRayTracing ()
	Default value of parameter Grid/RayTracing : false .
static std::string	typeGridRayTracing ()
	Type of parameter Grid/RayTracing , as a string: bool .
static std::string	kGridGlobalUpdateError ()
	Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value." Default value: 0.01 ( float ).
static float	defaultGridGlobalUpdateError ()
	Default value of parameter GridGlobal/UpdateError : 0.01 .
static std::string	typeGridGlobalUpdateError ()
	Type of parameter GridGlobal/UpdateError , as a string: float .
static std::string	kGridGlobalFootprintRadius ()
	Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).
static float	defaultGridGlobalFootprintRadius ()
	Default value of parameter GridGlobal/FootprintRadius : 0.0 .
static std::string	typeGridGlobalFootprintRadius ()
	Type of parameter GridGlobal/FootprintRadius , as a string: float .
static std::string	kGridGlobalMinSize ()
	Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).
static float	defaultGridGlobalMinSize ()
	Default value of parameter GridGlobal/MinSize : 0.0 .
static std::string	typeGridGlobalMinSize ()
	Type of parameter GridGlobal/MinSize , as a string: float .
static std::string	kGridGlobalEroded ()
	Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).
static bool	defaultGridGlobalEroded ()
	Default value of parameter GridGlobal/Eroded : false .
static std::string	typeGridGlobalEroded ()
	Type of parameter GridGlobal/Eroded , as a string: bool .
static std::string	kGridGlobalMaxNodes ()
	Key of parameter GridGlobal/MaxNodes : "Maximum nodes assembled in the map starting from the last node (0=unlimited)." Default value: 0 ( int ).
static int	defaultGridGlobalMaxNodes ()
	Default value of parameter GridGlobal/MaxNodes : 0 .
static std::string	typeGridGlobalMaxNodes ()
	Type of parameter GridGlobal/MaxNodes , as a string: int .
static std::string	kGridGlobalAltitudeDelta ()
	Key of parameter GridGlobal/AltitudeDelta : "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building)." Default value: 0 ( float ).
static float	defaultGridGlobalAltitudeDelta ()
	Default value of parameter GridGlobal/AltitudeDelta : 0 .
static std::string	typeGridGlobalAltitudeDelta ()
	Type of parameter GridGlobal/AltitudeDelta , as a string: float .
static std::string	kGridGlobalOccupancyThr ()
	Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).
static float	defaultGridGlobalOccupancyThr ()
	Default value of parameter GridGlobal/OccupancyThr : 0.5 .
static std::string	typeGridGlobalOccupancyThr ()
	Type of parameter GridGlobal/OccupancyThr , as a string: float .
static std::string	kGridGlobalProbHit ()
	Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).
static float	defaultGridGlobalProbHit ()
	Default value of parameter GridGlobal/ProbHit : 0.7 .
static std::string	typeGridGlobalProbHit ()
	Type of parameter GridGlobal/ProbHit , as a string: float .
static std::string	kGridGlobalProbMiss ()
	Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).
static float	defaultGridGlobalProbMiss ()
	Default value of parameter GridGlobal/ProbMiss : 0.4 .
static std::string	typeGridGlobalProbMiss ()
	Type of parameter GridGlobal/ProbMiss , as a string: float .
static std::string	kGridGlobalProbClampingMin ()
	Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).
static float	defaultGridGlobalProbClampingMin ()
	Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .
static std::string	typeGridGlobalProbClampingMin ()
	Type of parameter GridGlobal/ProbClampingMin , as a string: float .
static std::string	kGridGlobalProbClampingMax ()
	Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).
static float	defaultGridGlobalProbClampingMax ()
	Default value of parameter GridGlobal/ProbClampingMax : 0.971 .
static std::string	typeGridGlobalProbClampingMax ()
	Type of parameter GridGlobal/ProbClampingMax , as a string: float .
static std::string	kGridGlobalFloodFillDepth ()
	Key of parameter GridGlobal/FloodFillDepth : "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap." Default value: 0 ( unsigned int ).
static unsigned int	defaultGridGlobalFloodFillDepth ()
	Default value of parameter GridGlobal/FloodFillDepth : 0 .
static std::string	typeGridGlobalFloodFillDepth ()
	Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .
static std::string	kMarkerStrategy ()
	Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).
static int	defaultMarkerStrategy ()
	Default value of parameter Marker/Strategy : 0 .
static std::string	typeMarkerStrategy ()
	Type of parameter Marker/Strategy , as a string: int .
static std::string	kMarkerDictionary ()
	Key of parameter Marker/Dictionary : "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21" Default value: 0 ( int ).
static int	defaultMarkerDictionary ()
	Default value of parameter Marker/Dictionary : 0 .
static std::string	typeMarkerDictionary ()
	Type of parameter Marker/Dictionary , as a string: int .
static std::string	kMarkerLength ()
	Key of parameter Marker/Length : "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID." Default value: 0 ( float ).
static float	defaultMarkerLength ()
	Default value of parameter Marker/Length : 0 .
static std::string	typeMarkerLength ()
	Type of parameter Marker/Length , as a string: float .
static std::string	kMarkerLengths ()
	Key of parameter Marker/Lengths : uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str() Default value: "" (string).
static std::string	defaultMarkerLengths ()
	Default value of parameter Marker/Lengths : "" .
static std::string	typeMarkerLengths ()
	Type of parameter Marker/Lengths , as a string: string.
static std::string	kMarkerMaxDepthError ()
	Key of parameter Marker/MaxDepthError : uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()) Default value: 0.01 ( float ).
static float	defaultMarkerMaxDepthError ()
	Default value of parameter Marker/MaxDepthError : 0.01 .
static std::string	typeMarkerMaxDepthError ()
	Type of parameter Marker/MaxDepthError , as a string: float .
static std::string	kMarkerVarianceLinear ()
	Key of parameter Marker/VarianceLinear : uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()) Default value: 0.001 ( float ).
static float	defaultMarkerVarianceLinear ()
	Default value of parameter Marker/VarianceLinear : 0.001 .
static std::string	typeMarkerVarianceLinear ()
	Type of parameter Marker/VarianceLinear , as a string: float .
static std::string	kMarkerVarianceAngular ()
	Key of parameter Marker/VarianceAngular : uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()) Default value: 0.01 ( float ).
static float	defaultMarkerVarianceAngular ()
	Default value of parameter Marker/VarianceAngular : 0.01 .
static std::string	typeMarkerVarianceAngular ()
	Type of parameter Marker/VarianceAngular , as a string: float .
static std::string	kMarkerVarianceOrientationIgnored ()
	Key of parameter Marker/VarianceOrientationIgnored : uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()) Default value: false ( bool ).
static bool	defaultMarkerVarianceOrientationIgnored ()
	Default value of parameter Marker/VarianceOrientationIgnored : false .
static std::string	typeMarkerVarianceOrientationIgnored ()
	Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .
static std::string	kMarkerMaxRange ()
	Key of parameter Marker/MaxRange : "Maximum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).
static float	defaultMarkerMaxRange ()
	Default value of parameter Marker/MaxRange : 0.0 .
static std::string	typeMarkerMaxRange ()
	Type of parameter Marker/MaxRange , as a string: float .
static std::string	kMarkerMinRange ()
	Key of parameter Marker/MinRange : "Miniminum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).
static float	defaultMarkerMinRange ()
	Default value of parameter Marker/MinRange : 0.0 .
static std::string	typeMarkerMinRange ()
	Type of parameter Marker/MinRange , as a string: float .
static std::string	kMarkerPriors ()
	Key of parameter Marker/Priors : "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation)." Default value: "" (string).
static std::string	defaultMarkerPriors ()
	Default value of parameter Marker/Priors : "" .
static std::string	typeMarkerPriors ()
	Type of parameter Marker/Priors , as a string: string.
static std::string	kMarkerPriorsVarianceLinear ()
	Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).
static float	defaultMarkerPriorsVarianceLinear ()
	Default value of parameter Marker/PriorsVarianceLinear : 0.001 .
static std::string	typeMarkerPriorsVarianceLinear ()
	Type of parameter Marker/PriorsVarianceLinear , as a string: float .
static std::string	kMarkerPriorsVarianceAngular ()
	Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).
static float	defaultMarkerPriorsVarianceAngular ()
	Default value of parameter Marker/PriorsVarianceAngular : 0.001 .
static std::string	typeMarkerPriorsVarianceAngular ()
	Type of parameter Marker/PriorsVarianceAngular , as a string: float .
static std::string	kMarkerAprilTagNThreads ()
	Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).
static int	defaultMarkerAprilTagNThreads ()
	Default value of parameter MarkerAprilTag/NThreads : 1 .
static std::string	typeMarkerAprilTagNThreads ()
	Type of parameter MarkerAprilTag/NThreads , as a string: int .
static std::string	kMarkerAprilTagQuadDecimate ()
	Key of parameter MarkerAprilTag/QuadDecimate : "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution." Default value: 1.0 ( float ).
static float	defaultMarkerAprilTagQuadDecimate ()
	Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .
static std::string	typeMarkerAprilTagQuadDecimate ()
	Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .
static std::string	kMarkerAprilTagQuadSigma ()
	Key of parameter MarkerAprilTag/QuadSigma : "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8)." Default value: 0.0 ( float ).
static float	defaultMarkerAprilTagQuadSigma ()
	Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .
static std::string	typeMarkerAprilTagQuadSigma ()
	Type of parameter MarkerAprilTag/QuadSigma , as a string: float .
static std::string	kMarkerAprilTagRefineEdges ()
	Key of parameter MarkerAprilTag/RefineEdges : uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()) Default value: true ( bool ).
static bool	defaultMarkerAprilTagRefineEdges ()
	Default value of parameter MarkerAprilTag/RefineEdges : true .
static std::string	typeMarkerAprilTagRefineEdges ()
	Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .
static std::string	kMarkerAprilTagDecodeSharpening ()
	Key of parameter MarkerAprilTag/DecodeSharpening : "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions." Default value: 0.25 ( double ).
static double	defaultMarkerAprilTagDecodeSharpening ()
	Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .
static std::string	typeMarkerAprilTagDecodeSharpening ()
	Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .
static std::string	kMarkerAprilTagDebug ()
	Key of parameter MarkerAprilTag/Debug : uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()) Default value: false ( bool ).
static bool	defaultMarkerAprilTagDebug ()
	Default value of parameter MarkerAprilTag/Debug : false .
static std::string	typeMarkerAprilTagDebug ()
	Type of parameter MarkerAprilTag/Debug , as a string: bool .
static std::string	kMarkerOpenCVCornerRefinementMethod ()
	Key of parameter MarkerOpenCV/CornerRefinementMethod : "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true." Default value: 0 ( int ).
static int	defaultMarkerOpenCVCornerRefinementMethod ()
	Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .
static std::string	typeMarkerOpenCVCornerRefinementMethod ()
	Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .
static std::string	kImuFilterMadgwickGain ()
	Key of parameter ImuFilter/MadgwickGain : "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1]." Default value: 0.1 ( double ).
static double	defaultImuFilterMadgwickGain ()
	Default value of parameter ImuFilter/MadgwickGain : 0.1 .
static std::string	typeImuFilterMadgwickGain ()
	Type of parameter ImuFilter/MadgwickGain , as a string: double .
static std::string	kImuFilterMadgwickZeta ()
	Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).
static double	defaultImuFilterMadgwickZeta ()
	Default value of parameter ImuFilter/MadgwickZeta : 0.0 .
static std::string	typeImuFilterMadgwickZeta ()
	Type of parameter ImuFilter/MadgwickZeta , as a string: double .
static std::string	kImuFilterComplementaryGainAcc ()
	Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).
static double	defaultImuFilterComplementaryGainAcc ()
	Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .
static std::string	typeImuFilterComplementaryGainAcc ()
	Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .
static std::string	kImuFilterComplementaryBiasAlpha ()
	Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).
static double	defaultImuFilterComplementaryBiasAlpha ()
	Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .
static std::string	typeImuFilterComplementaryBiasAlpha ()
	Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .
static std::string	kImuFilterComplementaryDoBiasEstimation ()
	Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).
static bool	defaultImuFilterComplementaryDoBiasEstimation ()
	Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .
static std::string	typeImuFilterComplementaryDoBiasEstimation ()
	Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .
static std::string	kImuFilterComplementaryDoAdpativeGain ()
	Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).
static bool	defaultImuFilterComplementaryDoAdpativeGain ()
	Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .
static std::string	typeImuFilterComplementaryDoAdpativeGain ()
	Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .
static const ParametersMap &	getDefaultParameters ()
static std::string	getType (const std::string &paramKey)
static std::string	getDescription (const std::string &paramKey)
static bool	parse (const ParametersMap &parameters, const std::string &key, bool &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, int &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, unsigned int &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, float &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, double &value)
static bool	parse (const ParametersMap &parameters, const std::string &key, std::string &value)
static void	parse (const ParametersMap &parameters, ParametersMap &parametersOut)
static const char *	showUsage ()
static ParametersMap	parseArguments (int argc, char *argv[], bool onlyParameters=false)
static std::string	getVersion ()
static std::string	getDefaultDatabaseName ()
static std::string	serialize (const ParametersMap &parameters)
static ParametersMap	deserialize (const std::string &parameters)
static bool	isFeatureParameter (const std::string &param)
static ParametersMap	getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
static ParametersMap	getDefaultParameters (const std::string &group)
static ParametersMap	filterParameters (const ParametersMap &parameters, const std::string &group, bool remove=false)
static void	readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
static void	readINIStr (const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false)
static void	writeINI (const std::string &configFile, const ParametersMap &parameters)
static const std::map< std::string, std::pair< bool, std::string > > &	getRemovedParameters ()
static const ParametersMap &	getBackwardCompatibilityMap ()
static std::string	createDefaultWorkingDirectory ()

Detailed Description

Class Parameters. This class is used to manage all custom parameters we want in the application. It was designed to be very easy to add a new parameter (just by adding one line of code). The macro PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE) is used to create a parameter in this class. A parameter can be accessed after by Parameters::defaultPARAMETERNAME() for the default value, Parameters::kPARAMETERNAME for his key (parameter name). The class provides also a general map containing all the parameter's key and default value. This map can be accessed anywhere in the application by Parameters::getDefaultParameters(); Example:

//Defining a parameter in this class with the macro PARAM:
PARAM(Video, ImageWidth, int, 640);
 
// Now from anywhere in the application (Parameters is a singleton)
int width = Parameters::defaultVideoImageWidth(); // theDefaultValue = 640
std::string theKey = Parameters::kVideoImageWidth(); // theKey = "Video/ImageWidth"
std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"

See also

getDefaultParameters()

The Parameter reference page, which lists every parameter with its type, default value and description.

Definition at line 182 of file Parameters.h.

Member Function Documentation

kRtabmapPublishStats()

static std::string rtabmap::Parameters::kRtabmapPublishStats ( )

inlinestatic

Key of parameter Rtabmap/PublishStats : "Publishing statistics." Default value: true ( bool ).

Definition at line 185 of file Parameters.h.

defaultRtabmapPublishStats()

static bool rtabmap::Parameters::defaultRtabmapPublishStats ( )

inlinestatic

Default value of parameter Rtabmap/PublishStats : true .

Definition at line 185 of file Parameters.h.

typeRtabmapPublishStats()

static std::string rtabmap::Parameters::typeRtabmapPublishStats ( )

inlinestatic

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

Definition at line 185 of file Parameters.h.

kRtabmapPublishLastSignature()

static std::string rtabmap::Parameters::kRtabmapPublishLastSignature ( )

inlinestatic

Key of parameter Rtabmap/PublishLastSignature : "Publishing last signature." Default value: true ( bool ).

Definition at line 186 of file Parameters.h.

defaultRtabmapPublishLastSignature()

static bool rtabmap::Parameters::defaultRtabmapPublishLastSignature ( )

inlinestatic

Default value of parameter Rtabmap/PublishLastSignature : true .

Definition at line 186 of file Parameters.h.

typeRtabmapPublishLastSignature()

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

inlinestatic

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

Definition at line 186 of file Parameters.h.

kRtabmapPublishPdf()

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

inlinestatic

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

Definition at line 187 of file Parameters.h.

defaultRtabmapPublishPdf()

static bool rtabmap::Parameters::defaultRtabmapPublishPdf ( )

inlinestatic

Default value of parameter Rtabmap/PublishPdf : true .

Definition at line 187 of file Parameters.h.

typeRtabmapPublishPdf()

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

inlinestatic

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

Definition at line 187 of file Parameters.h.

kRtabmapPublishLikelihood()

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

inlinestatic

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

Definition at line 188 of file Parameters.h.

defaultRtabmapPublishLikelihood()

static bool rtabmap::Parameters::defaultRtabmapPublishLikelihood ( )

inlinestatic

Default value of parameter Rtabmap/PublishLikelihood : true .

Definition at line 188 of file Parameters.h.

typeRtabmapPublishLikelihood()

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

inlinestatic

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

Definition at line 188 of file Parameters.h.

kRtabmapPublishRAMUsage()

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

inlinestatic

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

Definition at line 189 of file Parameters.h.

defaultRtabmapPublishRAMUsage()

static bool rtabmap::Parameters::defaultRtabmapPublishRAMUsage ( )

inlinestatic

Default value of parameter Rtabmap/PublishRAMUsage : false .

Definition at line 189 of file Parameters.h.

typeRtabmapPublishRAMUsage()

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

inlinestatic

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

Definition at line 189 of file Parameters.h.

kRtabmapComputeRMSE()

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

inlinestatic

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

Definition at line 190 of file Parameters.h.

defaultRtabmapComputeRMSE()

static bool rtabmap::Parameters::defaultRtabmapComputeRMSE ( )

inlinestatic

Default value of parameter Rtabmap/ComputeRMSE : true .

Definition at line 190 of file Parameters.h.

typeRtabmapComputeRMSE()

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

inlinestatic

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

Definition at line 190 of file Parameters.h.

kRtabmapSaveWMState()

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

inlinestatic

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

Definition at line 191 of file Parameters.h.

defaultRtabmapSaveWMState()

static bool rtabmap::Parameters::defaultRtabmapSaveWMState ( )

inlinestatic

Default value of parameter Rtabmap/SaveWMState : false .

Definition at line 191 of file Parameters.h.

typeRtabmapSaveWMState()

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

inlinestatic

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

Definition at line 191 of file Parameters.h.

kRtabmapTimeThr()

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

inlinestatic

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

Definition at line 192 of file Parameters.h.

defaultRtabmapTimeThr()

static float rtabmap::Parameters::defaultRtabmapTimeThr ( )

inlinestatic

Default value of parameter Rtabmap/TimeThr : 0 .

Definition at line 192 of file Parameters.h.

typeRtabmapTimeThr()

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

inlinestatic

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

Definition at line 192 of file Parameters.h.

kRtabmapMemoryThr()

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

inlinestatic

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

Definition at line 193 of file Parameters.h.

defaultRtabmapMemoryThr()

static int rtabmap::Parameters::defaultRtabmapMemoryThr ( )

inlinestatic

Default value of parameter Rtabmap/MemoryThr : 0 .

Definition at line 193 of file Parameters.h.

typeRtabmapMemoryThr()

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

inlinestatic

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

Definition at line 193 of file Parameters.h.

kRtabmapDetectionRate()

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

inlinestatic

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

Definition at line 194 of file Parameters.h.

defaultRtabmapDetectionRate()

static float rtabmap::Parameters::defaultRtabmapDetectionRate ( )

inlinestatic

Default value of parameter Rtabmap/DetectionRate : 1 .

Definition at line 194 of file Parameters.h.

typeRtabmapDetectionRate()

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

inlinestatic

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

Definition at line 194 of file Parameters.h.

kRtabmapImageBufferSize()

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

inlinestatic

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

Definition at line 195 of file Parameters.h.

defaultRtabmapImageBufferSize()

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

inlinestatic

Default value of parameter Rtabmap/ImageBufferSize : 1 .

Definition at line 195 of file Parameters.h.

typeRtabmapImageBufferSize()

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

inlinestatic

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

Definition at line 195 of file Parameters.h.

kRtabmapCreateIntermediateNodes()

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

inlinestatic

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

Definition at line 196 of file Parameters.h.

defaultRtabmapCreateIntermediateNodes()

static bool rtabmap::Parameters::defaultRtabmapCreateIntermediateNodes ( )

inlinestatic

Default value of parameter Rtabmap/CreateIntermediateNodes : false .

Definition at line 196 of file Parameters.h.

typeRtabmapCreateIntermediateNodes()

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

inlinestatic

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

Definition at line 196 of file Parameters.h.

kRtabmapWorkingDirectory()

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

inlinestatic

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

Definition at line 197 of file Parameters.h.

defaultRtabmapWorkingDirectory()

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

inlinestatic

Default value of parameter Rtabmap/WorkingDirectory : "" .

Definition at line 197 of file Parameters.h.

typeRtabmapWorkingDirectory()

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

inlinestatic

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

Definition at line 197 of file Parameters.h.

kRtabmapMaxRetrieved()

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

inlinestatic

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

Definition at line 198 of file Parameters.h.

defaultRtabmapMaxRetrieved()

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

inlinestatic

Default value of parameter Rtabmap/MaxRetrieved : 2 .

Definition at line 198 of file Parameters.h.

typeRtabmapMaxRetrieved()

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

inlinestatic

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

Definition at line 198 of file Parameters.h.

kRtabmapMaxRepublished()

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

inlinestatic

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

Definition at line 199 of file Parameters.h.

defaultRtabmapMaxRepublished()

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

inlinestatic

Default value of parameter Rtabmap/MaxRepublished : 2 .

Definition at line 199 of file Parameters.h.

typeRtabmapMaxRepublished()

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

inlinestatic

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

Definition at line 199 of file Parameters.h.

kRtabmapStatisticLogsBufferedInRAM()

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

inlinestatic

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

Definition at line 200 of file Parameters.h.

defaultRtabmapStatisticLogsBufferedInRAM()

static bool rtabmap::Parameters::defaultRtabmapStatisticLogsBufferedInRAM ( )

inlinestatic

Default value of parameter Rtabmap/StatisticLogsBufferedInRAM : true .

Definition at line 200 of file Parameters.h.

typeRtabmapStatisticLogsBufferedInRAM()

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

inlinestatic

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

Definition at line 200 of file Parameters.h.

kRtabmapStatisticLogged()

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

inlinestatic

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

Definition at line 201 of file Parameters.h.

defaultRtabmapStatisticLogged()

static bool rtabmap::Parameters::defaultRtabmapStatisticLogged ( )

inlinestatic

Default value of parameter Rtabmap/StatisticLogged : false .

Definition at line 201 of file Parameters.h.

typeRtabmapStatisticLogged()

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

inlinestatic

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

Definition at line 201 of file Parameters.h.

kRtabmapStatisticLoggedHeaders()

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

inlinestatic

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

Definition at line 202 of file Parameters.h.

defaultRtabmapStatisticLoggedHeaders()

static bool rtabmap::Parameters::defaultRtabmapStatisticLoggedHeaders ( )

inlinestatic

Default value of parameter Rtabmap/StatisticLoggedHeaders : true .

Definition at line 202 of file Parameters.h.

typeRtabmapStatisticLoggedHeaders()

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

inlinestatic

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

Definition at line 202 of file Parameters.h.

kRtabmapStartNewMapOnLoopClosure()

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

inlinestatic

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

Definition at line 203 of file Parameters.h.

defaultRtabmapStartNewMapOnLoopClosure()

static bool rtabmap::Parameters::defaultRtabmapStartNewMapOnLoopClosure ( )

inlinestatic

Default value of parameter Rtabmap/StartNewMapOnLoopClosure : false .

Definition at line 203 of file Parameters.h.

typeRtabmapStartNewMapOnLoopClosure()

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

inlinestatic

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

Definition at line 203 of file Parameters.h.

kRtabmapStartNewMapOnGoodSignature()

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

inlinestatic

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

Definition at line 204 of file Parameters.h.

defaultRtabmapStartNewMapOnGoodSignature()

static bool rtabmap::Parameters::defaultRtabmapStartNewMapOnGoodSignature ( )

inlinestatic

Default value of parameter Rtabmap/StartNewMapOnGoodSignature : false .

Definition at line 204 of file Parameters.h.

typeRtabmapStartNewMapOnGoodSignature()

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

inlinestatic

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

Definition at line 204 of file Parameters.h.

kRtabmapImagesAlreadyRectified()

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

inlinestatic

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

Definition at line 205 of file Parameters.h.

defaultRtabmapImagesAlreadyRectified()

static bool rtabmap::Parameters::defaultRtabmapImagesAlreadyRectified ( )

inlinestatic

Default value of parameter Rtabmap/ImagesAlreadyRectified : true .

Definition at line 205 of file Parameters.h.

typeRtabmapImagesAlreadyRectified()

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

inlinestatic

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

Definition at line 205 of file Parameters.h.

kRtabmapRectifyOnlyFeatures()

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

inlinestatic

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

Definition at line 206 of file Parameters.h.

defaultRtabmapRectifyOnlyFeatures()

static bool rtabmap::Parameters::defaultRtabmapRectifyOnlyFeatures ( )

inlinestatic

Default value of parameter Rtabmap/RectifyOnlyFeatures : false .

Definition at line 206 of file Parameters.h.

typeRtabmapRectifyOnlyFeatures()

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

inlinestatic

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

Definition at line 206 of file Parameters.h.

kRtabmapLoopThr()

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

inlinestatic

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

Definition at line 209 of file Parameters.h.

defaultRtabmapLoopThr()

static float rtabmap::Parameters::defaultRtabmapLoopThr ( )

inlinestatic

Default value of parameter Rtabmap/LoopThr : 0.11 .

Definition at line 209 of file Parameters.h.

typeRtabmapLoopThr()

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

inlinestatic

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

Definition at line 209 of file Parameters.h.

kRtabmapLoopRatio()

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

inlinestatic

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

Definition at line 210 of file Parameters.h.

defaultRtabmapLoopRatio()

static float rtabmap::Parameters::defaultRtabmapLoopRatio ( )

inlinestatic

Default value of parameter Rtabmap/LoopRatio : 0 .

Definition at line 210 of file Parameters.h.

typeRtabmapLoopRatio()

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

inlinestatic

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

Definition at line 210 of file Parameters.h.

kRtabmapLoopGPS()

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

inlinestatic

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

Definition at line 211 of file Parameters.h.

defaultRtabmapLoopGPS()

static bool rtabmap::Parameters::defaultRtabmapLoopGPS ( )

inlinestatic

Default value of parameter Rtabmap/LoopGPS : true .

Definition at line 211 of file Parameters.h.

typeRtabmapLoopGPS()

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

inlinestatic

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

Definition at line 211 of file Parameters.h.

kRtabmapVirtualPlaceLikelihoodRatio()

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

inlinestatic

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

Definition at line 212 of file Parameters.h.

defaultRtabmapVirtualPlaceLikelihoodRatio()

static int rtabmap::Parameters::defaultRtabmapVirtualPlaceLikelihoodRatio ( )

inlinestatic

Default value of parameter Rtabmap/VirtualPlaceLikelihoodRatio : 0 .

Definition at line 212 of file Parameters.h.

typeRtabmapVirtualPlaceLikelihoodRatio()

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

inlinestatic

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

Definition at line 212 of file Parameters.h.

kMemRehearsalSimilarity()

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

inlinestatic

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

Definition at line 215 of file Parameters.h.

defaultMemRehearsalSimilarity()

static float rtabmap::Parameters::defaultMemRehearsalSimilarity ( )

inlinestatic

Default value of parameter Mem/RehearsalSimilarity : 0.6 .

Definition at line 215 of file Parameters.h.

typeMemRehearsalSimilarity()

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

inlinestatic

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

Definition at line 215 of file Parameters.h.

kMemImageKept()

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

inlinestatic

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

Definition at line 216 of file Parameters.h.

defaultMemImageKept()

static bool rtabmap::Parameters::defaultMemImageKept ( )

inlinestatic

Default value of parameter Mem/ImageKept : false .

Definition at line 216 of file Parameters.h.

typeMemImageKept()

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

inlinestatic

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

Definition at line 216 of file Parameters.h.

kMemBinDataKept()

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

inlinestatic

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

Definition at line 217 of file Parameters.h.

defaultMemBinDataKept()

static bool rtabmap::Parameters::defaultMemBinDataKept ( )

inlinestatic

Default value of parameter Mem/BinDataKept : true .

Definition at line 217 of file Parameters.h.

typeMemBinDataKept()

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

inlinestatic

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

Definition at line 217 of file Parameters.h.

kMemRawDescriptorsKept()

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

inlinestatic

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

Definition at line 218 of file Parameters.h.

defaultMemRawDescriptorsKept()

static bool rtabmap::Parameters::defaultMemRawDescriptorsKept ( )

inlinestatic

Default value of parameter Mem/RawDescriptorsKept : true .

Definition at line 218 of file Parameters.h.

typeMemRawDescriptorsKept()

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

inlinestatic

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

Definition at line 218 of file Parameters.h.

kMemLoadVisualLocalFeaturesOnInit()

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

inlinestatic

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

Definition at line 219 of file Parameters.h.

defaultMemLoadVisualLocalFeaturesOnInit()

static bool rtabmap::Parameters::defaultMemLoadVisualLocalFeaturesOnInit ( )

inlinestatic

Default value of parameter Mem/LoadVisualLocalFeaturesOnInit : true .

Definition at line 219 of file Parameters.h.

typeMemLoadVisualLocalFeaturesOnInit()

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

inlinestatic

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

Definition at line 219 of file Parameters.h.

kMemMapLabelsAdded()

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

inlinestatic

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

Definition at line 220 of file Parameters.h.

defaultMemMapLabelsAdded()

static bool rtabmap::Parameters::defaultMemMapLabelsAdded ( )

inlinestatic

Default value of parameter Mem/MapLabelsAdded : true .

Definition at line 220 of file Parameters.h.

typeMemMapLabelsAdded()

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

inlinestatic

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

Definition at line 220 of file Parameters.h.

kMemSaveDepth16Format()

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

inlinestatic

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

Definition at line 221 of file Parameters.h.

defaultMemSaveDepth16Format()

static bool rtabmap::Parameters::defaultMemSaveDepth16Format ( )

inlinestatic

Default value of parameter Mem/SaveDepth16Format : false .

Definition at line 221 of file Parameters.h.

typeMemSaveDepth16Format()

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

inlinestatic

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

Definition at line 221 of file Parameters.h.

kMemNotLinkedNodesKept()

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

inlinestatic

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

Definition at line 222 of file Parameters.h.

defaultMemNotLinkedNodesKept()

static bool rtabmap::Parameters::defaultMemNotLinkedNodesKept ( )

inlinestatic

Default value of parameter Mem/NotLinkedNodesKept : true .

Definition at line 222 of file Parameters.h.

typeMemNotLinkedNodesKept()

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

inlinestatic

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

Definition at line 222 of file Parameters.h.

kMemIntermediateNodeDataKept()

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

inlinestatic

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

Definition at line 223 of file Parameters.h.

defaultMemIntermediateNodeDataKept()

static bool rtabmap::Parameters::defaultMemIntermediateNodeDataKept ( )

inlinestatic

Default value of parameter Mem/IntermediateNodeDataKept : false .

Definition at line 223 of file Parameters.h.

typeMemIntermediateNodeDataKept()

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

inlinestatic

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

Definition at line 223 of file Parameters.h.

kMemImageCompressionFormat()

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

inlinestatic

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

Definition at line 224 of file Parameters.h.

defaultMemImageCompressionFormat()

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

inlinestatic

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

Definition at line 224 of file Parameters.h.

typeMemImageCompressionFormat()

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

inlinestatic

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

Definition at line 224 of file Parameters.h.

kMemDepthCompressionFormat()

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

inlinestatic

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

Definition at line 225 of file Parameters.h.

defaultMemDepthCompressionFormat()

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

inlinestatic

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

Definition at line 225 of file Parameters.h.

typeMemDepthCompressionFormat()

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

inlinestatic

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

Definition at line 225 of file Parameters.h.

kMemSTMSize()

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

inlinestatic

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

Definition at line 226 of file Parameters.h.

defaultMemSTMSize()

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

inlinestatic

Default value of parameter Mem/STMSize : 10 .

Definition at line 226 of file Parameters.h.

typeMemSTMSize()

static std::string rtabmap::Parameters::typeMemSTMSize ( )

inlinestatic

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

Definition at line 226 of file Parameters.h.

kMemIncrementalMemory()

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

inlinestatic

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

Definition at line 227 of file Parameters.h.

defaultMemIncrementalMemory()

static bool rtabmap::Parameters::defaultMemIncrementalMemory ( )

inlinestatic

Default value of parameter Mem/IncrementalMemory : true .

Definition at line 227 of file Parameters.h.

typeMemIncrementalMemory()

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

inlinestatic

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

Definition at line 227 of file Parameters.h.

kMemLocalizationReadOnly()

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

inlinestatic

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

Definition at line 228 of file Parameters.h.

defaultMemLocalizationReadOnly()

static bool rtabmap::Parameters::defaultMemLocalizationReadOnly ( )

inlinestatic

Default value of parameter Mem/LocalizationReadOnly : false .

Definition at line 228 of file Parameters.h.

typeMemLocalizationReadOnly()

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

inlinestatic

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

Definition at line 228 of file Parameters.h.

kMemLocalizationDataSaved()

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

inlinestatic

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

Definition at line 229 of file Parameters.h.

defaultMemLocalizationDataSaved()

static bool rtabmap::Parameters::defaultMemLocalizationDataSaved ( )

inlinestatic

Default value of parameter Mem/LocalizationDataSaved : false .

Definition at line 229 of file Parameters.h.

typeMemLocalizationDataSaved()

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

inlinestatic

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

Definition at line 229 of file Parameters.h.

kMemReduceGraph()

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

inlinestatic

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

Definition at line 230 of file Parameters.h.

defaultMemReduceGraph()

static bool rtabmap::Parameters::defaultMemReduceGraph ( )

inlinestatic

Default value of parameter Mem/ReduceGraph : false .

Definition at line 230 of file Parameters.h.

typeMemReduceGraph()

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

inlinestatic

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

Definition at line 230 of file Parameters.h.

kMemRecentWmRatio()

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

inlinestatic

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

Definition at line 231 of file Parameters.h.

defaultMemRecentWmRatio()

static float rtabmap::Parameters::defaultMemRecentWmRatio ( )

inlinestatic

Default value of parameter Mem/RecentWmRatio : 0.2 .

Definition at line 231 of file Parameters.h.

typeMemRecentWmRatio()

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

inlinestatic

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

Definition at line 231 of file Parameters.h.

kMemTransferSortingByWeightId()

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

inlinestatic

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

Definition at line 232 of file Parameters.h.

defaultMemTransferSortingByWeightId()

static bool rtabmap::Parameters::defaultMemTransferSortingByWeightId ( )

inlinestatic

Default value of parameter Mem/TransferSortingByWeightId : false .

Definition at line 232 of file Parameters.h.

typeMemTransferSortingByWeightId()

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

inlinestatic

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

Definition at line 232 of file Parameters.h.

kMemRehearsalIdUpdatedToNewOne()

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

inlinestatic

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

Definition at line 233 of file Parameters.h.

defaultMemRehearsalIdUpdatedToNewOne()

static bool rtabmap::Parameters::defaultMemRehearsalIdUpdatedToNewOne ( )

inlinestatic

Default value of parameter Mem/RehearsalIdUpdatedToNewOne : false .

Definition at line 233 of file Parameters.h.

typeMemRehearsalIdUpdatedToNewOne()

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

inlinestatic

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

Definition at line 233 of file Parameters.h.

kMemRehearsalWeightIgnoredWhileMoving()

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

inlinestatic

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

Definition at line 234 of file Parameters.h.

defaultMemRehearsalWeightIgnoredWhileMoving()

static bool rtabmap::Parameters::defaultMemRehearsalWeightIgnoredWhileMoving ( )

inlinestatic

Default value of parameter Mem/RehearsalWeightIgnoredWhileMoving : false .

Definition at line 234 of file Parameters.h.

typeMemRehearsalWeightIgnoredWhileMoving()

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

inlinestatic

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

Definition at line 234 of file Parameters.h.

kMemGenerateIds()

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

inlinestatic

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

Definition at line 235 of file Parameters.h.

defaultMemGenerateIds()

static bool rtabmap::Parameters::defaultMemGenerateIds ( )

inlinestatic

Default value of parameter Mem/GenerateIds : true .

Definition at line 235 of file Parameters.h.

typeMemGenerateIds()

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

inlinestatic

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

Definition at line 235 of file Parameters.h.

kMemBadSignaturesIgnored()

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

inlinestatic

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

Definition at line 236 of file Parameters.h.

defaultMemBadSignaturesIgnored()

static bool rtabmap::Parameters::defaultMemBadSignaturesIgnored ( )

inlinestatic

Default value of parameter Mem/BadSignaturesIgnored : false .

Definition at line 236 of file Parameters.h.

typeMemBadSignaturesIgnored()

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

inlinestatic

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

Definition at line 236 of file Parameters.h.

kMemInitWMWithAllNodes()

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

inlinestatic

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

Definition at line 237 of file Parameters.h.

defaultMemInitWMWithAllNodes()

static bool rtabmap::Parameters::defaultMemInitWMWithAllNodes ( )

inlinestatic

Default value of parameter Mem/InitWMWithAllNodes : false .

Definition at line 237 of file Parameters.h.

typeMemInitWMWithAllNodes()

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

inlinestatic

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

Definition at line 237 of file Parameters.h.

kMemDepthAsMask()

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

inlinestatic

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

Definition at line 238 of file Parameters.h.

defaultMemDepthAsMask()

static bool rtabmap::Parameters::defaultMemDepthAsMask ( )

inlinestatic

Default value of parameter Mem/DepthAsMask : true .

Definition at line 238 of file Parameters.h.

typeMemDepthAsMask()

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

inlinestatic

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

Definition at line 238 of file Parameters.h.

kMemDepthMaskFloorThr()

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

inlinestatic

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

Definition at line 239 of file Parameters.h.

defaultMemDepthMaskFloorThr()

static float rtabmap::Parameters::defaultMemDepthMaskFloorThr ( )

inlinestatic

Default value of parameter Mem/DepthMaskFloorThr : 0.0 .

Definition at line 239 of file Parameters.h.

typeMemDepthMaskFloorThr()

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

inlinestatic

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

Definition at line 239 of file Parameters.h.

kMemStereoFromMotion()

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

inlinestatic

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

Definition at line 240 of file Parameters.h.

defaultMemStereoFromMotion()

static bool rtabmap::Parameters::defaultMemStereoFromMotion ( )

inlinestatic

Default value of parameter Mem/StereoFromMotion : false .

Definition at line 240 of file Parameters.h.

typeMemStereoFromMotion()

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

inlinestatic

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

Definition at line 240 of file Parameters.h.

kMemImagePreDecimation()

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

inlinestatic

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

Definition at line 241 of file Parameters.h.

defaultMemImagePreDecimation()

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

inlinestatic

Default value of parameter Mem/ImagePreDecimation : 1 .

Definition at line 241 of file Parameters.h.

typeMemImagePreDecimation()

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

inlinestatic

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

Definition at line 241 of file Parameters.h.

kMemImagePostDecimation()

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

inlinestatic

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

Definition at line 242 of file Parameters.h.

defaultMemImagePostDecimation()

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

inlinestatic

Default value of parameter Mem/ImagePostDecimation : 1 .

Definition at line 242 of file Parameters.h.

typeMemImagePostDecimation()

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

inlinestatic

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

Definition at line 242 of file Parameters.h.

kMemCompressionParallelized()

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

inlinestatic

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

Definition at line 243 of file Parameters.h.

defaultMemCompressionParallelized()

static bool rtabmap::Parameters::defaultMemCompressionParallelized ( )

inlinestatic

Default value of parameter Mem/CompressionParallelized : true .

Definition at line 243 of file Parameters.h.

typeMemCompressionParallelized()

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

inlinestatic

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

Definition at line 243 of file Parameters.h.

kMemLaserScanDownsampleStepSize()

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

inlinestatic

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

Definition at line 244 of file Parameters.h.

defaultMemLaserScanDownsampleStepSize()

static int rtabmap::Parameters::defaultMemLaserScanDownsampleStepSize ( )

inlinestatic

Default value of parameter Mem/LaserScanDownsampleStepSize : 1 .

Definition at line 244 of file Parameters.h.

typeMemLaserScanDownsampleStepSize()

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

inlinestatic

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

Definition at line 244 of file Parameters.h.

kMemLaserScanVoxelSize()

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

inlinestatic

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

Definition at line 245 of file Parameters.h.

defaultMemLaserScanVoxelSize()

static float rtabmap::Parameters::defaultMemLaserScanVoxelSize ( )

inlinestatic

Default value of parameter Mem/LaserScanVoxelSize : 0.0 .

Definition at line 245 of file Parameters.h.

typeMemLaserScanVoxelSize()

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

inlinestatic

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

Definition at line 245 of file Parameters.h.

kMemLaserScanNormalK()

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

inlinestatic

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

Definition at line 246 of file Parameters.h.

defaultMemLaserScanNormalK()

static int rtabmap::Parameters::defaultMemLaserScanNormalK ( )

inlinestatic

Default value of parameter Mem/LaserScanNormalK : 0 .

Definition at line 246 of file Parameters.h.

typeMemLaserScanNormalK()

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

inlinestatic

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

Definition at line 246 of file Parameters.h.

kMemLaserScanNormalRadius()

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

inlinestatic

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

Definition at line 247 of file Parameters.h.

defaultMemLaserScanNormalRadius()

static float rtabmap::Parameters::defaultMemLaserScanNormalRadius ( )

inlinestatic

Default value of parameter Mem/LaserScanNormalRadius : 0.0 .

Definition at line 247 of file Parameters.h.

typeMemLaserScanNormalRadius()

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

inlinestatic

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

Definition at line 247 of file Parameters.h.

kMemUseOdomFeatures()

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

inlinestatic

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

Definition at line 248 of file Parameters.h.

defaultMemUseOdomFeatures()

static bool rtabmap::Parameters::defaultMemUseOdomFeatures ( )

inlinestatic

Default value of parameter Mem/UseOdomFeatures : true .

Definition at line 248 of file Parameters.h.

typeMemUseOdomFeatures()

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

inlinestatic

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

Definition at line 248 of file Parameters.h.

kMemUseOdomGravity()

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

inlinestatic

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

Definition at line 249 of file Parameters.h.

defaultMemUseOdomGravity()

static bool rtabmap::Parameters::defaultMemUseOdomGravity ( )

inlinestatic

Default value of parameter Mem/UseOdomGravity : false .

Definition at line 249 of file Parameters.h.

typeMemUseOdomGravity()

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

inlinestatic

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

Definition at line 249 of file Parameters.h.

kMemCovOffDiagIgnored()

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

inlinestatic

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

Definition at line 250 of file Parameters.h.

defaultMemCovOffDiagIgnored()

static bool rtabmap::Parameters::defaultMemCovOffDiagIgnored ( )

inlinestatic

Default value of parameter Mem/CovOffDiagIgnored : true .

Definition at line 250 of file Parameters.h.

typeMemCovOffDiagIgnored()

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

inlinestatic

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

Definition at line 250 of file Parameters.h.

kMemGlobalDescriptorStrategy()

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

inlinestatic

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

Definition at line 251 of file Parameters.h.

defaultMemGlobalDescriptorStrategy()

static int rtabmap::Parameters::defaultMemGlobalDescriptorStrategy ( )

inlinestatic

Default value of parameter Mem/GlobalDescriptorStrategy : 0 .

Definition at line 251 of file Parameters.h.

typeMemGlobalDescriptorStrategy()

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

inlinestatic

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

Definition at line 251 of file Parameters.h.

kMemRotateImagesUpsideUp()

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

inlinestatic

Key of parameter Mem/RotateImagesUpsideUp : "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet." Default value: false ( bool ).

Definition at line 252 of file Parameters.h.

defaultMemRotateImagesUpsideUp()

static bool rtabmap::Parameters::defaultMemRotateImagesUpsideUp ( )

inlinestatic

Default value of parameter Mem/RotateImagesUpsideUp : false .

Definition at line 252 of file Parameters.h.

typeMemRotateImagesUpsideUp()

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

inlinestatic

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

Definition at line 252 of file Parameters.h.

kKpNNStrategy()

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

inlinestatic

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

Definition at line 255 of file Parameters.h.

defaultKpNNStrategy()

static int rtabmap::Parameters::defaultKpNNStrategy ( )

inlinestatic

Default value of parameter Kp/NNStrategy : 1 .

Definition at line 255 of file Parameters.h.

typeKpNNStrategy()

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

inlinestatic

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

Definition at line 255 of file Parameters.h.

kKpIncrementalDictionary()

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

inlinestatic

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

Definition at line 256 of file Parameters.h.

defaultKpIncrementalDictionary()

static bool rtabmap::Parameters::defaultKpIncrementalDictionary ( )

inlinestatic

Default value of parameter Kp/IncrementalDictionary : true .

Definition at line 256 of file Parameters.h.

typeKpIncrementalDictionary()

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

inlinestatic

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

Definition at line 256 of file Parameters.h.

kKpIncrementalFlann()

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

inlinestatic

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

Definition at line 257 of file Parameters.h.

defaultKpIncrementalFlann()

static bool rtabmap::Parameters::defaultKpIncrementalFlann ( )

inlinestatic

Default value of parameter Kp/IncrementalFlann : true .

Definition at line 257 of file Parameters.h.

typeKpIncrementalFlann()

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

inlinestatic

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

Definition at line 257 of file Parameters.h.

kKpFlannRebalancingFactor()

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

inlinestatic

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

Definition at line 258 of file Parameters.h.

defaultKpFlannRebalancingFactor()

static float rtabmap::Parameters::defaultKpFlannRebalancingFactor ( )

inlinestatic

Default value of parameter Kp/FlannRebalancingFactor : 2.0 .

Definition at line 258 of file Parameters.h.

typeKpFlannRebalancingFactor()

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

inlinestatic

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

Definition at line 258 of file Parameters.h.

kKpByteToFloat()

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

inlinestatic

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

Definition at line 259 of file Parameters.h.

defaultKpByteToFloat()

static bool rtabmap::Parameters::defaultKpByteToFloat ( )

inlinestatic

Default value of parameter Kp/ByteToFloat : false .

Definition at line 259 of file Parameters.h.

typeKpByteToFloat()

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

inlinestatic

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

Definition at line 259 of file Parameters.h.

kKpMaxDepth()

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

inlinestatic

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

Definition at line 260 of file Parameters.h.

defaultKpMaxDepth()

static float rtabmap::Parameters::defaultKpMaxDepth ( )

inlinestatic

Default value of parameter Kp/MaxDepth : 0 .

Definition at line 260 of file Parameters.h.

typeKpMaxDepth()

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

inlinestatic

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

Definition at line 260 of file Parameters.h.

kKpMinDepth()

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

inlinestatic

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

Definition at line 261 of file Parameters.h.

defaultKpMinDepth()

static float rtabmap::Parameters::defaultKpMinDepth ( )

inlinestatic

Default value of parameter Kp/MinDepth : 0 .

Definition at line 261 of file Parameters.h.

typeKpMinDepth()

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

inlinestatic

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

Definition at line 261 of file Parameters.h.

kKpMaxFeatures()

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

inlinestatic

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

Definition at line 262 of file Parameters.h.

defaultKpMaxFeatures()

static int rtabmap::Parameters::defaultKpMaxFeatures ( )

inlinestatic

Default value of parameter Kp/MaxFeatures : 500 .

Definition at line 262 of file Parameters.h.

typeKpMaxFeatures()

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

inlinestatic

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

Definition at line 262 of file Parameters.h.

kKpSSC()

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

inlinestatic

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

Definition at line 263 of file Parameters.h.

defaultKpSSC()

static bool rtabmap::Parameters::defaultKpSSC ( )

inlinestatic

Default value of parameter Kp/SSC : false .

Definition at line 263 of file Parameters.h.

typeKpSSC()

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

inlinestatic

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

Definition at line 263 of file Parameters.h.

kKpBadSignRatio()

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

inlinestatic

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

Definition at line 264 of file Parameters.h.

defaultKpBadSignRatio()

static float rtabmap::Parameters::defaultKpBadSignRatio ( )

inlinestatic

Default value of parameter Kp/BadSignRatio : 0.5 .

Definition at line 264 of file Parameters.h.

typeKpBadSignRatio()

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

inlinestatic

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

Definition at line 264 of file Parameters.h.

kKpNndrRatio()

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

inlinestatic

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

Definition at line 265 of file Parameters.h.

defaultKpNndrRatio()

static float rtabmap::Parameters::defaultKpNndrRatio ( )

inlinestatic

Default value of parameter Kp/NndrRatio : 0.8 .

Definition at line 265 of file Parameters.h.

typeKpNndrRatio()

static std::string rtabmap::Parameters::typeKpNndrRatio ( )

inlinestatic

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

Definition at line 265 of file Parameters.h.

kKpDetectorStrategy()

static std::string rtabmap::Parameters::kKpDetectorStrategy ( )

inlinestatic

Key of parameter Kp/DetectorStrategy : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).

Definition at line 270 of file Parameters.h.

defaultKpDetectorStrategy()

static int rtabmap::Parameters::defaultKpDetectorStrategy ( )

inlinestatic

Default value of parameter Kp/DetectorStrategy : 6 .

Definition at line 270 of file Parameters.h.

typeKpDetectorStrategy()

static std::string rtabmap::Parameters::typeKpDetectorStrategy ( )

inlinestatic

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

Definition at line 270 of file Parameters.h.

kKpTfIdfLikelihoodUsed()

static std::string rtabmap::Parameters::kKpTfIdfLikelihoodUsed ( )

inlinestatic

Key of parameter Kp/TfIdfLikelihoodUsed : "Use of the td-idf strategy to compute the likelihood." Default value: true ( bool ).

Definition at line 272 of file Parameters.h.

defaultKpTfIdfLikelihoodUsed()

static bool rtabmap::Parameters::defaultKpTfIdfLikelihoodUsed ( )

inlinestatic

Default value of parameter Kp/TfIdfLikelihoodUsed : true .

Definition at line 272 of file Parameters.h.

typeKpTfIdfLikelihoodUsed()

static std::string rtabmap::Parameters::typeKpTfIdfLikelihoodUsed ( )

inlinestatic

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

Definition at line 272 of file Parameters.h.

kKpParallelized()

static std::string rtabmap::Parameters::kKpParallelized ( )

inlinestatic

Key of parameter Kp/Parallelized : "If the dictionary update and signature creation were parallelized." Default value: true ( bool ).

Definition at line 273 of file Parameters.h.

defaultKpParallelized()

static bool rtabmap::Parameters::defaultKpParallelized ( )

inlinestatic

Default value of parameter Kp/Parallelized : true .

Definition at line 273 of file Parameters.h.

typeKpParallelized()

static std::string rtabmap::Parameters::typeKpParallelized ( )

inlinestatic

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

Definition at line 273 of file Parameters.h.

kKpRoiRatios()

static std::string rtabmap::Parameters::kKpRoiRatios ( )

inlinestatic

Key of parameter Kp/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).

Definition at line 274 of file Parameters.h.

defaultKpRoiRatios()

static std::string rtabmap::Parameters::defaultKpRoiRatios ( )

inlinestatic

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

Definition at line 274 of file Parameters.h.

typeKpRoiRatios()

static std::string rtabmap::Parameters::typeKpRoiRatios ( )

inlinestatic

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

Definition at line 274 of file Parameters.h.

kKpDictionaryPath()

static std::string rtabmap::Parameters::kKpDictionaryPath ( )

inlinestatic

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

Definition at line 275 of file Parameters.h.

defaultKpDictionaryPath()

static std::string rtabmap::Parameters::defaultKpDictionaryPath ( )

inlinestatic

Default value of parameter Kp/DictionaryPath : "" .

Definition at line 275 of file Parameters.h.

typeKpDictionaryPath()

static std::string rtabmap::Parameters::typeKpDictionaryPath ( )

inlinestatic

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

Definition at line 275 of file Parameters.h.

kKpNewWordsComparedTogether()

static std::string rtabmap::Parameters::kKpNewWordsComparedTogether ( )

inlinestatic

Key of parameter Kp/NewWordsComparedTogether : "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature)." Default value: true ( bool ).

Definition at line 276 of file Parameters.h.

defaultKpNewWordsComparedTogether()

static bool rtabmap::Parameters::defaultKpNewWordsComparedTogether ( )

inlinestatic

Default value of parameter Kp/NewWordsComparedTogether : true .

Definition at line 276 of file Parameters.h.

typeKpNewWordsComparedTogether()

static std::string rtabmap::Parameters::typeKpNewWordsComparedTogether ( )

inlinestatic

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

Definition at line 276 of file Parameters.h.

kKpFlannIndexSaved()

static std::string rtabmap::Parameters::kKpFlannIndexSaved ( )

inlinestatic

Key of parameter Kp/FlannIndexSaved : uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str() Default value: false ( bool ).

Definition at line 277 of file Parameters.h.

defaultKpFlannIndexSaved()

static bool rtabmap::Parameters::defaultKpFlannIndexSaved ( )

inlinestatic

Default value of parameter Kp/FlannIndexSaved : false .

Definition at line 277 of file Parameters.h.

typeKpFlannIndexSaved()

static std::string rtabmap::Parameters::typeKpFlannIndexSaved ( )

inlinestatic

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

Definition at line 277 of file Parameters.h.

kKpSerializeWithChecksum()

static std::string rtabmap::Parameters::kKpSerializeWithChecksum ( )

inlinestatic

Key of parameter Kp/SerializeWithChecksum : "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built." Default value: true ( bool ).

Definition at line 278 of file Parameters.h.

defaultKpSerializeWithChecksum()

static bool rtabmap::Parameters::defaultKpSerializeWithChecksum ( )

inlinestatic

Default value of parameter Kp/SerializeWithChecksum : true .

Definition at line 278 of file Parameters.h.

typeKpSerializeWithChecksum()

static std::string rtabmap::Parameters::typeKpSerializeWithChecksum ( )

inlinestatic

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

Definition at line 278 of file Parameters.h.

kKpSubPixWinSize()

static std::string rtabmap::Parameters::kKpSubPixWinSize ( )

inlinestatic

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

Definition at line 279 of file Parameters.h.

defaultKpSubPixWinSize()

static int rtabmap::Parameters::defaultKpSubPixWinSize ( )

inlinestatic

Default value of parameter Kp/SubPixWinSize : 3 .

Definition at line 279 of file Parameters.h.

typeKpSubPixWinSize()

static std::string rtabmap::Parameters::typeKpSubPixWinSize ( )

inlinestatic

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

Definition at line 279 of file Parameters.h.

kKpSubPixIterations()

static std::string rtabmap::Parameters::kKpSubPixIterations ( )

inlinestatic

Key of parameter Kp/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

Definition at line 280 of file Parameters.h.

defaultKpSubPixIterations()

static int rtabmap::Parameters::defaultKpSubPixIterations ( )

inlinestatic

Default value of parameter Kp/SubPixIterations : 0 .

Definition at line 280 of file Parameters.h.

typeKpSubPixIterations()

static std::string rtabmap::Parameters::typeKpSubPixIterations ( )

inlinestatic

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

Definition at line 280 of file Parameters.h.

kKpSubPixEps()

static std::string rtabmap::Parameters::kKpSubPixEps ( )

inlinestatic

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

Definition at line 281 of file Parameters.h.

defaultKpSubPixEps()

static double rtabmap::Parameters::defaultKpSubPixEps ( )

inlinestatic

Default value of parameter Kp/SubPixEps : 0.02 .

Definition at line 281 of file Parameters.h.

typeKpSubPixEps()

static std::string rtabmap::Parameters::typeKpSubPixEps ( )

inlinestatic

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

Definition at line 281 of file Parameters.h.

kKpGridRows()

static std::string rtabmap::Parameters::kKpGridRows ( )

inlinestatic

Key of parameter Kp/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).

Definition at line 282 of file Parameters.h.

defaultKpGridRows()

static int rtabmap::Parameters::defaultKpGridRows ( )

inlinestatic

Default value of parameter Kp/GridRows : 1 .

Definition at line 282 of file Parameters.h.

typeKpGridRows()

static std::string rtabmap::Parameters::typeKpGridRows ( )

inlinestatic

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

Definition at line 282 of file Parameters.h.

kKpGridCols()

static std::string rtabmap::Parameters::kKpGridCols ( )

inlinestatic

Key of parameter Kp/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()) Default value: 1 ( int ).

Definition at line 283 of file Parameters.h.

defaultKpGridCols()

static int rtabmap::Parameters::defaultKpGridCols ( )

inlinestatic

Default value of parameter Kp/GridCols : 1 .

Definition at line 283 of file Parameters.h.

typeKpGridCols()

static std::string rtabmap::Parameters::typeKpGridCols ( )

inlinestatic

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

Definition at line 283 of file Parameters.h.

kDbSqlite3InMemory()

static std::string rtabmap::Parameters::kDbSqlite3InMemory ( )

inlinestatic

Key of parameter DbSqlite3/InMemory : "Using database in the memory instead of a file on the hard disk." Default value: false ( bool ).

Definition at line 286 of file Parameters.h.

defaultDbSqlite3InMemory()

static bool rtabmap::Parameters::defaultDbSqlite3InMemory ( )

inlinestatic

Default value of parameter DbSqlite3/InMemory : false .

Definition at line 286 of file Parameters.h.

typeDbSqlite3InMemory()

static std::string rtabmap::Parameters::typeDbSqlite3InMemory ( )

inlinestatic

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

Definition at line 286 of file Parameters.h.

kDbSqlite3CacheSize()

static std::string rtabmap::Parameters::kDbSqlite3CacheSize ( )

inlinestatic

Key of parameter DbSqlite3/CacheSize : "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). " "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages." Default value: 10000 ( unsigned int ).

Definition at line 289 of file Parameters.h.

defaultDbSqlite3CacheSize()

static unsigned int rtabmap::Parameters::defaultDbSqlite3CacheSize ( )

inlinestatic

Default value of parameter DbSqlite3/CacheSize : 10000 .

Definition at line 289 of file Parameters.h.

typeDbSqlite3CacheSize()

static std::string rtabmap::Parameters::typeDbSqlite3CacheSize ( )

inlinestatic

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

Definition at line 289 of file Parameters.h.

kDbSqlite3JournalMode()

static std::string rtabmap::Parameters::kDbSqlite3JournalMode ( )

inlinestatic

Key of parameter DbSqlite3/JournalMode : "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. " "0=DELETE (SQLite default): journal file deleted after each commit. " "1=TRUNCATE: journal truncated to zero length. " "2=PERSIST: journal file kept, header zeroed after commit. " "3=MEMORY: journal in RAM only; faster, weaker crash safety. " "4=OFF: no journal; fastest, risk of corruption on crash." Default value: 3 ( int ).

Definition at line 296 of file Parameters.h.

defaultDbSqlite3JournalMode()

static int rtabmap::Parameters::defaultDbSqlite3JournalMode ( )

inlinestatic

Default value of parameter DbSqlite3/JournalMode : 3 .

Definition at line 296 of file Parameters.h.

typeDbSqlite3JournalMode()

static std::string rtabmap::Parameters::typeDbSqlite3JournalMode ( )

inlinestatic

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

Definition at line 296 of file Parameters.h.

kDbSqlite3Synchronous()

static std::string rtabmap::Parameters::kDbSqlite3Synchronous ( )

inlinestatic

Key of parameter DbSqlite3/Synchronous : "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. " "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. " "1=NORMAL: sync at critical moments (common SQLite default with WAL). " "2=FULL (SQLite safest default): sync after every commit; slowest." Default value: 0 ( int ).

Definition at line 301 of file Parameters.h.

defaultDbSqlite3Synchronous()

static int rtabmap::Parameters::defaultDbSqlite3Synchronous ( )

inlinestatic

Default value of parameter DbSqlite3/Synchronous : 0 .

Definition at line 301 of file Parameters.h.

typeDbSqlite3Synchronous()

static std::string rtabmap::Parameters::typeDbSqlite3Synchronous ( )

inlinestatic

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

Definition at line 301 of file Parameters.h.

kDbSqlite3TempStore()

static std::string rtabmap::Parameters::kDbSqlite3TempStore ( )

inlinestatic

Key of parameter DbSqlite3/TempStore : "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. " "0=DEFAULT: SQLite compile-time default (often on-disk temp files). " "1=FILE: temporary files in the system temp directory. " "2=MEMORY: temporary data in RAM when possible." Default value: 2 ( int ).

Definition at line 306 of file Parameters.h.

defaultDbSqlite3TempStore()

static int rtabmap::Parameters::defaultDbSqlite3TempStore ( )

inlinestatic

Default value of parameter DbSqlite3/TempStore : 2 .

Definition at line 306 of file Parameters.h.

typeDbSqlite3TempStore()

static std::string rtabmap::Parameters::typeDbSqlite3TempStore ( )

inlinestatic

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

Definition at line 306 of file Parameters.h.

kDbTargetVersion()

static std::string rtabmap::Parameters::kDbTargetVersion ( )

inlinestatic

Key of parameter Db/TargetVersion : "Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database)." Default value: "" (string).

Definition at line 307 of file Parameters.h.

defaultDbTargetVersion()

static std::string rtabmap::Parameters::defaultDbTargetVersion ( )

inlinestatic

Default value of parameter Db/TargetVersion : "" .

Definition at line 307 of file Parameters.h.

typeDbTargetVersion()

static std::string rtabmap::Parameters::typeDbTargetVersion ( )

inlinestatic

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

Definition at line 307 of file Parameters.h.

kSURFExtended()

static std::string rtabmap::Parameters::kSURFExtended ( )

inlinestatic

Key of parameter SURF/Extended : "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)." Default value: false ( bool ).

Definition at line 310 of file Parameters.h.

defaultSURFExtended()

static bool rtabmap::Parameters::defaultSURFExtended ( )

inlinestatic

Default value of parameter SURF/Extended : false .

Definition at line 310 of file Parameters.h.

typeSURFExtended()

static std::string rtabmap::Parameters::typeSURFExtended ( )

inlinestatic

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

Definition at line 310 of file Parameters.h.

kSURFHessianThreshold()

static std::string rtabmap::Parameters::kSURFHessianThreshold ( )

inlinestatic

Key of parameter SURF/HessianThreshold : "Threshold for hessian keypoint detector used in SURF." Default value: 500 ( float ).

Definition at line 311 of file Parameters.h.

defaultSURFHessianThreshold()

static float rtabmap::Parameters::defaultSURFHessianThreshold ( )

inlinestatic

Default value of parameter SURF/HessianThreshold : 500 .

Definition at line 311 of file Parameters.h.

typeSURFHessianThreshold()

static std::string rtabmap::Parameters::typeSURFHessianThreshold ( )

inlinestatic

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

Definition at line 311 of file Parameters.h.

kSURFOctaves()

static std::string rtabmap::Parameters::kSURFOctaves ( )

inlinestatic

Key of parameter SURF/Octaves : "Number of pyramid octaves the keypoint detector will use." Default value: 4 ( int ).

Definition at line 312 of file Parameters.h.

defaultSURFOctaves()

static int rtabmap::Parameters::defaultSURFOctaves ( )

inlinestatic

Default value of parameter SURF/Octaves : 4 .

Definition at line 312 of file Parameters.h.

typeSURFOctaves()

static std::string rtabmap::Parameters::typeSURFOctaves ( )

inlinestatic

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

Definition at line 312 of file Parameters.h.

kSURFOctaveLayers()

static std::string rtabmap::Parameters::kSURFOctaveLayers ( )

inlinestatic

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

Definition at line 313 of file Parameters.h.

defaultSURFOctaveLayers()

static int rtabmap::Parameters::defaultSURFOctaveLayers ( )

inlinestatic

Default value of parameter SURF/OctaveLayers : 2 .

Definition at line 313 of file Parameters.h.

typeSURFOctaveLayers()

static std::string rtabmap::Parameters::typeSURFOctaveLayers ( )

inlinestatic

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

Definition at line 313 of file Parameters.h.

kSURFUpright()

static std::string rtabmap::Parameters::kSURFUpright ( )

inlinestatic

Key of parameter SURF/Upright : "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation)." Default value: false ( bool ).

Definition at line 314 of file Parameters.h.

defaultSURFUpright()

static bool rtabmap::Parameters::defaultSURFUpright ( )

inlinestatic

Default value of parameter SURF/Upright : false .

Definition at line 314 of file Parameters.h.

typeSURFUpright()

static std::string rtabmap::Parameters::typeSURFUpright ( )

inlinestatic

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

Definition at line 314 of file Parameters.h.

kSURFGpuVersion()

static std::string rtabmap::Parameters::kSURFGpuVersion ( )

inlinestatic

Key of parameter SURF/GpuVersion : "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

Definition at line 315 of file Parameters.h.

defaultSURFGpuVersion()

static bool rtabmap::Parameters::defaultSURFGpuVersion ( )

inlinestatic

Default value of parameter SURF/GpuVersion : false .

Definition at line 315 of file Parameters.h.

typeSURFGpuVersion()

static std::string rtabmap::Parameters::typeSURFGpuVersion ( )

inlinestatic

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

Definition at line 315 of file Parameters.h.

kSURFGpuKeypointsRatio()

static std::string rtabmap::Parameters::kSURFGpuKeypointsRatio ( )

inlinestatic

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

Definition at line 316 of file Parameters.h.

defaultSURFGpuKeypointsRatio()

static float rtabmap::Parameters::defaultSURFGpuKeypointsRatio ( )

inlinestatic

Default value of parameter SURF/GpuKeypointsRatio : 0.01 .

Definition at line 316 of file Parameters.h.

typeSURFGpuKeypointsRatio()

static std::string rtabmap::Parameters::typeSURFGpuKeypointsRatio ( )

inlinestatic

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

Definition at line 316 of file Parameters.h.

kSIFTNOctaveLayers()

static std::string rtabmap::Parameters::kSIFTNOctaveLayers ( )

inlinestatic

Key of parameter SIFT/NOctaveLayers : "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically." Default value: 3 ( int ).

Definition at line 318 of file Parameters.h.

defaultSIFTNOctaveLayers()

static int rtabmap::Parameters::defaultSIFTNOctaveLayers ( )

inlinestatic

Default value of parameter SIFT/NOctaveLayers : 3 .

Definition at line 318 of file Parameters.h.

typeSIFTNOctaveLayers()

static std::string rtabmap::Parameters::typeSIFTNOctaveLayers ( )

inlinestatic

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

Definition at line 318 of file Parameters.h.

kSIFTContrastThreshold()

static std::string rtabmap::Parameters::kSIFTContrastThreshold ( )

inlinestatic

Key of parameter SIFT/ContrastThreshold : uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()) Default value: 0.04 ( double ).

Definition at line 319 of file Parameters.h.

defaultSIFTContrastThreshold()

static double rtabmap::Parameters::defaultSIFTContrastThreshold ( )

inlinestatic

Default value of parameter SIFT/ContrastThreshold : 0.04 .

Definition at line 319 of file Parameters.h.

typeSIFTContrastThreshold()

static std::string rtabmap::Parameters::typeSIFTContrastThreshold ( )

inlinestatic

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

Definition at line 319 of file Parameters.h.

kSIFTEdgeThreshold()

static std::string rtabmap::Parameters::kSIFTEdgeThreshold ( )

inlinestatic

Key of parameter SIFT/EdgeThreshold : "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained)." Default value: 10 ( double ).

Definition at line 320 of file Parameters.h.

defaultSIFTEdgeThreshold()

static double rtabmap::Parameters::defaultSIFTEdgeThreshold ( )

inlinestatic

Default value of parameter SIFT/EdgeThreshold : 10 .

Definition at line 320 of file Parameters.h.

typeSIFTEdgeThreshold()

static std::string rtabmap::Parameters::typeSIFTEdgeThreshold ( )

inlinestatic

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

Definition at line 320 of file Parameters.h.

kSIFTSigma()

static std::string rtabmap::Parameters::kSIFTSigma ( )

inlinestatic

Key of parameter SIFT/Sigma : "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number." Default value: 1.6 ( double ).

Definition at line 321 of file Parameters.h.

defaultSIFTSigma()

static double rtabmap::Parameters::defaultSIFTSigma ( )

inlinestatic

Default value of parameter SIFT/Sigma : 1.6 .

Definition at line 321 of file Parameters.h.

typeSIFTSigma()

static std::string rtabmap::Parameters::typeSIFTSigma ( )

inlinestatic

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

Definition at line 321 of file Parameters.h.

kSIFTPreciseUpscale()

static std::string rtabmap::Parameters::kSIFTPreciseUpscale ( )

inlinestatic

Key of parameter SIFT/PreciseUpscale : "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8)." Default value: false ( bool ).

Definition at line 322 of file Parameters.h.

defaultSIFTPreciseUpscale()

static bool rtabmap::Parameters::defaultSIFTPreciseUpscale ( )

inlinestatic

Default value of parameter SIFT/PreciseUpscale : false .

Definition at line 322 of file Parameters.h.

typeSIFTPreciseUpscale()

static std::string rtabmap::Parameters::typeSIFTPreciseUpscale ( )

inlinestatic

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

Definition at line 322 of file Parameters.h.

kSIFTRootSIFT()

static std::string rtabmap::Parameters::kSIFTRootSIFT ( )

inlinestatic

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

Definition at line 323 of file Parameters.h.

defaultSIFTRootSIFT()

static bool rtabmap::Parameters::defaultSIFTRootSIFT ( )

inlinestatic

Default value of parameter SIFT/RootSIFT : false .

Definition at line 323 of file Parameters.h.

typeSIFTRootSIFT()

static std::string rtabmap::Parameters::typeSIFTRootSIFT ( )

inlinestatic

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

Definition at line 323 of file Parameters.h.

kSIFTGpu()

static std::string rtabmap::Parameters::kSIFTGpu ( )

inlinestatic

Key of parameter SIFT/Gpu : "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected." Default value: false ( bool ).

Definition at line 324 of file Parameters.h.

defaultSIFTGpu()

static bool rtabmap::Parameters::defaultSIFTGpu ( )

inlinestatic

Default value of parameter SIFT/Gpu : false .

Definition at line 324 of file Parameters.h.

typeSIFTGpu()

static std::string rtabmap::Parameters::typeSIFTGpu ( )

inlinestatic

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

Definition at line 324 of file Parameters.h.

kSIFTGaussianThreshold()

static std::string rtabmap::Parameters::kSIFTGaussianThreshold ( )

inlinestatic

Key of parameter SIFT/GaussianThreshold : "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector." Default value: 2.0 ( float ).

Definition at line 325 of file Parameters.h.

defaultSIFTGaussianThreshold()

static float rtabmap::Parameters::defaultSIFTGaussianThreshold ( )

inlinestatic

Default value of parameter SIFT/GaussianThreshold : 2.0 .

Definition at line 325 of file Parameters.h.

typeSIFTGaussianThreshold()

static std::string rtabmap::Parameters::typeSIFTGaussianThreshold ( )

inlinestatic

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

Definition at line 325 of file Parameters.h.

kSIFTMaxGaussianThreshold()

static std::string rtabmap::Parameters::kSIFTMaxGaussianThreshold ( )

inlinestatic

Key of parameter SIFT/MaxGaussianThreshold : uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()) Default value: 0.0 ( float ).

Definition at line 326 of file Parameters.h.

defaultSIFTMaxGaussianThreshold()

static float rtabmap::Parameters::defaultSIFTMaxGaussianThreshold ( )

inlinestatic

Default value of parameter SIFT/MaxGaussianThreshold : 0.0 .

Definition at line 326 of file Parameters.h.

typeSIFTMaxGaussianThreshold()

static std::string rtabmap::Parameters::typeSIFTMaxGaussianThreshold ( )

inlinestatic

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

Definition at line 326 of file Parameters.h.

kSIFTUpscale()

static std::string rtabmap::Parameters::kSIFTUpscale ( )

inlinestatic

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

Definition at line 327 of file Parameters.h.

defaultSIFTUpscale()

static bool rtabmap::Parameters::defaultSIFTUpscale ( )

inlinestatic

Default value of parameter SIFT/Upscale : false .

Definition at line 327 of file Parameters.h.

typeSIFTUpscale()

static std::string rtabmap::Parameters::typeSIFTUpscale ( )

inlinestatic

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

Definition at line 327 of file Parameters.h.

kBRIEFBytes()

static std::string rtabmap::Parameters::kBRIEFBytes ( )

inlinestatic

Key of parameter BRIEF/Bytes : "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes." Default value: 32 ( int ).

Definition at line 329 of file Parameters.h.

defaultBRIEFBytes()

static int rtabmap::Parameters::defaultBRIEFBytes ( )

inlinestatic

Default value of parameter BRIEF/Bytes : 32 .

Definition at line 329 of file Parameters.h.

typeBRIEFBytes()

static std::string rtabmap::Parameters::typeBRIEFBytes ( )

inlinestatic

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

Definition at line 329 of file Parameters.h.

kFASTThreshold()

static std::string rtabmap::Parameters::kFASTThreshold ( )

inlinestatic

Key of parameter FAST/Threshold : "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel." Default value: 20 ( int ).

Definition at line 331 of file Parameters.h.

defaultFASTThreshold()

static int rtabmap::Parameters::defaultFASTThreshold ( )

inlinestatic

Default value of parameter FAST/Threshold : 20 .

Definition at line 331 of file Parameters.h.

typeFASTThreshold()

static std::string rtabmap::Parameters::typeFASTThreshold ( )

inlinestatic

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

Definition at line 331 of file Parameters.h.

kFASTNonmaxSuppression()

static std::string rtabmap::Parameters::kFASTNonmaxSuppression ( )

inlinestatic

Key of parameter FAST/NonmaxSuppression : "If true, non-maximum suppression is applied to detected corners (keypoints)." Default value: true ( bool ).

Definition at line 332 of file Parameters.h.

defaultFASTNonmaxSuppression()

static bool rtabmap::Parameters::defaultFASTNonmaxSuppression ( )

inlinestatic

Default value of parameter FAST/NonmaxSuppression : true .

Definition at line 332 of file Parameters.h.

typeFASTNonmaxSuppression()

static std::string rtabmap::Parameters::typeFASTNonmaxSuppression ( )

inlinestatic

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

Definition at line 332 of file Parameters.h.

kFASTGpu()

static std::string rtabmap::Parameters::kFASTGpu ( )

inlinestatic

Key of parameter FAST/Gpu : "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

Definition at line 333 of file Parameters.h.

defaultFASTGpu()

static bool rtabmap::Parameters::defaultFASTGpu ( )

inlinestatic

Default value of parameter FAST/Gpu : false .

Definition at line 333 of file Parameters.h.

typeFASTGpu()

static std::string rtabmap::Parameters::typeFASTGpu ( )

inlinestatic

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

Definition at line 333 of file Parameters.h.

kFASTGpuKeypointsRatio()

static std::string rtabmap::Parameters::kFASTGpuKeypointsRatio ( )

inlinestatic

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

Definition at line 334 of file Parameters.h.

defaultFASTGpuKeypointsRatio()

static double rtabmap::Parameters::defaultFASTGpuKeypointsRatio ( )

inlinestatic

Default value of parameter FAST/GpuKeypointsRatio : 0.05 .

Definition at line 334 of file Parameters.h.

typeFASTGpuKeypointsRatio()

static std::string rtabmap::Parameters::typeFASTGpuKeypointsRatio ( )

inlinestatic

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

Definition at line 334 of file Parameters.h.

kFASTMinThreshold()

static std::string rtabmap::Parameters::kFASTMinThreshold ( )

inlinestatic

Key of parameter FAST/MinThreshold : "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 7 ( int ).

Definition at line 335 of file Parameters.h.

defaultFASTMinThreshold()

static int rtabmap::Parameters::defaultFASTMinThreshold ( )

inlinestatic

Default value of parameter FAST/MinThreshold : 7 .

Definition at line 335 of file Parameters.h.

typeFASTMinThreshold()

static std::string rtabmap::Parameters::typeFASTMinThreshold ( )

inlinestatic

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

Definition at line 335 of file Parameters.h.

kFASTMaxThreshold()

static std::string rtabmap::Parameters::kFASTMaxThreshold ( )

inlinestatic

Key of parameter FAST/MaxThreshold : "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set." Default value: 200 ( int ).

Definition at line 336 of file Parameters.h.

defaultFASTMaxThreshold()

static int rtabmap::Parameters::defaultFASTMaxThreshold ( )

inlinestatic

Default value of parameter FAST/MaxThreshold : 200 .

Definition at line 336 of file Parameters.h.

typeFASTMaxThreshold()

static std::string rtabmap::Parameters::typeFASTMaxThreshold ( )

inlinestatic

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

Definition at line 336 of file Parameters.h.

kFASTGridRows()

static std::string rtabmap::Parameters::kFASTGridRows ( )

inlinestatic

Key of parameter FAST/GridRows : "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).

Definition at line 337 of file Parameters.h.

defaultFASTGridRows()

static int rtabmap::Parameters::defaultFASTGridRows ( )

inlinestatic

Default value of parameter FAST/GridRows : 0 .

Definition at line 337 of file Parameters.h.

typeFASTGridRows()

static std::string rtabmap::Parameters::typeFASTGridRows ( )

inlinestatic

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

Definition at line 337 of file Parameters.h.

kFASTGridCols()

static std::string rtabmap::Parameters::kFASTGridCols ( )

inlinestatic

Key of parameter FAST/GridCols : "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell." Default value: 0 ( int ).

Definition at line 338 of file Parameters.h.

defaultFASTGridCols()

static int rtabmap::Parameters::defaultFASTGridCols ( )

inlinestatic

Default value of parameter FAST/GridCols : 0 .

Definition at line 338 of file Parameters.h.

typeFASTGridCols()

static std::string rtabmap::Parameters::typeFASTGridCols ( )

inlinestatic

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

Definition at line 338 of file Parameters.h.

kFASTCV()

static std::string rtabmap::Parameters::kFASTCV ( )

inlinestatic

Key of parameter FAST/CV : "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10." Default value: 0 ( int ).

Definition at line 339 of file Parameters.h.

defaultFASTCV()

static int rtabmap::Parameters::defaultFASTCV ( )

inlinestatic

Default value of parameter FAST/CV : 0 .

Definition at line 339 of file Parameters.h.

typeFASTCV()

static std::string rtabmap::Parameters::typeFASTCV ( )

inlinestatic

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

Definition at line 339 of file Parameters.h.

kGFTTQualityLevel()

static std::string rtabmap::Parameters::kGFTTQualityLevel ( )

inlinestatic

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

Definition at line 341 of file Parameters.h.

defaultGFTTQualityLevel()

static double rtabmap::Parameters::defaultGFTTQualityLevel ( )

inlinestatic

Default value of parameter GFTT/QualityLevel : 0.001 .

Definition at line 341 of file Parameters.h.

typeGFTTQualityLevel()

static std::string rtabmap::Parameters::typeGFTTQualityLevel ( )

inlinestatic

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

Definition at line 341 of file Parameters.h.

kGFTTMinDistance()

static std::string rtabmap::Parameters::kGFTTMinDistance ( )

inlinestatic

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

Definition at line 342 of file Parameters.h.

defaultGFTTMinDistance()

static double rtabmap::Parameters::defaultGFTTMinDistance ( )

inlinestatic

Default value of parameter GFTT/MinDistance : 7 .

Definition at line 342 of file Parameters.h.

typeGFTTMinDistance()

static std::string rtabmap::Parameters::typeGFTTMinDistance ( )

inlinestatic

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

Definition at line 342 of file Parameters.h.

kGFTTBlockSize()

static std::string rtabmap::Parameters::kGFTTBlockSize ( )

inlinestatic

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

Definition at line 343 of file Parameters.h.

defaultGFTTBlockSize()

static int rtabmap::Parameters::defaultGFTTBlockSize ( )

inlinestatic

Default value of parameter GFTT/BlockSize : 3 .

Definition at line 343 of file Parameters.h.

typeGFTTBlockSize()

static std::string rtabmap::Parameters::typeGFTTBlockSize ( )

inlinestatic

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

Definition at line 343 of file Parameters.h.

kGFTTUseHarrisDetector()

static std::string rtabmap::Parameters::kGFTTUseHarrisDetector ( )

inlinestatic

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

Definition at line 344 of file Parameters.h.

defaultGFTTUseHarrisDetector()

static bool rtabmap::Parameters::defaultGFTTUseHarrisDetector ( )

inlinestatic

Default value of parameter GFTT/UseHarrisDetector : false .

Definition at line 344 of file Parameters.h.

typeGFTTUseHarrisDetector()

static std::string rtabmap::Parameters::typeGFTTUseHarrisDetector ( )

inlinestatic

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

Definition at line 344 of file Parameters.h.

kGFTTK()

static std::string rtabmap::Parameters::kGFTTK ( )

inlinestatic

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

Definition at line 345 of file Parameters.h.

defaultGFTTK()

static double rtabmap::Parameters::defaultGFTTK ( )

inlinestatic

Default value of parameter GFTT/K : 0.04 .

Definition at line 345 of file Parameters.h.

typeGFTTK()

static std::string rtabmap::Parameters::typeGFTTK ( )

inlinestatic

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

Definition at line 345 of file Parameters.h.

kGFTTGpu()

static std::string rtabmap::Parameters::kGFTTGpu ( )

inlinestatic

Key of parameter GFTT/Gpu : "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected." Default value: false ( bool ).

Definition at line 346 of file Parameters.h.

defaultGFTTGpu()

static bool rtabmap::Parameters::defaultGFTTGpu ( )

inlinestatic

Default value of parameter GFTT/Gpu : false .

Definition at line 346 of file Parameters.h.

typeGFTTGpu()

static std::string rtabmap::Parameters::typeGFTTGpu ( )

inlinestatic

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

Definition at line 346 of file Parameters.h.

kORBScaleFactor()

static std::string rtabmap::Parameters::kORBScaleFactor ( )

inlinestatic

Key of parameter ORB/ScaleFactor : "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer." Default value: 2 ( float ).

Definition at line 348 of file Parameters.h.

defaultORBScaleFactor()

static float rtabmap::Parameters::defaultORBScaleFactor ( )

inlinestatic

Default value of parameter ORB/ScaleFactor : 2 .

Definition at line 348 of file Parameters.h.

typeORBScaleFactor()

static std::string rtabmap::Parameters::typeORBScaleFactor ( )

inlinestatic

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

Definition at line 348 of file Parameters.h.

kORBNLevels()

static std::string rtabmap::Parameters::kORBNLevels ( )

inlinestatic

Key of parameter ORB/NLevels : "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)." Default value: 3 ( int ).

Definition at line 349 of file Parameters.h.

defaultORBNLevels()

static int rtabmap::Parameters::defaultORBNLevels ( )

inlinestatic

Default value of parameter ORB/NLevels : 3 .

Definition at line 349 of file Parameters.h.

typeORBNLevels()

static std::string rtabmap::Parameters::typeORBNLevels ( )

inlinestatic

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

Definition at line 349 of file Parameters.h.

kORBEdgeThreshold()

static std::string rtabmap::Parameters::kORBEdgeThreshold ( )

inlinestatic

Key of parameter ORB/EdgeThreshold : "This is size of the border where the features are not detected. It should roughly match the patchSize parameter." Default value: 19 ( int ).

Definition at line 350 of file Parameters.h.

defaultORBEdgeThreshold()

static int rtabmap::Parameters::defaultORBEdgeThreshold ( )

inlinestatic

Default value of parameter ORB/EdgeThreshold : 19 .

Definition at line 350 of file Parameters.h.

typeORBEdgeThreshold()

static std::string rtabmap::Parameters::typeORBEdgeThreshold ( )

inlinestatic

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

Definition at line 350 of file Parameters.h.

kORBFirstLevel()

static std::string rtabmap::Parameters::kORBFirstLevel ( )

inlinestatic

Key of parameter ORB/FirstLevel : "It should be 0 in the current implementation." Default value: 0 ( int ).

Definition at line 351 of file Parameters.h.

defaultORBFirstLevel()

static int rtabmap::Parameters::defaultORBFirstLevel ( )

inlinestatic

Default value of parameter ORB/FirstLevel : 0 .

Definition at line 351 of file Parameters.h.

typeORBFirstLevel()

static std::string rtabmap::Parameters::typeORBFirstLevel ( )

inlinestatic

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

Definition at line 351 of file Parameters.h.

kORBWTA_K()

static std::string rtabmap::Parameters::kORBWTA_K ( )

inlinestatic

Key of parameter ORB/WTA_K : "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3)." Default value: 2 ( int ).

Definition at line 352 of file Parameters.h.

defaultORBWTA_K()

static int rtabmap::Parameters::defaultORBWTA_K ( )

inlinestatic

Default value of parameter ORB/WTA_K : 2 .

Definition at line 352 of file Parameters.h.

typeORBWTA_K()

static std::string rtabmap::Parameters::typeORBWTA_K ( )

inlinestatic

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

Definition at line 352 of file Parameters.h.

kORBScoreType()

static std::string rtabmap::Parameters::kORBScoreType ( )

inlinestatic

Key of parameter ORB/ScoreType : "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute." Default value: 0 ( int ).

Definition at line 353 of file Parameters.h.

defaultORBScoreType()

static int rtabmap::Parameters::defaultORBScoreType ( )

inlinestatic

Default value of parameter ORB/ScoreType : 0 .

Definition at line 353 of file Parameters.h.

typeORBScoreType()

static std::string rtabmap::Parameters::typeORBScoreType ( )

inlinestatic

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

Definition at line 353 of file Parameters.h.

kORBPatchSize()

static std::string rtabmap::Parameters::kORBPatchSize ( )

inlinestatic

Key of parameter ORB/PatchSize : "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger." Default value: 31 ( int ).

Definition at line 354 of file Parameters.h.

defaultORBPatchSize()

static int rtabmap::Parameters::defaultORBPatchSize ( )

inlinestatic

Default value of parameter ORB/PatchSize : 31 .

Definition at line 354 of file Parameters.h.

typeORBPatchSize()

static std::string rtabmap::Parameters::typeORBPatchSize ( )

inlinestatic

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

Definition at line 354 of file Parameters.h.

kORBGpu()

static std::string rtabmap::Parameters::kORBGpu ( )

inlinestatic

Key of parameter ORB/Gpu : "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected." Default value: false ( bool ).

Definition at line 355 of file Parameters.h.

defaultORBGpu()

static bool rtabmap::Parameters::defaultORBGpu ( )

inlinestatic

Default value of parameter ORB/Gpu : false .

Definition at line 355 of file Parameters.h.

typeORBGpu()

static std::string rtabmap::Parameters::typeORBGpu ( )

inlinestatic

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

Definition at line 355 of file Parameters.h.

kFREAKOrientationNormalized()

static std::string rtabmap::Parameters::kFREAKOrientationNormalized ( )

inlinestatic

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

Definition at line 357 of file Parameters.h.

defaultFREAKOrientationNormalized()

static bool rtabmap::Parameters::defaultFREAKOrientationNormalized ( )

inlinestatic

Default value of parameter FREAK/OrientationNormalized : true .

Definition at line 357 of file Parameters.h.

typeFREAKOrientationNormalized()

static std::string rtabmap::Parameters::typeFREAKOrientationNormalized ( )

inlinestatic

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

Definition at line 357 of file Parameters.h.

kFREAKScaleNormalized()

static std::string rtabmap::Parameters::kFREAKScaleNormalized ( )

inlinestatic

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

Definition at line 358 of file Parameters.h.

defaultFREAKScaleNormalized()

static bool rtabmap::Parameters::defaultFREAKScaleNormalized ( )

inlinestatic

Default value of parameter FREAK/ScaleNormalized : true .

Definition at line 358 of file Parameters.h.

typeFREAKScaleNormalized()

static std::string rtabmap::Parameters::typeFREAKScaleNormalized ( )

inlinestatic

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

Definition at line 358 of file Parameters.h.

kFREAKPatternScale()

static std::string rtabmap::Parameters::kFREAKPatternScale ( )

inlinestatic

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

Definition at line 359 of file Parameters.h.

defaultFREAKPatternScale()

static float rtabmap::Parameters::defaultFREAKPatternScale ( )

inlinestatic

Default value of parameter FREAK/PatternScale : 22 .

Definition at line 359 of file Parameters.h.

typeFREAKPatternScale()

static std::string rtabmap::Parameters::typeFREAKPatternScale ( )

inlinestatic

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

Definition at line 359 of file Parameters.h.

kFREAKNOctaves()

static std::string rtabmap::Parameters::kFREAKNOctaves ( )

inlinestatic

Key of parameter FREAK/NOctaves : "Number of octaves covered by the detected keypoints." Default value: 4 ( int ).

Definition at line 360 of file Parameters.h.

defaultFREAKNOctaves()

static int rtabmap::Parameters::defaultFREAKNOctaves ( )

inlinestatic

Default value of parameter FREAK/NOctaves : 4 .

Definition at line 360 of file Parameters.h.

typeFREAKNOctaves()

static std::string rtabmap::Parameters::typeFREAKNOctaves ( )

inlinestatic

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

Definition at line 360 of file Parameters.h.

kBRISKThresh()

static std::string rtabmap::Parameters::kBRISKThresh ( )

inlinestatic

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

Definition at line 362 of file Parameters.h.

defaultBRISKThresh()

static int rtabmap::Parameters::defaultBRISKThresh ( )

inlinestatic

Default value of parameter BRISK/Thresh : 30 .

Definition at line 362 of file Parameters.h.

typeBRISKThresh()

static std::string rtabmap::Parameters::typeBRISKThresh ( )

inlinestatic

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

Definition at line 362 of file Parameters.h.

kBRISKOctaves()

static std::string rtabmap::Parameters::kBRISKOctaves ( )

inlinestatic

Key of parameter BRISK/Octaves : "Detection octaves. Use 0 to do single scale." Default value: 3 ( int ).

Definition at line 363 of file Parameters.h.

defaultBRISKOctaves()

static int rtabmap::Parameters::defaultBRISKOctaves ( )

inlinestatic

Default value of parameter BRISK/Octaves : 3 .

Definition at line 363 of file Parameters.h.

typeBRISKOctaves()

static std::string rtabmap::Parameters::typeBRISKOctaves ( )

inlinestatic

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

Definition at line 363 of file Parameters.h.

kBRISKPatternScale()

static std::string rtabmap::Parameters::kBRISKPatternScale ( )

inlinestatic

Key of parameter BRISK/PatternScale : "Apply this scale to the pattern used for sampling the neighbourhood of a keypoint." Default value: 1 ( float ).

Definition at line 364 of file Parameters.h.

defaultBRISKPatternScale()

static float rtabmap::Parameters::defaultBRISKPatternScale ( )

inlinestatic

Default value of parameter BRISK/PatternScale : 1 .

Definition at line 364 of file Parameters.h.

typeBRISKPatternScale()

static std::string rtabmap::Parameters::typeBRISKPatternScale ( )

inlinestatic

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

Definition at line 364 of file Parameters.h.

kKAZEExtended()

static std::string rtabmap::Parameters::kKAZEExtended ( )

inlinestatic

Key of parameter KAZE/Extended : "Set to enable extraction of extended (128-byte) descriptor." Default value: false ( bool ).

Definition at line 366 of file Parameters.h.

defaultKAZEExtended()

static bool rtabmap::Parameters::defaultKAZEExtended ( )

inlinestatic

Default value of parameter KAZE/Extended : false .

Definition at line 366 of file Parameters.h.

typeKAZEExtended()

static std::string rtabmap::Parameters::typeKAZEExtended ( )

inlinestatic

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

Definition at line 366 of file Parameters.h.

kKAZEUpright()

static std::string rtabmap::Parameters::kKAZEUpright ( )

inlinestatic

Key of parameter KAZE/Upright : "Set to enable use of upright descriptors (non rotation-invariant)." Default value: false ( bool ).

Definition at line 367 of file Parameters.h.

defaultKAZEUpright()

static bool rtabmap::Parameters::defaultKAZEUpright ( )

inlinestatic

Default value of parameter KAZE/Upright : false .

Definition at line 367 of file Parameters.h.

typeKAZEUpright()

static std::string rtabmap::Parameters::typeKAZEUpright ( )

inlinestatic

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

Definition at line 367 of file Parameters.h.

kKAZEThreshold()

static std::string rtabmap::Parameters::kKAZEThreshold ( )

inlinestatic

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

Definition at line 368 of file Parameters.h.

defaultKAZEThreshold()

static float rtabmap::Parameters::defaultKAZEThreshold ( )

inlinestatic

Default value of parameter KAZE/Threshold : 0.001 .

Definition at line 368 of file Parameters.h.

typeKAZEThreshold()

static std::string rtabmap::Parameters::typeKAZEThreshold ( )

inlinestatic

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

Definition at line 368 of file Parameters.h.

kKAZENOctaves()

static std::string rtabmap::Parameters::kKAZENOctaves ( )

inlinestatic

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

Definition at line 369 of file Parameters.h.

defaultKAZENOctaves()

static int rtabmap::Parameters::defaultKAZENOctaves ( )

inlinestatic

Default value of parameter KAZE/NOctaves : 4 .

Definition at line 369 of file Parameters.h.

typeKAZENOctaves()

static std::string rtabmap::Parameters::typeKAZENOctaves ( )

inlinestatic

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

Definition at line 369 of file Parameters.h.

kKAZENOctaveLayers()

static std::string rtabmap::Parameters::kKAZENOctaveLayers ( )

inlinestatic

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

Definition at line 370 of file Parameters.h.

defaultKAZENOctaveLayers()

static int rtabmap::Parameters::defaultKAZENOctaveLayers ( )

inlinestatic

Default value of parameter KAZE/NOctaveLayers : 4 .

Definition at line 370 of file Parameters.h.

typeKAZENOctaveLayers()

static std::string rtabmap::Parameters::typeKAZENOctaveLayers ( )

inlinestatic

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

Definition at line 370 of file Parameters.h.

kKAZEDiffusivity()

static std::string rtabmap::Parameters::kKAZEDiffusivity ( )

inlinestatic

Key of parameter KAZE/Diffusivity : "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER." Default value: 1 ( int ).

Definition at line 371 of file Parameters.h.

defaultKAZEDiffusivity()

static int rtabmap::Parameters::defaultKAZEDiffusivity ( )

inlinestatic

Default value of parameter KAZE/Diffusivity : 1 .

Definition at line 371 of file Parameters.h.

typeKAZEDiffusivity()

static std::string rtabmap::Parameters::typeKAZEDiffusivity ( )

inlinestatic

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

Definition at line 371 of file Parameters.h.

kSuperPointModelPath()

static std::string rtabmap::Parameters::kSuperPointModelPath ( )

inlinestatic

Key of parameter SuperPoint/ModelPath : "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt)." Default value: "" (string).

Definition at line 373 of file Parameters.h.

defaultSuperPointModelPath()

static std::string rtabmap::Parameters::defaultSuperPointModelPath ( )

inlinestatic

Default value of parameter SuperPoint/ModelPath : "" .

Definition at line 373 of file Parameters.h.

typeSuperPointModelPath()

static std::string rtabmap::Parameters::typeSuperPointModelPath ( )

inlinestatic

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

Definition at line 373 of file Parameters.h.

kSuperPointThreshold()

static std::string rtabmap::Parameters::kSuperPointThreshold ( )

inlinestatic

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

Definition at line 374 of file Parameters.h.

defaultSuperPointThreshold()

static float rtabmap::Parameters::defaultSuperPointThreshold ( )

inlinestatic

Default value of parameter SuperPoint/Threshold : 0.010 .

Definition at line 374 of file Parameters.h.

typeSuperPointThreshold()

static std::string rtabmap::Parameters::typeSuperPointThreshold ( )

inlinestatic

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

Definition at line 374 of file Parameters.h.

kSuperPointNMS()

static std::string rtabmap::Parameters::kSuperPointNMS ( )

inlinestatic

Key of parameter SuperPoint/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).

Definition at line 375 of file Parameters.h.

defaultSuperPointNMS()

static bool rtabmap::Parameters::defaultSuperPointNMS ( )

inlinestatic

Default value of parameter SuperPoint/NMS : true .

Definition at line 375 of file Parameters.h.

typeSuperPointNMS()

static std::string rtabmap::Parameters::typeSuperPointNMS ( )

inlinestatic

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

Definition at line 375 of file Parameters.h.

kSuperPointNMSRadius()

static std::string rtabmap::Parameters::kSuperPointNMSRadius ( )

inlinestatic

Key of parameter SuperPoint/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()) Default value: 4 ( int ).

Definition at line 376 of file Parameters.h.

defaultSuperPointNMSRadius()

static int rtabmap::Parameters::defaultSuperPointNMSRadius ( )

inlinestatic

Default value of parameter SuperPoint/NMSRadius : 4 .

Definition at line 376 of file Parameters.h.

typeSuperPointNMSRadius()

static std::string rtabmap::Parameters::typeSuperPointNMSRadius ( )

inlinestatic

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

Definition at line 376 of file Parameters.h.

kSuperPointCuda()

static std::string rtabmap::Parameters::kSuperPointCuda ( )

inlinestatic

Key of parameter SuperPoint/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).

Definition at line 377 of file Parameters.h.

defaultSuperPointCuda()

static bool rtabmap::Parameters::defaultSuperPointCuda ( )

inlinestatic

Default value of parameter SuperPoint/Cuda : true .

Definition at line 377 of file Parameters.h.

typeSuperPointCuda()

static std::string rtabmap::Parameters::typeSuperPointCuda ( )

inlinestatic

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

Definition at line 377 of file Parameters.h.

kSuperPointRpautratWeightsPath()

static std::string rtabmap::Parameters::kSuperPointRpautratWeightsPath ( )

inlinestatic

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

Definition at line 379 of file Parameters.h.

defaultSuperPointRpautratWeightsPath()

static std::string rtabmap::Parameters::defaultSuperPointRpautratWeightsPath ( )

inlinestatic

Default value of parameter SuperPointRpautrat/WeightsPath : "" .

Definition at line 379 of file Parameters.h.

typeSuperPointRpautratWeightsPath()

static std::string rtabmap::Parameters::typeSuperPointRpautratWeightsPath ( )

inlinestatic

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

Definition at line 379 of file Parameters.h.

kSuperPointRpautratModelPath()

static std::string rtabmap::Parameters::kSuperPointRpautratModelPath ( )

inlinestatic

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

Definition at line 380 of file Parameters.h.

defaultSuperPointRpautratModelPath()

static std::string rtabmap::Parameters::defaultSuperPointRpautratModelPath ( )

inlinestatic

Default value of parameter SuperPointRpautrat/ModelPath : "" .

Definition at line 380 of file Parameters.h.

typeSuperPointRpautratModelPath()

static std::string rtabmap::Parameters::typeSuperPointRpautratModelPath ( )

inlinestatic

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

Definition at line 380 of file Parameters.h.

kSuperPointRpautratThreshold()

static std::string rtabmap::Parameters::kSuperPointRpautratThreshold ( )

inlinestatic

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

Definition at line 381 of file Parameters.h.

defaultSuperPointRpautratThreshold()

static float rtabmap::Parameters::defaultSuperPointRpautratThreshold ( )

inlinestatic

Default value of parameter SuperPointRpautrat/Threshold : 0.005 .

Definition at line 381 of file Parameters.h.

typeSuperPointRpautratThreshold()

static std::string rtabmap::Parameters::typeSuperPointRpautratThreshold ( )

inlinestatic

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

Definition at line 381 of file Parameters.h.

kSuperPointRpautratNMS()

static std::string rtabmap::Parameters::kSuperPointRpautratNMS ( )

inlinestatic

Key of parameter SuperPointRpautrat/NMS : "If true, non-maximum suppression is applied to detected keypoints." Default value: true ( bool ).

Definition at line 382 of file Parameters.h.

defaultSuperPointRpautratNMS()

static bool rtabmap::Parameters::defaultSuperPointRpautratNMS ( )

inlinestatic

Default value of parameter SuperPointRpautrat/NMS : true .

Definition at line 382 of file Parameters.h.

typeSuperPointRpautratNMS()

static std::string rtabmap::Parameters::typeSuperPointRpautratNMS ( )

inlinestatic

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

Definition at line 382 of file Parameters.h.

kSuperPointRpautratNMSRadius()

static std::string rtabmap::Parameters::kSuperPointRpautratNMSRadius ( )

inlinestatic

Key of parameter SuperPointRpautrat/NMSRadius : uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()) Default value: 4 ( int ).

Definition at line 383 of file Parameters.h.

defaultSuperPointRpautratNMSRadius()

static int rtabmap::Parameters::defaultSuperPointRpautratNMSRadius ( )

inlinestatic

Default value of parameter SuperPointRpautrat/NMSRadius : 4 .

Definition at line 383 of file Parameters.h.

typeSuperPointRpautratNMSRadius()

static std::string rtabmap::Parameters::typeSuperPointRpautratNMSRadius ( )

inlinestatic

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

Definition at line 383 of file Parameters.h.

kSuperPointRpautratCuda()

static std::string rtabmap::Parameters::kSuperPointRpautratCuda ( )

inlinestatic

Key of parameter SuperPointRpautrat/Cuda : "Use Cuda device for Torch, otherwise CPU device is used by default." Default value: true ( bool ).

Definition at line 384 of file Parameters.h.

defaultSuperPointRpautratCuda()

static bool rtabmap::Parameters::defaultSuperPointRpautratCuda ( )

inlinestatic

Default value of parameter SuperPointRpautrat/Cuda : true .

Definition at line 384 of file Parameters.h.

typeSuperPointRpautratCuda()

static std::string rtabmap::Parameters::typeSuperPointRpautratCuda ( )

inlinestatic

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

Definition at line 384 of file Parameters.h.

kPyDetectorPath()

static std::string rtabmap::Parameters::kPyDetectorPath ( )

inlinestatic

Key of parameter PyDetector/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).

Definition at line 386 of file Parameters.h.

defaultPyDetectorPath()

static std::string rtabmap::Parameters::defaultPyDetectorPath ( )

inlinestatic

Default value of parameter PyDetector/Path : "" .

Definition at line 386 of file Parameters.h.

typePyDetectorPath()

static std::string rtabmap::Parameters::typePyDetectorPath ( )

inlinestatic

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

Definition at line 386 of file Parameters.h.

kPyDetectorCuda()

static std::string rtabmap::Parameters::kPyDetectorCuda ( )

inlinestatic

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

Definition at line 387 of file Parameters.h.

defaultPyDetectorCuda()

static bool rtabmap::Parameters::defaultPyDetectorCuda ( )

inlinestatic

Default value of parameter PyDetector/Cuda : true .

Definition at line 387 of file Parameters.h.

typePyDetectorCuda()

static std::string rtabmap::Parameters::typePyDetectorCuda ( )

inlinestatic

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

Definition at line 387 of file Parameters.h.

kBayesVirtualPlacePriorThr()

static std::string rtabmap::Parameters::kBayesVirtualPlacePriorThr ( )

inlinestatic

Key of parameter Bayes/VirtualPlacePriorThr : "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations)." Default value: 0.9 ( float ).

Definition at line 390 of file Parameters.h.

defaultBayesVirtualPlacePriorThr()

static float rtabmap::Parameters::defaultBayesVirtualPlacePriorThr ( )

inlinestatic

Default value of parameter Bayes/VirtualPlacePriorThr : 0.9 .

Definition at line 390 of file Parameters.h.

typeBayesVirtualPlacePriorThr()

static std::string rtabmap::Parameters::typeBayesVirtualPlacePriorThr ( )

inlinestatic

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

Definition at line 390 of file Parameters.h.

kBayesPredictionLC()

static std::string rtabmap::Parameters::kBayesPredictionLC ( )

inlinestatic

Key of parameter Bayes/PredictionLC : "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1." Default value: "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" (string).

Definition at line 391 of file Parameters.h.

defaultBayesPredictionLC()

static std::string rtabmap::Parameters::defaultBayesPredictionLC ( )

inlinestatic

Default value of parameter Bayes/PredictionLC : "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23" .

Definition at line 391 of file Parameters.h.

typeBayesPredictionLC()

static std::string rtabmap::Parameters::typeBayesPredictionLC ( )

inlinestatic

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

Definition at line 391 of file Parameters.h.

kBayesFullPredictionUpdate()

static std::string rtabmap::Parameters::kBayesFullPredictionUpdate ( )

inlinestatic

Key of parameter Bayes/FullPredictionUpdate : "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated)." Default value: false ( bool ).

Definition at line 392 of file Parameters.h.

defaultBayesFullPredictionUpdate()

static bool rtabmap::Parameters::defaultBayesFullPredictionUpdate ( )

inlinestatic

Default value of parameter Bayes/FullPredictionUpdate : false .

Definition at line 392 of file Parameters.h.

typeBayesFullPredictionUpdate()

static std::string rtabmap::Parameters::typeBayesFullPredictionUpdate ( )

inlinestatic

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

Definition at line 392 of file Parameters.h.

kVhEpEnabled()

static std::string rtabmap::Parameters::kVhEpEnabled ( )

inlinestatic

Key of parameter VhEp/Enabled : uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()) Default value: false ( bool ).

Definition at line 395 of file Parameters.h.

defaultVhEpEnabled()

static bool rtabmap::Parameters::defaultVhEpEnabled ( )

inlinestatic

Default value of parameter VhEp/Enabled : false .

Definition at line 395 of file Parameters.h.

typeVhEpEnabled()

static std::string rtabmap::Parameters::typeVhEpEnabled ( )

inlinestatic

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

Definition at line 395 of file Parameters.h.

kVhEpMatchCountMin()

static std::string rtabmap::Parameters::kVhEpMatchCountMin ( )

inlinestatic

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

Definition at line 396 of file Parameters.h.

defaultVhEpMatchCountMin()

static int rtabmap::Parameters::defaultVhEpMatchCountMin ( )

inlinestatic

Default value of parameter VhEp/MatchCountMin : 8 .

Definition at line 396 of file Parameters.h.

typeVhEpMatchCountMin()

static std::string rtabmap::Parameters::typeVhEpMatchCountMin ( )

inlinestatic

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

Definition at line 396 of file Parameters.h.

kVhEpRansacParam1()

static std::string rtabmap::Parameters::kVhEpRansacParam1 ( )

inlinestatic

Key of parameter VhEp/RansacParam1 : "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier." Default value: 3 ( float ).

Definition at line 397 of file Parameters.h.

defaultVhEpRansacParam1()

static float rtabmap::Parameters::defaultVhEpRansacParam1 ( )

inlinestatic

Default value of parameter VhEp/RansacParam1 : 3 .

Definition at line 397 of file Parameters.h.

typeVhEpRansacParam1()

static std::string rtabmap::Parameters::typeVhEpRansacParam1 ( )

inlinestatic

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

Definition at line 397 of file Parameters.h.

kVhEpRansacParam2()

static std::string rtabmap::Parameters::kVhEpRansacParam2 ( )

inlinestatic

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

Definition at line 398 of file Parameters.h.

defaultVhEpRansacParam2()

static float rtabmap::Parameters::defaultVhEpRansacParam2 ( )

inlinestatic

Default value of parameter VhEp/RansacParam2 : 0.99 .

Definition at line 398 of file Parameters.h.

typeVhEpRansacParam2()

static std::string rtabmap::Parameters::typeVhEpRansacParam2 ( )

inlinestatic

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

Definition at line 398 of file Parameters.h.

kRGBDEnabled()

static std::string rtabmap::Parameters::kRGBDEnabled ( )

inlinestatic

Key of parameter RGBD/Enabled : "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information." Default value: true ( bool ).

Definition at line 401 of file Parameters.h.

defaultRGBDEnabled()

static bool rtabmap::Parameters::defaultRGBDEnabled ( )

inlinestatic

Default value of parameter RGBD/Enabled : true .

Definition at line 401 of file Parameters.h.

typeRGBDEnabled()

static std::string rtabmap::Parameters::typeRGBDEnabled ( )

inlinestatic

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

Definition at line 401 of file Parameters.h.

kRGBDLinearUpdate()

static std::string rtabmap::Parameters::kRGBDLinearUpdate ( )

inlinestatic

Key of parameter RGBD/LinearUpdate : uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

Definition at line 402 of file Parameters.h.

defaultRGBDLinearUpdate()

static float rtabmap::Parameters::defaultRGBDLinearUpdate ( )

inlinestatic

Default value of parameter RGBD/LinearUpdate : 0.1 .

Definition at line 402 of file Parameters.h.

typeRGBDLinearUpdate()

static std::string rtabmap::Parameters::typeRGBDLinearUpdate ( )

inlinestatic

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

Definition at line 402 of file Parameters.h.

kRGBDAngularUpdate()

static std::string rtabmap::Parameters::kRGBDAngularUpdate ( )

inlinestatic

Key of parameter RGBD/AngularUpdate : uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()) Default value: 0.1 ( float ).

Definition at line 403 of file Parameters.h.

defaultRGBDAngularUpdate()

static float rtabmap::Parameters::defaultRGBDAngularUpdate ( )

inlinestatic

Default value of parameter RGBD/AngularUpdate : 0.1 .

Definition at line 403 of file Parameters.h.

typeRGBDAngularUpdate()

static std::string rtabmap::Parameters::typeRGBDAngularUpdate ( )

inlinestatic

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

Definition at line 403 of file Parameters.h.

kRGBDLinearSpeedUpdate()

static std::string rtabmap::Parameters::kRGBDLinearSpeedUpdate ( )

inlinestatic

Key of parameter RGBD/LinearSpeedUpdate : "Maximum linear speed (m/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

Definition at line 404 of file Parameters.h.

defaultRGBDLinearSpeedUpdate()

static float rtabmap::Parameters::defaultRGBDLinearSpeedUpdate ( )

inlinestatic

Default value of parameter RGBD/LinearSpeedUpdate : 0.0 .

Definition at line 404 of file Parameters.h.

typeRGBDLinearSpeedUpdate()

static std::string rtabmap::Parameters::typeRGBDLinearSpeedUpdate ( )

inlinestatic

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

Definition at line 404 of file Parameters.h.

kRGBDAngularSpeedUpdate()

static std::string rtabmap::Parameters::kRGBDAngularSpeedUpdate ( )

inlinestatic

Key of parameter RGBD/AngularSpeedUpdate : "Maximum angular speed (rad/s) to update the map (0 means not limit)." Default value: 0.0 ( float ).

Definition at line 405 of file Parameters.h.

defaultRGBDAngularSpeedUpdate()

static float rtabmap::Parameters::defaultRGBDAngularSpeedUpdate ( )

inlinestatic

Default value of parameter RGBD/AngularSpeedUpdate : 0.0 .

Definition at line 405 of file Parameters.h.

typeRGBDAngularSpeedUpdate()

static std::string rtabmap::Parameters::typeRGBDAngularSpeedUpdate ( )

inlinestatic

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

Definition at line 405 of file Parameters.h.

kRGBDAggressiveLoopThr()

static std::string rtabmap::Parameters::kRGBDAggressiveLoopThr ( )

inlinestatic

Key of parameter RGBD/AggressiveLoopThr : uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()) Default value: 0.05 ( float ).

Definition at line 406 of file Parameters.h.

defaultRGBDAggressiveLoopThr()

static float rtabmap::Parameters::defaultRGBDAggressiveLoopThr ( )

inlinestatic

Default value of parameter RGBD/AggressiveLoopThr : 0.05 .

Definition at line 406 of file Parameters.h.

typeRGBDAggressiveLoopThr()

static std::string rtabmap::Parameters::typeRGBDAggressiveLoopThr ( )

inlinestatic

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

Definition at line 406 of file Parameters.h.

kRGBDNewMapOdomChangeDistance()

static std::string rtabmap::Parameters::kRGBDNewMapOdomChangeDistance ( )

inlinestatic

Key of parameter RGBD/NewMapOdomChangeDistance : "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)." Default value: 0 ( float ).

Definition at line 407 of file Parameters.h.

defaultRGBDNewMapOdomChangeDistance()

static float rtabmap::Parameters::defaultRGBDNewMapOdomChangeDistance ( )

inlinestatic

Default value of parameter RGBD/NewMapOdomChangeDistance : 0 .

Definition at line 407 of file Parameters.h.

typeRGBDNewMapOdomChangeDistance()

static std::string rtabmap::Parameters::typeRGBDNewMapOdomChangeDistance ( )

inlinestatic

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

Definition at line 407 of file Parameters.h.

kRGBDOptimizeFromGraphEnd()

static std::string rtabmap::Parameters::kRGBDOptimizeFromGraphEnd ( )

inlinestatic

Key of parameter RGBD/OptimizeFromGraphEnd : "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation)." Default value: false ( bool ).

Definition at line 408 of file Parameters.h.

defaultRGBDOptimizeFromGraphEnd()

static bool rtabmap::Parameters::defaultRGBDOptimizeFromGraphEnd ( )

inlinestatic

Default value of parameter RGBD/OptimizeFromGraphEnd : false .

Definition at line 408 of file Parameters.h.

typeRGBDOptimizeFromGraphEnd()

static std::string rtabmap::Parameters::typeRGBDOptimizeFromGraphEnd ( )

inlinestatic

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

Definition at line 408 of file Parameters.h.

kRGBDOptimizeMaxError()

static std::string rtabmap::Parameters::kRGBDOptimizeMaxError ( )

inlinestatic

Key of parameter RGBD/OptimizeMaxError : uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()) Default value: 3.0 ( float ).

Definition at line 409 of file Parameters.h.

defaultRGBDOptimizeMaxError()

static float rtabmap::Parameters::defaultRGBDOptimizeMaxError ( )

inlinestatic

Default value of parameter RGBD/OptimizeMaxError : 3.0 .

Definition at line 409 of file Parameters.h.

typeRGBDOptimizeMaxError()

static std::string rtabmap::Parameters::typeRGBDOptimizeMaxError ( )

inlinestatic

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

Definition at line 409 of file Parameters.h.

kRGBDOptimizeMaxErrorRepairRadius()

static std::string rtabmap::Parameters::kRGBDOptimizeMaxErrorRepairRadius ( )

inlinestatic

Key of parameter RGBD/OptimizeMaxErrorRepairRadius : uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()) Default value: 0.0 ( float ).

Definition at line 410 of file Parameters.h.

defaultRGBDOptimizeMaxErrorRepairRadius()

static float rtabmap::Parameters::defaultRGBDOptimizeMaxErrorRepairRadius ( )

inlinestatic

Default value of parameter RGBD/OptimizeMaxErrorRepairRadius : 0.0 .

Definition at line 410 of file Parameters.h.

typeRGBDOptimizeMaxErrorRepairRadius()

static std::string rtabmap::Parameters::typeRGBDOptimizeMaxErrorRepairRadius ( )

inlinestatic

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

Definition at line 410 of file Parameters.h.

kRGBDMaxLoopClosureDistance()

static std::string rtabmap::Parameters::kRGBDMaxLoopClosureDistance ( )

inlinestatic

Key of parameter RGBD/MaxLoopClosureDistance : "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled)." Default value: 0.0 ( float ).

Definition at line 411 of file Parameters.h.

defaultRGBDMaxLoopClosureDistance()

static float rtabmap::Parameters::defaultRGBDMaxLoopClosureDistance ( )

inlinestatic

Default value of parameter RGBD/MaxLoopClosureDistance : 0.0 .

Definition at line 411 of file Parameters.h.

typeRGBDMaxLoopClosureDistance()

static std::string rtabmap::Parameters::typeRGBDMaxLoopClosureDistance ( )

inlinestatic

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

Definition at line 411 of file Parameters.h.

kRGBDForceOdom3DoF()

static std::string rtabmap::Parameters::kRGBDForceOdom3DoF ( )

inlinestatic

Key of parameter RGBD/ForceOdom3DoF : uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()) Default value: true ( bool ).

Definition at line 412 of file Parameters.h.

defaultRGBDForceOdom3DoF()

static bool rtabmap::Parameters::defaultRGBDForceOdom3DoF ( )

inlinestatic

Default value of parameter RGBD/ForceOdom3DoF : true .

Definition at line 412 of file Parameters.h.

typeRGBDForceOdom3DoF()

static std::string rtabmap::Parameters::typeRGBDForceOdom3DoF ( )

inlinestatic

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

Definition at line 412 of file Parameters.h.

kRGBDStartAtOrigin()

static std::string rtabmap::Parameters::kRGBDStartAtOrigin ( )

inlinestatic

Key of parameter RGBD/StartAtOrigin : uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

Definition at line 413 of file Parameters.h.

defaultRGBDStartAtOrigin()

static bool rtabmap::Parameters::defaultRGBDStartAtOrigin ( )

inlinestatic

Default value of parameter RGBD/StartAtOrigin : false .

Definition at line 413 of file Parameters.h.

typeRGBDStartAtOrigin()

static std::string rtabmap::Parameters::typeRGBDStartAtOrigin ( )

inlinestatic

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

Definition at line 413 of file Parameters.h.

kRGBDGoalReachedRadius()

static std::string rtabmap::Parameters::kRGBDGoalReachedRadius ( )

inlinestatic

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

Definition at line 414 of file Parameters.h.

defaultRGBDGoalReachedRadius()

static float rtabmap::Parameters::defaultRGBDGoalReachedRadius ( )

inlinestatic

Default value of parameter RGBD/GoalReachedRadius : 0.5 .

Definition at line 414 of file Parameters.h.

typeRGBDGoalReachedRadius()

static std::string rtabmap::Parameters::typeRGBDGoalReachedRadius ( )

inlinestatic

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

Definition at line 414 of file Parameters.h.

kRGBDPlanStuckIterations()

static std::string rtabmap::Parameters::kRGBDPlanStuckIterations ( )

inlinestatic

Key of parameter RGBD/PlanStuckIterations : "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails." Default value: 0 ( int ).

Definition at line 415 of file Parameters.h.

defaultRGBDPlanStuckIterations()

static int rtabmap::Parameters::defaultRGBDPlanStuckIterations ( )

inlinestatic

Default value of parameter RGBD/PlanStuckIterations : 0 .

Definition at line 415 of file Parameters.h.

typeRGBDPlanStuckIterations()

static std::string rtabmap::Parameters::typeRGBDPlanStuckIterations ( )

inlinestatic

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

Definition at line 415 of file Parameters.h.

kRGBDPlanLinearVelocity()

static std::string rtabmap::Parameters::kRGBDPlanLinearVelocity ( )

inlinestatic

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

Definition at line 416 of file Parameters.h.

defaultRGBDPlanLinearVelocity()

static float rtabmap::Parameters::defaultRGBDPlanLinearVelocity ( )

inlinestatic

Default value of parameter RGBD/PlanLinearVelocity : 0 .

Definition at line 416 of file Parameters.h.

typeRGBDPlanLinearVelocity()

static std::string rtabmap::Parameters::typeRGBDPlanLinearVelocity ( )

inlinestatic

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

Definition at line 416 of file Parameters.h.

kRGBDPlanAngularVelocity()

static std::string rtabmap::Parameters::kRGBDPlanAngularVelocity ( )

inlinestatic

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

Definition at line 417 of file Parameters.h.

defaultRGBDPlanAngularVelocity()

static float rtabmap::Parameters::defaultRGBDPlanAngularVelocity ( )

inlinestatic

Default value of parameter RGBD/PlanAngularVelocity : 0 .

Definition at line 417 of file Parameters.h.

typeRGBDPlanAngularVelocity()

static std::string rtabmap::Parameters::typeRGBDPlanAngularVelocity ( )

inlinestatic

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

Definition at line 417 of file Parameters.h.

kRGBDGoalsSavedInUserData()

static std::string rtabmap::Parameters::kRGBDGoalsSavedInUserData ( )

inlinestatic

Key of parameter RGBD/GoalsSavedInUserData : "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\"." Default value: false ( bool ).

Definition at line 418 of file Parameters.h.

defaultRGBDGoalsSavedInUserData()

static bool rtabmap::Parameters::defaultRGBDGoalsSavedInUserData ( )

inlinestatic

Default value of parameter RGBD/GoalsSavedInUserData : false .

Definition at line 418 of file Parameters.h.

typeRGBDGoalsSavedInUserData()

static std::string rtabmap::Parameters::typeRGBDGoalsSavedInUserData ( )

inlinestatic

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

Definition at line 418 of file Parameters.h.

kRGBDMaxLocalRetrieved()

static std::string rtabmap::Parameters::kRGBDMaxLocalRetrieved ( )

inlinestatic

Key of parameter RGBD/MaxLocalRetrieved : "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority)." Default value: 2 ( unsigned int ).

Definition at line 419 of file Parameters.h.

defaultRGBDMaxLocalRetrieved()

static unsigned int rtabmap::Parameters::defaultRGBDMaxLocalRetrieved ( )

inlinestatic

Default value of parameter RGBD/MaxLocalRetrieved : 2 .

Definition at line 419 of file Parameters.h.

typeRGBDMaxLocalRetrieved()

static std::string rtabmap::Parameters::typeRGBDMaxLocalRetrieved ( )

inlinestatic

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

Definition at line 419 of file Parameters.h.

kRGBDLocalRadius()

static std::string rtabmap::Parameters::kRGBDLocalRadius ( )

inlinestatic

Key of parameter RGBD/LocalRadius : "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management." Default value: 10 ( float ).

Definition at line 420 of file Parameters.h.

defaultRGBDLocalRadius()

static float rtabmap::Parameters::defaultRGBDLocalRadius ( )

inlinestatic

Default value of parameter RGBD/LocalRadius : 10 .

Definition at line 420 of file Parameters.h.

typeRGBDLocalRadius()

static std::string rtabmap::Parameters::typeRGBDLocalRadius ( )

inlinestatic

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

Definition at line 420 of file Parameters.h.

kRGBDLocalImmunizationRatio()

static std::string rtabmap::Parameters::kRGBDLocalImmunizationRatio ( )

inlinestatic

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

Definition at line 421 of file Parameters.h.

defaultRGBDLocalImmunizationRatio()

static float rtabmap::Parameters::defaultRGBDLocalImmunizationRatio ( )

inlinestatic

Default value of parameter RGBD/LocalImmunizationRatio : 0.25 .

Definition at line 421 of file Parameters.h.

typeRGBDLocalImmunizationRatio()

static std::string rtabmap::Parameters::typeRGBDLocalImmunizationRatio ( )

inlinestatic

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

Definition at line 421 of file Parameters.h.

kRGBDScanMatchingIdsSavedInLinks()

static std::string rtabmap::Parameters::kRGBDScanMatchingIdsSavedInLinks ( )

inlinestatic

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

Definition at line 422 of file Parameters.h.

defaultRGBDScanMatchingIdsSavedInLinks()

static bool rtabmap::Parameters::defaultRGBDScanMatchingIdsSavedInLinks ( )

inlinestatic

Default value of parameter RGBD/ScanMatchingIdsSavedInLinks : true .

Definition at line 422 of file Parameters.h.

typeRGBDScanMatchingIdsSavedInLinks()

static std::string rtabmap::Parameters::typeRGBDScanMatchingIdsSavedInLinks ( )

inlinestatic

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

Definition at line 422 of file Parameters.h.

kRGBDNeighborLinkRefining()

static std::string rtabmap::Parameters::kRGBDNeighborLinkRefining ( )

inlinestatic

Key of parameter RGBD/NeighborLinkRefining : uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()) Default value: false ( bool ).

Definition at line 423 of file Parameters.h.

defaultRGBDNeighborLinkRefining()

static bool rtabmap::Parameters::defaultRGBDNeighborLinkRefining ( )

inlinestatic

Default value of parameter RGBD/NeighborLinkRefining : false .

Definition at line 423 of file Parameters.h.

typeRGBDNeighborLinkRefining()

static std::string rtabmap::Parameters::typeRGBDNeighborLinkRefining ( )

inlinestatic

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

Definition at line 423 of file Parameters.h.

kRGBDLoopClosureIdentityGuess()

static std::string rtabmap::Parameters::kRGBDLoopClosureIdentityGuess ( )

inlinestatic

Key of parameter RGBD/LoopClosureIdentityGuess : uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()) Default value: false ( bool ).

Definition at line 424 of file Parameters.h.

defaultRGBDLoopClosureIdentityGuess()

static bool rtabmap::Parameters::defaultRGBDLoopClosureIdentityGuess ( )

inlinestatic

Default value of parameter RGBD/LoopClosureIdentityGuess : false .

Definition at line 424 of file Parameters.h.

typeRGBDLoopClosureIdentityGuess()

static std::string rtabmap::Parameters::typeRGBDLoopClosureIdentityGuess ( )

inlinestatic

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

Definition at line 424 of file Parameters.h.

kRGBDLoopClosureReextractFeatures()

static std::string rtabmap::Parameters::kRGBDLoopClosureReextractFeatures ( )

inlinestatic

Key of parameter RGBD/LoopClosureReextractFeatures : "Extract features even if there are some already in the nodes. Raw features are not saved in database." Default value: false ( bool ).

Definition at line 425 of file Parameters.h.

defaultRGBDLoopClosureReextractFeatures()

static bool rtabmap::Parameters::defaultRGBDLoopClosureReextractFeatures ( )

inlinestatic

Default value of parameter RGBD/LoopClosureReextractFeatures : false .

Definition at line 425 of file Parameters.h.

typeRGBDLoopClosureReextractFeatures()

static std::string rtabmap::Parameters::typeRGBDLoopClosureReextractFeatures ( )

inlinestatic

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

Definition at line 425 of file Parameters.h.

kRGBDLocalBundleOnLoopClosure()

static std::string rtabmap::Parameters::kRGBDLocalBundleOnLoopClosure ( )

inlinestatic

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

Definition at line 426 of file Parameters.h.

defaultRGBDLocalBundleOnLoopClosure()

static bool rtabmap::Parameters::defaultRGBDLocalBundleOnLoopClosure ( )

inlinestatic

Default value of parameter RGBD/LocalBundleOnLoopClosure : false .

Definition at line 426 of file Parameters.h.

typeRGBDLocalBundleOnLoopClosure()

static std::string rtabmap::Parameters::typeRGBDLocalBundleOnLoopClosure ( )

inlinestatic

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

Definition at line 426 of file Parameters.h.

kRGBDInvertedReg()

static std::string rtabmap::Parameters::kRGBDInvertedReg ( )

inlinestatic

Key of parameter RGBD/InvertedReg : "On loop closure, do registration from the target to reference instead of reference to target." Default value: false ( bool ).

Definition at line 427 of file Parameters.h.

defaultRGBDInvertedReg()

static bool rtabmap::Parameters::defaultRGBDInvertedReg ( )

inlinestatic

Default value of parameter RGBD/InvertedReg : false .

Definition at line 427 of file Parameters.h.

typeRGBDInvertedReg()

static std::string rtabmap::Parameters::typeRGBDInvertedReg ( )

inlinestatic

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

Definition at line 427 of file Parameters.h.

kRGBDCreateOccupancyGrid()

static std::string rtabmap::Parameters::kRGBDCreateOccupancyGrid ( )

inlinestatic

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

Definition at line 428 of file Parameters.h.

defaultRGBDCreateOccupancyGrid()

static bool rtabmap::Parameters::defaultRGBDCreateOccupancyGrid ( )

inlinestatic

Default value of parameter RGBD/CreateOccupancyGrid : false .

Definition at line 428 of file Parameters.h.

typeRGBDCreateOccupancyGrid()

static std::string rtabmap::Parameters::typeRGBDCreateOccupancyGrid ( )

inlinestatic

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

Definition at line 428 of file Parameters.h.

kRGBDMarkerDetection()

static std::string rtabmap::Parameters::kRGBDMarkerDetection ( )

inlinestatic

Key of parameter RGBD/MarkerDetection : "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters." Default value: false ( bool ).

Definition at line 429 of file Parameters.h.

defaultRGBDMarkerDetection()

static bool rtabmap::Parameters::defaultRGBDMarkerDetection ( )

inlinestatic

Default value of parameter RGBD/MarkerDetection : false .

Definition at line 429 of file Parameters.h.

typeRGBDMarkerDetection()

static std::string rtabmap::Parameters::typeRGBDMarkerDetection ( )

inlinestatic

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

Definition at line 429 of file Parameters.h.

kRGBDLoopCovLimited()

static std::string rtabmap::Parameters::kRGBDLoopCovLimited ( )

inlinestatic

Key of parameter RGBD/LoopCovLimited : "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links." Default value: false ( bool ).

Definition at line 430 of file Parameters.h.

defaultRGBDLoopCovLimited()

static bool rtabmap::Parameters::defaultRGBDLoopCovLimited ( )

inlinestatic

Default value of parameter RGBD/LoopCovLimited : false .

Definition at line 430 of file Parameters.h.

typeRGBDLoopCovLimited()

static std::string rtabmap::Parameters::typeRGBDLoopCovLimited ( )

inlinestatic

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

Definition at line 430 of file Parameters.h.

kRGBDMaxOdomCacheSize()

static std::string rtabmap::Parameters::kRGBDMaxOdomCacheSize ( )

inlinestatic

Key of parameter RGBD/MaxOdomCacheSize : uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()) Default value: 10 ( int ).

Definition at line 431 of file Parameters.h.

defaultRGBDMaxOdomCacheSize()

static int rtabmap::Parameters::defaultRGBDMaxOdomCacheSize ( )

inlinestatic

Default value of parameter RGBD/MaxOdomCacheSize : 10 .

Definition at line 431 of file Parameters.h.

typeRGBDMaxOdomCacheSize()

static std::string rtabmap::Parameters::typeRGBDMaxOdomCacheSize ( )

inlinestatic

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

Definition at line 431 of file Parameters.h.

kRGBDLocalizationSmoothing()

static std::string rtabmap::Parameters::kRGBDLocalizationSmoothing ( )

inlinestatic

Key of parameter RGBD/LocalizationSmoothing : uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

Definition at line 432 of file Parameters.h.

defaultRGBDLocalizationSmoothing()

static bool rtabmap::Parameters::defaultRGBDLocalizationSmoothing ( )

inlinestatic

Default value of parameter RGBD/LocalizationSmoothing : true .

Definition at line 432 of file Parameters.h.

typeRGBDLocalizationSmoothing()

static std::string rtabmap::Parameters::typeRGBDLocalizationSmoothing ( )

inlinestatic

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

Definition at line 432 of file Parameters.h.

kRGBDLocalizationPriorError()

static std::string rtabmap::Parameters::kRGBDLocalizationPriorError ( )

inlinestatic

Key of parameter RGBD/LocalizationPriorError : uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()) Default value: 0.001 ( double ).

Definition at line 433 of file Parameters.h.

defaultRGBDLocalizationPriorError()

static double rtabmap::Parameters::defaultRGBDLocalizationPriorError ( )

inlinestatic

Default value of parameter RGBD/LocalizationPriorError : 0.001 .

Definition at line 433 of file Parameters.h.

typeRGBDLocalizationPriorError()

static std::string rtabmap::Parameters::typeRGBDLocalizationPriorError ( )

inlinestatic

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

Definition at line 433 of file Parameters.h.

kRGBDLocalizationSecondTryWithoutProximityLinks()

static std::string rtabmap::Parameters::kRGBDLocalizationSecondTryWithoutProximityLinks ( )

inlinestatic

Key of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()) Default value: true ( bool ).

Definition at line 434 of file Parameters.h.

defaultRGBDLocalizationSecondTryWithoutProximityLinks()

static bool rtabmap::Parameters::defaultRGBDLocalizationSecondTryWithoutProximityLinks ( )

inlinestatic

Default value of parameter RGBD/LocalizationSecondTryWithoutProximityLinks : true .

Definition at line 434 of file Parameters.h.

typeRGBDLocalizationSecondTryWithoutProximityLinks()

static std::string rtabmap::Parameters::typeRGBDLocalizationSecondTryWithoutProximityLinks ( )

inlinestatic

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

Definition at line 434 of file Parameters.h.

kRGBDProximityByTime()

static std::string rtabmap::Parameters::kRGBDProximityByTime ( )

inlinestatic

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

Definition at line 437 of file Parameters.h.

defaultRGBDProximityByTime()

static bool rtabmap::Parameters::defaultRGBDProximityByTime ( )

inlinestatic

Default value of parameter RGBD/ProximityByTime : false .

Definition at line 437 of file Parameters.h.

typeRGBDProximityByTime()

static std::string rtabmap::Parameters::typeRGBDProximityByTime ( )

inlinestatic

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

Definition at line 437 of file Parameters.h.

kRGBDProximityBySpace()

static std::string rtabmap::Parameters::kRGBDProximityBySpace ( )

inlinestatic

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

Definition at line 438 of file Parameters.h.

defaultRGBDProximityBySpace()

static bool rtabmap::Parameters::defaultRGBDProximityBySpace ( )

inlinestatic

Default value of parameter RGBD/ProximityBySpace : true .

Definition at line 438 of file Parameters.h.

typeRGBDProximityBySpace()

static std::string rtabmap::Parameters::typeRGBDProximityBySpace ( )

inlinestatic

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

Definition at line 438 of file Parameters.h.

kRGBDProximityMaxGraphDepth()

static std::string rtabmap::Parameters::kRGBDProximityMaxGraphDepth ( )

inlinestatic

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 439 of file Parameters.h.

defaultRGBDProximityMaxGraphDepth()

static int rtabmap::Parameters::defaultRGBDProximityMaxGraphDepth ( )

inlinestatic

Default value of parameter RGBD/ProximityMaxGraphDepth : 50 .

Definition at line 439 of file Parameters.h.

typeRGBDProximityMaxGraphDepth()

static std::string rtabmap::Parameters::typeRGBDProximityMaxGraphDepth ( )

inlinestatic

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

Definition at line 439 of file Parameters.h.

kRGBDProximityMaxPaths()

static std::string rtabmap::Parameters::kRGBDProximityMaxPaths ( )

inlinestatic

Key of parameter RGBD/ProximityMaxPaths : "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit." Default value: 3 ( int ).

Definition at line 440 of file Parameters.h.

defaultRGBDProximityMaxPaths()

static int rtabmap::Parameters::defaultRGBDProximityMaxPaths ( )

inlinestatic

Default value of parameter RGBD/ProximityMaxPaths : 3 .

Definition at line 440 of file Parameters.h.

typeRGBDProximityMaxPaths()

static std::string rtabmap::Parameters::typeRGBDProximityMaxPaths ( )

inlinestatic

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

Definition at line 440 of file Parameters.h.

kRGBDProximityPathFilteringRadius()

static std::string rtabmap::Parameters::kRGBDProximityPathFilteringRadius ( )

inlinestatic

Key of parameter RGBD/ProximityPathFilteringRadius : "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection." Default value: 1 ( float ).

Definition at line 441 of file Parameters.h.

defaultRGBDProximityPathFilteringRadius()

static float rtabmap::Parameters::defaultRGBDProximityPathFilteringRadius ( )

inlinestatic

Default value of parameter RGBD/ProximityPathFilteringRadius : 1 .

Definition at line 441 of file Parameters.h.

typeRGBDProximityPathFilteringRadius()

static std::string rtabmap::Parameters::typeRGBDProximityPathFilteringRadius ( )

inlinestatic

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

Definition at line 441 of file Parameters.h.

kRGBDProximityPathMaxNeighbors()

static std::string rtabmap::Parameters::kRGBDProximityPathMaxNeighbors ( )

inlinestatic

Key of parameter RGBD/ProximityPathMaxNeighbors : "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans)." Default value: 0 ( int ).

Definition at line 442 of file Parameters.h.

defaultRGBDProximityPathMaxNeighbors()

static int rtabmap::Parameters::defaultRGBDProximityPathMaxNeighbors ( )

inlinestatic

Default value of parameter RGBD/ProximityPathMaxNeighbors : 0 .

Definition at line 442 of file Parameters.h.

typeRGBDProximityPathMaxNeighbors()

static std::string rtabmap::Parameters::typeRGBDProximityPathMaxNeighbors ( )

inlinestatic

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

Definition at line 442 of file Parameters.h.

kRGBDProximityPathRawPosesUsed()

static std::string rtabmap::Parameters::kRGBDProximityPathRawPosesUsed ( )

inlinestatic

Key of parameter RGBD/ProximityPathRawPosesUsed : "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph." Default value: true ( bool ).

Definition at line 443 of file Parameters.h.

defaultRGBDProximityPathRawPosesUsed()

static bool rtabmap::Parameters::defaultRGBDProximityPathRawPosesUsed ( )

inlinestatic

Default value of parameter RGBD/ProximityPathRawPosesUsed : true .

Definition at line 443 of file Parameters.h.

typeRGBDProximityPathRawPosesUsed()

static std::string rtabmap::Parameters::typeRGBDProximityPathRawPosesUsed ( )

inlinestatic

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

Definition at line 443 of file Parameters.h.

kRGBDProximityAngle()

static std::string rtabmap::Parameters::kRGBDProximityAngle ( )

inlinestatic

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

Definition at line 444 of file Parameters.h.

defaultRGBDProximityAngle()

static float rtabmap::Parameters::defaultRGBDProximityAngle ( )

inlinestatic

Default value of parameter RGBD/ProximityAngle : 45 .

Definition at line 444 of file Parameters.h.

typeRGBDProximityAngle()

static std::string rtabmap::Parameters::typeRGBDProximityAngle ( )

inlinestatic

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

Definition at line 444 of file Parameters.h.

kRGBDProximityOdomGuess()

static std::string rtabmap::Parameters::kRGBDProximityOdomGuess ( )

inlinestatic

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

Definition at line 445 of file Parameters.h.

defaultRGBDProximityOdomGuess()

static bool rtabmap::Parameters::defaultRGBDProximityOdomGuess ( )

inlinestatic

Default value of parameter RGBD/ProximityOdomGuess : false .

Definition at line 445 of file Parameters.h.

typeRGBDProximityOdomGuess()

static std::string rtabmap::Parameters::typeRGBDProximityOdomGuess ( )

inlinestatic

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

Definition at line 445 of file Parameters.h.

kRGBDProximityGlobalScanMap()

static std::string rtabmap::Parameters::kRGBDProximityGlobalScanMap ( )

inlinestatic

Key of parameter RGBD/ProximityGlobalScanMap : uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()) Default value: false ( bool ).

Definition at line 446 of file Parameters.h.

defaultRGBDProximityGlobalScanMap()

static bool rtabmap::Parameters::defaultRGBDProximityGlobalScanMap ( )

inlinestatic

Default value of parameter RGBD/ProximityGlobalScanMap : false .

Definition at line 446 of file Parameters.h.

typeRGBDProximityGlobalScanMap()

static std::string rtabmap::Parameters::typeRGBDProximityGlobalScanMap ( )

inlinestatic

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

Definition at line 446 of file Parameters.h.

kRGBDProximityMergedScanCovFactor()

static std::string rtabmap::Parameters::kRGBDProximityMergedScanCovFactor ( )

inlinestatic

Key of parameter RGBD/ProximityMergedScanCovFactor : uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()) Default value: 100.0 ( double ).

Definition at line 447 of file Parameters.h.

defaultRGBDProximityMergedScanCovFactor()

static double rtabmap::Parameters::defaultRGBDProximityMergedScanCovFactor ( )

inlinestatic

Default value of parameter RGBD/ProximityMergedScanCovFactor : 100.0 .

Definition at line 447 of file Parameters.h.

typeRGBDProximityMergedScanCovFactor()

static std::string rtabmap::Parameters::typeRGBDProximityMergedScanCovFactor ( )

inlinestatic

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

Definition at line 447 of file Parameters.h.

kOptimizerStrategy()

static std::string rtabmap::Parameters::kOptimizerStrategy ( )

inlinestatic

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

Definition at line 465 of file Parameters.h.

defaultOptimizerStrategy()

static int rtabmap::Parameters::defaultOptimizerStrategy ( )

inlinestatic

Default value of parameter Optimizer/Strategy : 0 .

Definition at line 465 of file Parameters.h.

typeOptimizerStrategy()

static std::string rtabmap::Parameters::typeOptimizerStrategy ( )

inlinestatic

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

Definition at line 465 of file Parameters.h.

kOptimizerIterations()

static std::string rtabmap::Parameters::kOptimizerIterations ( )

inlinestatic

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

Definition at line 466 of file Parameters.h.

defaultOptimizerIterations()

static int rtabmap::Parameters::defaultOptimizerIterations ( )

inlinestatic

Default value of parameter Optimizer/Iterations : 100 .

Definition at line 466 of file Parameters.h.

typeOptimizerIterations()

static std::string rtabmap::Parameters::typeOptimizerIterations ( )

inlinestatic

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

Definition at line 466 of file Parameters.h.

kOptimizerEpsilon()

static std::string rtabmap::Parameters::kOptimizerEpsilon ( )

inlinestatic

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

Definition at line 467 of file Parameters.h.

defaultOptimizerEpsilon()

static double rtabmap::Parameters::defaultOptimizerEpsilon ( )

inlinestatic

Default value of parameter Optimizer/Epsilon : 0.00001 .

Definition at line 467 of file Parameters.h.

typeOptimizerEpsilon()

static std::string rtabmap::Parameters::typeOptimizerEpsilon ( )

inlinestatic

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

Definition at line 467 of file Parameters.h.

kOptimizerVarianceIgnored()

static std::string rtabmap::Parameters::kOptimizerVarianceIgnored ( )

inlinestatic

Key of parameter Optimizer/VarianceIgnored : "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links." Default value: false ( bool ).

Definition at line 471 of file Parameters.h.

defaultOptimizerVarianceIgnored()

static bool rtabmap::Parameters::defaultOptimizerVarianceIgnored ( )

inlinestatic

Default value of parameter Optimizer/VarianceIgnored : false .

Definition at line 471 of file Parameters.h.

typeOptimizerVarianceIgnored()

static std::string rtabmap::Parameters::typeOptimizerVarianceIgnored ( )

inlinestatic

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

Definition at line 471 of file Parameters.h.

kOptimizerRobust()

static std::string rtabmap::Parameters::kOptimizerRobust ( )

inlinestatic

Key of parameter Optimizer/Robust : "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies)." Default value: false ( bool ).

Definition at line 472 of file Parameters.h.

defaultOptimizerRobust()

static bool rtabmap::Parameters::defaultOptimizerRobust ( )

inlinestatic

Default value of parameter Optimizer/Robust : false .

Definition at line 472 of file Parameters.h.

typeOptimizerRobust()

static std::string rtabmap::Parameters::typeOptimizerRobust ( )

inlinestatic

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

Definition at line 472 of file Parameters.h.

kOptimizerPriorsIgnored()

static std::string rtabmap::Parameters::kOptimizerPriorsIgnored ( )

inlinestatic

Key of parameter Optimizer/PriorsIgnored : "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this." Default value: true ( bool ).

Definition at line 473 of file Parameters.h.

defaultOptimizerPriorsIgnored()

static bool rtabmap::Parameters::defaultOptimizerPriorsIgnored ( )

inlinestatic

Default value of parameter Optimizer/PriorsIgnored : true .

Definition at line 473 of file Parameters.h.

typeOptimizerPriorsIgnored()

static std::string rtabmap::Parameters::typeOptimizerPriorsIgnored ( )

inlinestatic

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

Definition at line 473 of file Parameters.h.

kOptimizerLandmarksIgnored()

static std::string rtabmap::Parameters::kOptimizerLandmarksIgnored ( )

inlinestatic

Key of parameter Optimizer/LandmarksIgnored : "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this." Default value: false ( bool ).

Definition at line 474 of file Parameters.h.

defaultOptimizerLandmarksIgnored()

static bool rtabmap::Parameters::defaultOptimizerLandmarksIgnored ( )

inlinestatic

Default value of parameter Optimizer/LandmarksIgnored : false .

Definition at line 474 of file Parameters.h.

typeOptimizerLandmarksIgnored()

static std::string rtabmap::Parameters::typeOptimizerLandmarksIgnored ( )

inlinestatic

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

Definition at line 474 of file Parameters.h.

kOptimizerGravitySigma()

static std::string rtabmap::Parameters::kOptimizerGravitySigma ( )

inlinestatic

Key of parameter Optimizer/GravitySigma : uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()) Default value: 0.0 ( float ).

Definition at line 478 of file Parameters.h.

defaultOptimizerGravitySigma()

static float rtabmap::Parameters::defaultOptimizerGravitySigma ( )

inlinestatic

Default value of parameter Optimizer/GravitySigma : 0.0 .

Definition at line 478 of file Parameters.h.

typeOptimizerGravitySigma()

static std::string rtabmap::Parameters::typeOptimizerGravitySigma ( )

inlinestatic

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

Definition at line 478 of file Parameters.h.

kg2oSolver()

static std::string rtabmap::Parameters::kg2oSolver ( )

inlinestatic

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

Definition at line 484 of file Parameters.h.

defaultg2oSolver()

static int rtabmap::Parameters::defaultg2oSolver ( )

inlinestatic

Default value of parameter g2o/Solver : 0 .

Definition at line 484 of file Parameters.h.

typeg2oSolver()

static std::string rtabmap::Parameters::typeg2oSolver ( )

inlinestatic

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

Definition at line 484 of file Parameters.h.

kg2oOptimizer()

static std::string rtabmap::Parameters::kg2oOptimizer ( )

inlinestatic

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

Definition at line 486 of file Parameters.h.

defaultg2oOptimizer()

static int rtabmap::Parameters::defaultg2oOptimizer ( )

inlinestatic

Default value of parameter g2o/Optimizer : 0 .

Definition at line 486 of file Parameters.h.

typeg2oOptimizer()

static std::string rtabmap::Parameters::typeg2oOptimizer ( )

inlinestatic

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

Definition at line 486 of file Parameters.h.

kOptimizerBaseline()

static std::string rtabmap::Parameters::kOptimizerBaseline ( )

inlinestatic

Key of parameter Optimizer/Baseline : "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly." Default value: 0.075 ( double ).

Definition at line 488 of file Parameters.h.

defaultOptimizerBaseline()

static double rtabmap::Parameters::defaultOptimizerBaseline ( )

inlinestatic

Default value of parameter Optimizer/Baseline : 0.075 .

Definition at line 488 of file Parameters.h.

typeOptimizerBaseline()

static std::string rtabmap::Parameters::typeOptimizerBaseline ( )

inlinestatic

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

Definition at line 488 of file Parameters.h.

kOptimizerPixelVariance()

static std::string rtabmap::Parameters::kOptimizerPixelVariance ( )

inlinestatic

Key of parameter Optimizer/PixelVariance : "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions." Default value: 1.0 ( double ).

Definition at line 489 of file Parameters.h.

defaultOptimizerPixelVariance()

static double rtabmap::Parameters::defaultOptimizerPixelVariance ( )

inlinestatic

Default value of parameter Optimizer/PixelVariance : 1.0 .

Definition at line 489 of file Parameters.h.

typeOptimizerPixelVariance()

static std::string rtabmap::Parameters::typeOptimizerPixelVariance ( )

inlinestatic

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

Definition at line 489 of file Parameters.h.

kOptimizerDisparityVariance()

static std::string rtabmap::Parameters::kOptimizerDisparityVariance ( )

inlinestatic

Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ).

Definition at line 490 of file Parameters.h.

defaultOptimizerDisparityVariance()

static double rtabmap::Parameters::defaultOptimizerDisparityVariance ( )

inlinestatic

Default value of parameter Optimizer/DisparityVariance : 1.0 .

Definition at line 490 of file Parameters.h.

typeOptimizerDisparityVariance()

static std::string rtabmap::Parameters::typeOptimizerDisparityVariance ( )

inlinestatic

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

Definition at line 490 of file Parameters.h.

kOptimizerRobustKernelDelta()

static std::string rtabmap::Parameters::kOptimizerRobustKernelDelta ( )

inlinestatic

Key of parameter Optimizer/RobustKernelDelta : "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass." Default value: 8 ( double ).

Definition at line 491 of file Parameters.h.

defaultOptimizerRobustKernelDelta()

static double rtabmap::Parameters::defaultOptimizerRobustKernelDelta ( )

inlinestatic

Default value of parameter Optimizer/RobustKernelDelta : 8 .

Definition at line 491 of file Parameters.h.

typeOptimizerRobustKernelDelta()

static std::string rtabmap::Parameters::typeOptimizerRobustKernelDelta ( )

inlinestatic

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

Definition at line 491 of file Parameters.h.

kGTSAMOptimizer()

static std::string rtabmap::Parameters::kGTSAMOptimizer ( )

inlinestatic

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

Definition at line 493 of file Parameters.h.

defaultGTSAMOptimizer()

static int rtabmap::Parameters::defaultGTSAMOptimizer ( )

inlinestatic

Default value of parameter GTSAM/Optimizer : 1 .

Definition at line 493 of file Parameters.h.

typeGTSAMOptimizer()

static std::string rtabmap::Parameters::typeGTSAMOptimizer ( )

inlinestatic

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

Definition at line 493 of file Parameters.h.

kGTSAMIncremental()

static std::string rtabmap::Parameters::kGTSAMIncremental ( )

inlinestatic

Key of parameter GTSAM/Incremental : uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()) Default value: false ( bool ).

Definition at line 494 of file Parameters.h.

defaultGTSAMIncremental()

static bool rtabmap::Parameters::defaultGTSAMIncremental ( )

inlinestatic

Default value of parameter GTSAM/Incremental : false .

Definition at line 494 of file Parameters.h.

typeGTSAMIncremental()

static std::string rtabmap::Parameters::typeGTSAMIncremental ( )

inlinestatic

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

Definition at line 494 of file Parameters.h.

kGTSAMIncRelinearizeThreshold()

static std::string rtabmap::Parameters::kGTSAMIncRelinearizeThreshold ( )

inlinestatic

Key of parameter GTSAM/IncRelinearizeThreshold : "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info." Default value: 0.01 ( double ).

Definition at line 495 of file Parameters.h.

defaultGTSAMIncRelinearizeThreshold()

static double rtabmap::Parameters::defaultGTSAMIncRelinearizeThreshold ( )

inlinestatic

Default value of parameter GTSAM/IncRelinearizeThreshold : 0.01 .

Definition at line 495 of file Parameters.h.

typeGTSAMIncRelinearizeThreshold()

static std::string rtabmap::Parameters::typeGTSAMIncRelinearizeThreshold ( )

inlinestatic

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

Definition at line 495 of file Parameters.h.

kGTSAMIncRelinearizeSkip()

static std::string rtabmap::Parameters::kGTSAMIncRelinearizeSkip ( )

inlinestatic

Key of parameter GTSAM/IncRelinearizeSkip : "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info." Default value: 1 ( int ).

Definition at line 496 of file Parameters.h.

defaultGTSAMIncRelinearizeSkip()

static int rtabmap::Parameters::defaultGTSAMIncRelinearizeSkip ( )

inlinestatic

Default value of parameter GTSAM/IncRelinearizeSkip : 1 .

Definition at line 496 of file Parameters.h.

typeGTSAMIncRelinearizeSkip()

static std::string rtabmap::Parameters::typeGTSAMIncRelinearizeSkip ( )

inlinestatic

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

Definition at line 496 of file Parameters.h.

kOdomStrategy()

static std::string rtabmap::Parameters::kOdomStrategy ( )

inlinestatic

Key of parameter Odom/Strategy : "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM" Default value: 0 ( int ).

Definition at line 499 of file Parameters.h.

defaultOdomStrategy()

static int rtabmap::Parameters::defaultOdomStrategy ( )

inlinestatic

Default value of parameter Odom/Strategy : 0 .

Definition at line 499 of file Parameters.h.

typeOdomStrategy()

static std::string rtabmap::Parameters::typeOdomStrategy ( )

inlinestatic

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

Definition at line 499 of file Parameters.h.

kOdomResetCountdown()

static std::string rtabmap::Parameters::kOdomResetCountdown ( )

inlinestatic

Key of parameter Odom/ResetCountdown : "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered." Default value: 0 ( int ).

Definition at line 500 of file Parameters.h.

defaultOdomResetCountdown()

static int rtabmap::Parameters::defaultOdomResetCountdown ( )

inlinestatic

Default value of parameter Odom/ResetCountdown : 0 .

Definition at line 500 of file Parameters.h.

typeOdomResetCountdown()

static std::string rtabmap::Parameters::typeOdomResetCountdown ( )

inlinestatic

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

Definition at line 500 of file Parameters.h.

kOdomHolonomic()

static std::string rtabmap::Parameters::kOdomHolonomic ( )

inlinestatic

Key of parameter Odom/Holonomic : "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw))." Default value: true ( bool ).

Definition at line 501 of file Parameters.h.

defaultOdomHolonomic()

static bool rtabmap::Parameters::defaultOdomHolonomic ( )

inlinestatic

Default value of parameter Odom/Holonomic : true .

Definition at line 501 of file Parameters.h.

typeOdomHolonomic()

static std::string rtabmap::Parameters::typeOdomHolonomic ( )

inlinestatic

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

Definition at line 501 of file Parameters.h.

kOdomFillInfoData()

static std::string rtabmap::Parameters::kOdomFillInfoData ( )

inlinestatic

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

Definition at line 502 of file Parameters.h.

defaultOdomFillInfoData()

static bool rtabmap::Parameters::defaultOdomFillInfoData ( )

inlinestatic

Default value of parameter Odom/FillInfoData : true .

Definition at line 502 of file Parameters.h.

typeOdomFillInfoData()

static std::string rtabmap::Parameters::typeOdomFillInfoData ( )

inlinestatic

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

Definition at line 502 of file Parameters.h.

kOdomImageBufferSize()

static std::string rtabmap::Parameters::kOdomImageBufferSize ( )

inlinestatic

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

Definition at line 503 of file Parameters.h.

defaultOdomImageBufferSize()

static unsigned int rtabmap::Parameters::defaultOdomImageBufferSize ( )

inlinestatic

Default value of parameter Odom/ImageBufferSize : 1 .

Definition at line 503 of file Parameters.h.

typeOdomImageBufferSize()

static std::string rtabmap::Parameters::typeOdomImageBufferSize ( )

inlinestatic

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

Definition at line 503 of file Parameters.h.

kOdomFilteringStrategy()

static std::string rtabmap::Parameters::kOdomFilteringStrategy ( )

inlinestatic

Key of parameter Odom/FilteringStrategy : "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output." Default value: 0 ( int ).

Definition at line 504 of file Parameters.h.

defaultOdomFilteringStrategy()

static int rtabmap::Parameters::defaultOdomFilteringStrategy ( )

inlinestatic

Default value of parameter Odom/FilteringStrategy : 0 .

Definition at line 504 of file Parameters.h.

typeOdomFilteringStrategy()

static std::string rtabmap::Parameters::typeOdomFilteringStrategy ( )

inlinestatic

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

Definition at line 504 of file Parameters.h.

kOdomParticleSize()

static std::string rtabmap::Parameters::kOdomParticleSize ( )

inlinestatic

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

Definition at line 505 of file Parameters.h.

defaultOdomParticleSize()

static unsigned int rtabmap::Parameters::defaultOdomParticleSize ( )

inlinestatic

Default value of parameter Odom/ParticleSize : 400 .

Definition at line 505 of file Parameters.h.

typeOdomParticleSize()

static std::string rtabmap::Parameters::typeOdomParticleSize ( )

inlinestatic

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

Definition at line 505 of file Parameters.h.

kOdomParticleNoiseT()

static std::string rtabmap::Parameters::kOdomParticleNoiseT ( )

inlinestatic

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

Definition at line 506 of file Parameters.h.

defaultOdomParticleNoiseT()

static float rtabmap::Parameters::defaultOdomParticleNoiseT ( )

inlinestatic

Default value of parameter Odom/ParticleNoiseT : 0.002 .

Definition at line 506 of file Parameters.h.

typeOdomParticleNoiseT()

static std::string rtabmap::Parameters::typeOdomParticleNoiseT ( )

inlinestatic

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

Definition at line 506 of file Parameters.h.

kOdomParticleLambdaT()

static std::string rtabmap::Parameters::kOdomParticleLambdaT ( )

inlinestatic

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

Definition at line 507 of file Parameters.h.

defaultOdomParticleLambdaT()

static float rtabmap::Parameters::defaultOdomParticleLambdaT ( )

inlinestatic

Default value of parameter Odom/ParticleLambdaT : 100 .

Definition at line 507 of file Parameters.h.

typeOdomParticleLambdaT()

static std::string rtabmap::Parameters::typeOdomParticleLambdaT ( )

inlinestatic

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

Definition at line 507 of file Parameters.h.

kOdomParticleNoiseR()

static std::string rtabmap::Parameters::kOdomParticleNoiseR ( )

inlinestatic

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

Definition at line 508 of file Parameters.h.

defaultOdomParticleNoiseR()

static float rtabmap::Parameters::defaultOdomParticleNoiseR ( )

inlinestatic

Default value of parameter Odom/ParticleNoiseR : 0.002 .

Definition at line 508 of file Parameters.h.

typeOdomParticleNoiseR()

static std::string rtabmap::Parameters::typeOdomParticleNoiseR ( )

inlinestatic

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

Definition at line 508 of file Parameters.h.

kOdomParticleLambdaR()

static std::string rtabmap::Parameters::kOdomParticleLambdaR ( )

inlinestatic

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

Definition at line 509 of file Parameters.h.

defaultOdomParticleLambdaR()

static float rtabmap::Parameters::defaultOdomParticleLambdaR ( )

inlinestatic

Default value of parameter Odom/ParticleLambdaR : 100 .

Definition at line 509 of file Parameters.h.

typeOdomParticleLambdaR()

static std::string rtabmap::Parameters::typeOdomParticleLambdaR ( )

inlinestatic

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

Definition at line 509 of file Parameters.h.

kOdomKalmanProcessNoise()

static std::string rtabmap::Parameters::kOdomKalmanProcessNoise ( )

inlinestatic

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

Definition at line 510 of file Parameters.h.

defaultOdomKalmanProcessNoise()

static float rtabmap::Parameters::defaultOdomKalmanProcessNoise ( )

inlinestatic

Default value of parameter Odom/KalmanProcessNoise : 0.001 .

Definition at line 510 of file Parameters.h.

typeOdomKalmanProcessNoise()

static std::string rtabmap::Parameters::typeOdomKalmanProcessNoise ( )

inlinestatic

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

Definition at line 510 of file Parameters.h.

kOdomKalmanMeasurementNoise()

static std::string rtabmap::Parameters::kOdomKalmanMeasurementNoise ( )

inlinestatic

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

Definition at line 511 of file Parameters.h.

defaultOdomKalmanMeasurementNoise()

static float rtabmap::Parameters::defaultOdomKalmanMeasurementNoise ( )

inlinestatic

Default value of parameter Odom/KalmanMeasurementNoise : 0.01 .

Definition at line 511 of file Parameters.h.

typeOdomKalmanMeasurementNoise()

static std::string rtabmap::Parameters::typeOdomKalmanMeasurementNoise ( )

inlinestatic

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

Definition at line 511 of file Parameters.h.

kOdomGuessMotion()

static std::string rtabmap::Parameters::kOdomGuessMotion ( )

inlinestatic

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

Definition at line 512 of file Parameters.h.

defaultOdomGuessMotion()

static bool rtabmap::Parameters::defaultOdomGuessMotion ( )

inlinestatic

Default value of parameter Odom/GuessMotion : true .

Definition at line 512 of file Parameters.h.

typeOdomGuessMotion()

static std::string rtabmap::Parameters::typeOdomGuessMotion ( )

inlinestatic

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

Definition at line 512 of file Parameters.h.

kOdomGuessSmoothingDelay()

static std::string rtabmap::Parameters::kOdomGuessSmoothingDelay ( )

inlinestatic

Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()) Default value: 0 ( float ).

Definition at line 513 of file Parameters.h.

defaultOdomGuessSmoothingDelay()

static float rtabmap::Parameters::defaultOdomGuessSmoothingDelay ( )

inlinestatic

Default value of parameter Odom/GuessSmoothingDelay : 0 .

Definition at line 513 of file Parameters.h.

typeOdomGuessSmoothingDelay()

static std::string rtabmap::Parameters::typeOdomGuessSmoothingDelay ( )

inlinestatic

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

Definition at line 513 of file Parameters.h.

kOdomKeyFrameThr()

static std::string rtabmap::Parameters::kOdomKeyFrameThr ( )

inlinestatic

Key of parameter Odom/KeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.3 ( float ).

Definition at line 514 of file Parameters.h.

defaultOdomKeyFrameThr()

static float rtabmap::Parameters::defaultOdomKeyFrameThr ( )

inlinestatic

Default value of parameter Odom/KeyFrameThr : 0.3 .

Definition at line 514 of file Parameters.h.

typeOdomKeyFrameThr()

static std::string rtabmap::Parameters::typeOdomKeyFrameThr ( )

inlinestatic

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

Definition at line 514 of file Parameters.h.

kOdomVisKeyFrameThr()

static std::string rtabmap::Parameters::kOdomVisKeyFrameThr ( )

inlinestatic

Key of parameter Odom/VisKeyFrameThr : "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 150 ( int ).

Definition at line 515 of file Parameters.h.

defaultOdomVisKeyFrameThr()

static int rtabmap::Parameters::defaultOdomVisKeyFrameThr ( )

inlinestatic

Default value of parameter Odom/VisKeyFrameThr : 150 .

Definition at line 515 of file Parameters.h.

typeOdomVisKeyFrameThr()

static std::string rtabmap::Parameters::typeOdomVisKeyFrameThr ( )

inlinestatic

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

Definition at line 515 of file Parameters.h.

kOdomScanKeyFrameThr()

static std::string rtabmap::Parameters::kOdomScanKeyFrameThr ( )

inlinestatic

Key of parameter Odom/ScanKeyFrameThr : "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame." Default value: 0.9 ( float ).

Definition at line 516 of file Parameters.h.

defaultOdomScanKeyFrameThr()

static float rtabmap::Parameters::defaultOdomScanKeyFrameThr ( )

inlinestatic

Default value of parameter Odom/ScanKeyFrameThr : 0.9 .

Definition at line 516 of file Parameters.h.

typeOdomScanKeyFrameThr()

static std::string rtabmap::Parameters::typeOdomScanKeyFrameThr ( )

inlinestatic

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

Definition at line 516 of file Parameters.h.

kOdomImageDecimation()

static std::string rtabmap::Parameters::kOdomImageDecimation ( )

inlinestatic

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

Definition at line 517 of file Parameters.h.

defaultOdomImageDecimation()

static unsigned int rtabmap::Parameters::defaultOdomImageDecimation ( )

inlinestatic

Default value of parameter Odom/ImageDecimation : 1 .

Definition at line 517 of file Parameters.h.

typeOdomImageDecimation()

static std::string rtabmap::Parameters::typeOdomImageDecimation ( )

inlinestatic

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

Definition at line 517 of file Parameters.h.

kOdomAlignWithGround()

static std::string rtabmap::Parameters::kOdomAlignWithGround ( )

inlinestatic

Key of parameter Odom/AlignWithGround : "Align odometry with the ground on initialization." Default value: false ( bool ).

Definition at line 518 of file Parameters.h.

defaultOdomAlignWithGround()

static bool rtabmap::Parameters::defaultOdomAlignWithGround ( )

inlinestatic

Default value of parameter Odom/AlignWithGround : false .

Definition at line 518 of file Parameters.h.

typeOdomAlignWithGround()

static std::string rtabmap::Parameters::typeOdomAlignWithGround ( )

inlinestatic

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

Definition at line 518 of file Parameters.h.

kOdomDeskewing()

static std::string rtabmap::Parameters::kOdomDeskewing ( )

inlinestatic

Key of parameter Odom/Deskewing : "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided)." Default value: true ( bool ).

Definition at line 519 of file Parameters.h.

defaultOdomDeskewing()

static bool rtabmap::Parameters::defaultOdomDeskewing ( )

inlinestatic

Default value of parameter Odom/Deskewing : true .

Definition at line 519 of file Parameters.h.

typeOdomDeskewing()

static std::string rtabmap::Parameters::typeOdomDeskewing ( )

inlinestatic

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

Definition at line 519 of file Parameters.h.

kOdomF2MMaxSize()

static std::string rtabmap::Parameters::kOdomF2MMaxSize ( )

inlinestatic

Key of parameter OdomF2M/MaxSize : "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words." Default value: 2000 ( int ).

Definition at line 522 of file Parameters.h.

defaultOdomF2MMaxSize()

static int rtabmap::Parameters::defaultOdomF2MMaxSize ( )

inlinestatic

Default value of parameter OdomF2M/MaxSize : 2000 .

Definition at line 522 of file Parameters.h.

typeOdomF2MMaxSize()

static std::string rtabmap::Parameters::typeOdomF2MMaxSize ( )

inlinestatic

Type of parameter OdomF2M/MaxSize , as a string: int .

Definition at line 522 of file Parameters.h.

kOdomF2MMaxNewFeatures()

static std::string rtabmap::Parameters::kOdomF2MMaxNewFeatures ( )

inlinestatic

Key of parameter OdomF2M/MaxNewFeatures : "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit." Default value: 0 ( int ).

Definition at line 523 of file Parameters.h.

defaultOdomF2MMaxNewFeatures()

static int rtabmap::Parameters::defaultOdomF2MMaxNewFeatures ( )

inlinestatic

Default value of parameter OdomF2M/MaxNewFeatures : 0 .

Definition at line 523 of file Parameters.h.

typeOdomF2MMaxNewFeatures()

static std::string rtabmap::Parameters::typeOdomF2MMaxNewFeatures ( )

inlinestatic

Type of parameter OdomF2M/MaxNewFeatures , as a string: int .

Definition at line 523 of file Parameters.h.

kOdomF2MInitDepthFactor()

static std::string rtabmap::Parameters::kOdomF2MInitDepthFactor ( )

inlinestatic

Key of parameter OdomF2M/InitDepthFactor : "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx." Default value: 0.05 ( float ).

Definition at line 524 of file Parameters.h.

defaultOdomF2MInitDepthFactor()

static float rtabmap::Parameters::defaultOdomF2MInitDepthFactor ( )

inlinestatic

Default value of parameter OdomF2M/InitDepthFactor : 0.05 .

Definition at line 524 of file Parameters.h.

typeOdomF2MInitDepthFactor()

static std::string rtabmap::Parameters::typeOdomF2MInitDepthFactor ( )

inlinestatic

Type of parameter OdomF2M/InitDepthFactor , as a string: float .

Definition at line 524 of file Parameters.h.

kOdomF2MFloorThreshold()

static std::string rtabmap::Parameters::kOdomF2MFloorThreshold ( )

inlinestatic

Key of parameter OdomF2M/FloorThreshold : "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled." Default value: 0.0 ( float ).

Definition at line 525 of file Parameters.h.

defaultOdomF2MFloorThreshold()

static float rtabmap::Parameters::defaultOdomF2MFloorThreshold ( )

inlinestatic

Default value of parameter OdomF2M/FloorThreshold : 0.0 .

Definition at line 525 of file Parameters.h.

typeOdomF2MFloorThreshold()

static std::string rtabmap::Parameters::typeOdomF2MFloorThreshold ( )

inlinestatic

Type of parameter OdomF2M/FloorThreshold , as a string: float .

Definition at line 525 of file Parameters.h.

kOdomF2MScanMaxSize()

static std::string rtabmap::Parameters::kOdomF2MScanMaxSize ( )

inlinestatic

Key of parameter OdomF2M/ScanMaxSize : "[Geometry] Maximum local scan map size." Default value: 2000 ( int ).

Definition at line 526 of file Parameters.h.

defaultOdomF2MScanMaxSize()

static int rtabmap::Parameters::defaultOdomF2MScanMaxSize ( )

inlinestatic

Default value of parameter OdomF2M/ScanMaxSize : 2000 .

Definition at line 526 of file Parameters.h.

typeOdomF2MScanMaxSize()

static std::string rtabmap::Parameters::typeOdomF2MScanMaxSize ( )

inlinestatic

Type of parameter OdomF2M/ScanMaxSize , as a string: int .

Definition at line 526 of file Parameters.h.

kOdomF2MScanSubtractRadius()

static std::string rtabmap::Parameters::kOdomF2MScanSubtractRadius ( )

inlinestatic

Key of parameter OdomF2M/ScanSubtractRadius : "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans." Default value: 0.05 ( float ).

Definition at line 527 of file Parameters.h.

defaultOdomF2MScanSubtractRadius()

static float rtabmap::Parameters::defaultOdomF2MScanSubtractRadius ( )

inlinestatic

Default value of parameter OdomF2M/ScanSubtractRadius : 0.05 .

Definition at line 527 of file Parameters.h.

typeOdomF2MScanSubtractRadius()

static std::string rtabmap::Parameters::typeOdomF2MScanSubtractRadius ( )

inlinestatic

Type of parameter OdomF2M/ScanSubtractRadius , as a string: float .

Definition at line 527 of file Parameters.h.

kOdomF2MScanSubtractAngle()

static std::string rtabmap::Parameters::kOdomF2MScanSubtractAngle ( )

inlinestatic

Key of parameter OdomF2M/ScanSubtractAngle : uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str() Default value: 45 ( float ).

Definition at line 528 of file Parameters.h.

defaultOdomF2MScanSubtractAngle()

static float rtabmap::Parameters::defaultOdomF2MScanSubtractAngle ( )

inlinestatic

Default value of parameter OdomF2M/ScanSubtractAngle : 45 .

Definition at line 528 of file Parameters.h.

typeOdomF2MScanSubtractAngle()

static std::string rtabmap::Parameters::typeOdomF2MScanSubtractAngle ( )

inlinestatic

Type of parameter OdomF2M/ScanSubtractAngle , as a string: float .

Definition at line 528 of file Parameters.h.

kOdomF2MScanRange()

static std::string rtabmap::Parameters::kOdomF2MScanRange ( )

inlinestatic

Key of parameter OdomF2M/ScanRange : "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range." Default value: 0 ( float ).

Definition at line 529 of file Parameters.h.

defaultOdomF2MScanRange()

static float rtabmap::Parameters::defaultOdomF2MScanRange ( )

inlinestatic

Default value of parameter OdomF2M/ScanRange : 0 .

Definition at line 529 of file Parameters.h.

typeOdomF2MScanRange()

static std::string rtabmap::Parameters::typeOdomF2MScanRange ( )

inlinestatic

Type of parameter OdomF2M/ScanRange , as a string: float .

Definition at line 529 of file Parameters.h.

kOdomF2MValidDepthRatio()

static std::string rtabmap::Parameters::kOdomF2MValidDepthRatio ( )

inlinestatic

Key of parameter OdomF2M/ValidDepthRatio : "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map." Default value: 0.75 ( float ).

Definition at line 530 of file Parameters.h.

defaultOdomF2MValidDepthRatio()

static float rtabmap::Parameters::defaultOdomF2MValidDepthRatio ( )

inlinestatic

Default value of parameter OdomF2M/ValidDepthRatio : 0.75 .

Definition at line 530 of file Parameters.h.

typeOdomF2MValidDepthRatio()

static std::string rtabmap::Parameters::typeOdomF2MValidDepthRatio ( )

inlinestatic

Type of parameter OdomF2M/ValidDepthRatio , as a string: float .

Definition at line 530 of file Parameters.h.

kOdomF2MBundleAdjustment()

static std::string rtabmap::Parameters::kOdomF2MBundleAdjustment ( )

inlinestatic

Key of parameter OdomF2M/BundleAdjustment : uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

Definition at line 534 of file Parameters.h.

defaultOdomF2MBundleAdjustment()

static int rtabmap::Parameters::defaultOdomF2MBundleAdjustment ( )

inlinestatic

Default value of parameter OdomF2M/BundleAdjustment : 0 .

Definition at line 534 of file Parameters.h.

typeOdomF2MBundleAdjustment()

static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustment ( )

inlinestatic

Type of parameter OdomF2M/BundleAdjustment , as a string: int .

Definition at line 534 of file Parameters.h.

kOdomF2MBundleAdjustmentMaxFrames()

static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMaxFrames ( )

inlinestatic

Key of parameter OdomF2M/BundleAdjustmentMaxFrames : "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)." Default value: 10 ( int ).

Definition at line 536 of file Parameters.h.

defaultOdomF2MBundleAdjustmentMaxFrames()

static int rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMaxFrames ( )

inlinestatic

Default value of parameter OdomF2M/BundleAdjustmentMaxFrames : 10 .

Definition at line 536 of file Parameters.h.

typeOdomF2MBundleAdjustmentMaxFrames()

static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMaxFrames ( )

inlinestatic

Type of parameter OdomF2M/BundleAdjustmentMaxFrames , as a string: int .

Definition at line 536 of file Parameters.h.

kOdomF2MBundleAdjustmentMinMotion()

static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMinMotion ( )

inlinestatic

Key of parameter OdomF2M/BundleAdjustmentMinMotion : "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame." Default value: 0.0 ( float ).

Definition at line 537 of file Parameters.h.

defaultOdomF2MBundleAdjustmentMinMotion()

static float rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMinMotion ( )

inlinestatic

Default value of parameter OdomF2M/BundleAdjustmentMinMotion : 0.0 .

Definition at line 537 of file Parameters.h.

typeOdomF2MBundleAdjustmentMinMotion()

static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMinMotion ( )

inlinestatic

Type of parameter OdomF2M/BundleAdjustmentMinMotion , as a string: float .

Definition at line 537 of file Parameters.h.

kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

static std::string rtabmap::Parameters::kOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ( )

inlinestatic

Key of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : "Maximum keyframes per feature for bundle adjustment. 0 means not limit." Default value: 0 ( int ).

Definition at line 538 of file Parameters.h.

defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

static int rtabmap::Parameters::defaultOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ( )

inlinestatic

Default value of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature : 0 .

Definition at line 538 of file Parameters.h.

typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature()

static std::string rtabmap::Parameters::typeOdomF2MBundleAdjustmentMaxKeyFramesPerFeature ( )

inlinestatic

Type of parameter OdomF2M/BundleAdjustmentMaxKeyFramesPerFeature , as a string: int .

Definition at line 538 of file Parameters.h.

kOdomF2MBundleUpdateFeatureMapOnAllFrames()

static std::string rtabmap::Parameters::kOdomF2MBundleUpdateFeatureMapOnAllFrames ( )

inlinestatic

Key of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()) Default value: false ( bool ).

Definition at line 539 of file Parameters.h.

defaultOdomF2MBundleUpdateFeatureMapOnAllFrames()

static bool rtabmap::Parameters::defaultOdomF2MBundleUpdateFeatureMapOnAllFrames ( )

inlinestatic

Default value of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames : false .

Definition at line 539 of file Parameters.h.

typeOdomF2MBundleUpdateFeatureMapOnAllFrames()

static std::string rtabmap::Parameters::typeOdomF2MBundleUpdateFeatureMapOnAllFrames ( )

inlinestatic

Type of parameter OdomF2M/BundleUpdateFeatureMapOnAllFrames , as a string: bool .

Definition at line 539 of file Parameters.h.

kOdomMonoInitMinFlow()

static std::string rtabmap::Parameters::kOdomMonoInitMinFlow ( )

inlinestatic

Key of parameter OdomMono/InitMinFlow : "Minimum optical flow required for the initialization step." Default value: 100 ( float ).

Definition at line 542 of file Parameters.h.

defaultOdomMonoInitMinFlow()

static float rtabmap::Parameters::defaultOdomMonoInitMinFlow ( )

inlinestatic

Default value of parameter OdomMono/InitMinFlow : 100 .

Definition at line 542 of file Parameters.h.

typeOdomMonoInitMinFlow()

static std::string rtabmap::Parameters::typeOdomMonoInitMinFlow ( )

inlinestatic

Type of parameter OdomMono/InitMinFlow , as a string: float .

Definition at line 542 of file Parameters.h.

kOdomMonoInitMinTranslation()

static std::string rtabmap::Parameters::kOdomMonoInitMinTranslation ( )

inlinestatic

Key of parameter OdomMono/InitMinTranslation : "Minimum translation required for the initialization step." Default value: 0.1 ( float ).

Definition at line 543 of file Parameters.h.

defaultOdomMonoInitMinTranslation()

static float rtabmap::Parameters::defaultOdomMonoInitMinTranslation ( )

inlinestatic

Default value of parameter OdomMono/InitMinTranslation : 0.1 .

Definition at line 543 of file Parameters.h.

typeOdomMonoInitMinTranslation()

static std::string rtabmap::Parameters::typeOdomMonoInitMinTranslation ( )

inlinestatic

Type of parameter OdomMono/InitMinTranslation , as a string: float .

Definition at line 543 of file Parameters.h.

kOdomMonoMinTranslation()

static std::string rtabmap::Parameters::kOdomMonoMinTranslation ( )

inlinestatic

Key of parameter OdomMono/MinTranslation : "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum." Default value: 0.02 ( float ).

Definition at line 544 of file Parameters.h.

defaultOdomMonoMinTranslation()

static float rtabmap::Parameters::defaultOdomMonoMinTranslation ( )

inlinestatic

Default value of parameter OdomMono/MinTranslation : 0.02 .

Definition at line 544 of file Parameters.h.

typeOdomMonoMinTranslation()

static std::string rtabmap::Parameters::typeOdomMonoMinTranslation ( )

inlinestatic

Type of parameter OdomMono/MinTranslation , as a string: float .

Definition at line 544 of file Parameters.h.

kOdomMonoMaxVariance()

static std::string rtabmap::Parameters::kOdomMonoMaxVariance ( )

inlinestatic

Key of parameter OdomMono/MaxVariance : "Maximum variance to add new points to local map." Default value: 0.01 ( float ).

Definition at line 545 of file Parameters.h.

defaultOdomMonoMaxVariance()

static float rtabmap::Parameters::defaultOdomMonoMaxVariance ( )

inlinestatic

Default value of parameter OdomMono/MaxVariance : 0.01 .

Definition at line 545 of file Parameters.h.

typeOdomMonoMaxVariance()

static std::string rtabmap::Parameters::typeOdomMonoMaxVariance ( )

inlinestatic

Type of parameter OdomMono/MaxVariance , as a string: float .

Definition at line 545 of file Parameters.h.

kOdomFovisFeatureWindowSize()

static std::string rtabmap::Parameters::kOdomFovisFeatureWindowSize ( )

inlinestatic

Key of parameter OdomFovis/FeatureWindowSize : "The size of the n x n image patch surrounding each feature, used for keypoint matching." Default value: 9 ( int ).

Definition at line 548 of file Parameters.h.

defaultOdomFovisFeatureWindowSize()

static int rtabmap::Parameters::defaultOdomFovisFeatureWindowSize ( )

inlinestatic

Default value of parameter OdomFovis/FeatureWindowSize : 9 .

Definition at line 548 of file Parameters.h.

typeOdomFovisFeatureWindowSize()

static std::string rtabmap::Parameters::typeOdomFovisFeatureWindowSize ( )

inlinestatic

Type of parameter OdomFovis/FeatureWindowSize , as a string: int .

Definition at line 548 of file Parameters.h.

kOdomFovisMaxPyramidLevel()

static std::string rtabmap::Parameters::kOdomFovisMaxPyramidLevel ( )

inlinestatic

Key of parameter OdomFovis/MaxPyramidLevel : "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image." Default value: 3 ( int ).

Definition at line 549 of file Parameters.h.

defaultOdomFovisMaxPyramidLevel()

static int rtabmap::Parameters::defaultOdomFovisMaxPyramidLevel ( )

inlinestatic

Default value of parameter OdomFovis/MaxPyramidLevel : 3 .

Definition at line 549 of file Parameters.h.

typeOdomFovisMaxPyramidLevel()

static std::string rtabmap::Parameters::typeOdomFovisMaxPyramidLevel ( )

inlinestatic

Type of parameter OdomFovis/MaxPyramidLevel , as a string: int .

Definition at line 549 of file Parameters.h.

kOdomFovisMinPyramidLevel()

static std::string rtabmap::Parameters::kOdomFovisMinPyramidLevel ( )

inlinestatic

Key of parameter OdomFovis/MinPyramidLevel : "The minimum pyramid level." Default value: 0 ( int ).

Definition at line 550 of file Parameters.h.

defaultOdomFovisMinPyramidLevel()

static int rtabmap::Parameters::defaultOdomFovisMinPyramidLevel ( )

inlinestatic

Default value of parameter OdomFovis/MinPyramidLevel : 0 .

Definition at line 550 of file Parameters.h.

typeOdomFovisMinPyramidLevel()

static std::string rtabmap::Parameters::typeOdomFovisMinPyramidLevel ( )

inlinestatic

Type of parameter OdomFovis/MinPyramidLevel , as a string: int .

Definition at line 550 of file Parameters.h.

kOdomFovisTargetPixelsPerFeature()

static std::string rtabmap::Parameters::kOdomFovisTargetPixelsPerFeature ( )

inlinestatic

Key of parameter OdomFovis/TargetPixelsPerFeature : "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding." Default value: 250 ( int ).

Definition at line 551 of file Parameters.h.

defaultOdomFovisTargetPixelsPerFeature()

static int rtabmap::Parameters::defaultOdomFovisTargetPixelsPerFeature ( )

inlinestatic

Default value of parameter OdomFovis/TargetPixelsPerFeature : 250 .

Definition at line 551 of file Parameters.h.

typeOdomFovisTargetPixelsPerFeature()

static std::string rtabmap::Parameters::typeOdomFovisTargetPixelsPerFeature ( )

inlinestatic

Type of parameter OdomFovis/TargetPixelsPerFeature , as a string: int .

Definition at line 551 of file Parameters.h.

kOdomFovisFastThreshold()

static std::string rtabmap::Parameters::kOdomFovisFastThreshold ( )

inlinestatic

Key of parameter OdomFovis/FastThreshold : "FAST threshold." Default value: 20 ( int ).

Definition at line 552 of file Parameters.h.

defaultOdomFovisFastThreshold()

static int rtabmap::Parameters::defaultOdomFovisFastThreshold ( )

inlinestatic

Default value of parameter OdomFovis/FastThreshold : 20 .

Definition at line 552 of file Parameters.h.

typeOdomFovisFastThreshold()

static std::string rtabmap::Parameters::typeOdomFovisFastThreshold ( )

inlinestatic

Type of parameter OdomFovis/FastThreshold , as a string: int .

Definition at line 552 of file Parameters.h.

kOdomFovisUseAdaptiveThreshold()

static std::string rtabmap::Parameters::kOdomFovisUseAdaptiveThreshold ( )

inlinestatic

Key of parameter OdomFovis/UseAdaptiveThreshold : "Use FAST adaptive threshold." Default value: true ( bool ).

Definition at line 553 of file Parameters.h.

defaultOdomFovisUseAdaptiveThreshold()

static bool rtabmap::Parameters::defaultOdomFovisUseAdaptiveThreshold ( )

inlinestatic

Default value of parameter OdomFovis/UseAdaptiveThreshold : true .

Definition at line 553 of file Parameters.h.

typeOdomFovisUseAdaptiveThreshold()

static std::string rtabmap::Parameters::typeOdomFovisUseAdaptiveThreshold ( )

inlinestatic

Type of parameter OdomFovis/UseAdaptiveThreshold , as a string: bool .

Definition at line 553 of file Parameters.h.

kOdomFovisFastThresholdAdaptiveGain()

static std::string rtabmap::Parameters::kOdomFovisFastThresholdAdaptiveGain ( )

inlinestatic

Key of parameter OdomFovis/FastThresholdAdaptiveGain : "FAST threshold adaptive gain." Default value: 0.005 ( double ).

Definition at line 554 of file Parameters.h.

defaultOdomFovisFastThresholdAdaptiveGain()

static double rtabmap::Parameters::defaultOdomFovisFastThresholdAdaptiveGain ( )

inlinestatic

Default value of parameter OdomFovis/FastThresholdAdaptiveGain : 0.005 .

Definition at line 554 of file Parameters.h.

typeOdomFovisFastThresholdAdaptiveGain()

static std::string rtabmap::Parameters::typeOdomFovisFastThresholdAdaptiveGain ( )

inlinestatic

Type of parameter OdomFovis/FastThresholdAdaptiveGain , as a string: double .

Definition at line 554 of file Parameters.h.

kOdomFovisUseHomographyInitialization()

static std::string rtabmap::Parameters::kOdomFovisUseHomographyInitialization ( )

inlinestatic

Key of parameter OdomFovis/UseHomographyInitialization : "Use homography initialization." Default value: true ( bool ).

Definition at line 555 of file Parameters.h.

defaultOdomFovisUseHomographyInitialization()

static bool rtabmap::Parameters::defaultOdomFovisUseHomographyInitialization ( )

inlinestatic

Default value of parameter OdomFovis/UseHomographyInitialization : true .

Definition at line 555 of file Parameters.h.

typeOdomFovisUseHomographyInitialization()

static std::string rtabmap::Parameters::typeOdomFovisUseHomographyInitialization ( )

inlinestatic

Type of parameter OdomFovis/UseHomographyInitialization , as a string: bool .

Definition at line 555 of file Parameters.h.

kOdomFovisUseBucketing()

static std::string rtabmap::Parameters::kOdomFovisUseBucketing ( )

inlinestatic

Key of parameter OdomFovis/UseBucketing : "" Default value: true ( bool ).

Definition at line 557 of file Parameters.h.

defaultOdomFovisUseBucketing()

static bool rtabmap::Parameters::defaultOdomFovisUseBucketing ( )

inlinestatic

Default value of parameter OdomFovis/UseBucketing : true .

Definition at line 557 of file Parameters.h.

typeOdomFovisUseBucketing()

static std::string rtabmap::Parameters::typeOdomFovisUseBucketing ( )

inlinestatic

Type of parameter OdomFovis/UseBucketing , as a string: bool .

Definition at line 557 of file Parameters.h.

kOdomFovisBucketWidth()

static std::string rtabmap::Parameters::kOdomFovisBucketWidth ( )

inlinestatic

Key of parameter OdomFovis/BucketWidth : "" Default value: 80 ( int ).

Definition at line 558 of file Parameters.h.

defaultOdomFovisBucketWidth()

static int rtabmap::Parameters::defaultOdomFovisBucketWidth ( )

inlinestatic

Default value of parameter OdomFovis/BucketWidth : 80 .

Definition at line 558 of file Parameters.h.

typeOdomFovisBucketWidth()

static std::string rtabmap::Parameters::typeOdomFovisBucketWidth ( )

inlinestatic

Type of parameter OdomFovis/BucketWidth , as a string: int .

Definition at line 558 of file Parameters.h.

kOdomFovisBucketHeight()

static std::string rtabmap::Parameters::kOdomFovisBucketHeight ( )

inlinestatic

Key of parameter OdomFovis/BucketHeight : "" Default value: 80 ( int ).

Definition at line 559 of file Parameters.h.

defaultOdomFovisBucketHeight()

static int rtabmap::Parameters::defaultOdomFovisBucketHeight ( )

inlinestatic

Default value of parameter OdomFovis/BucketHeight : 80 .

Definition at line 559 of file Parameters.h.

typeOdomFovisBucketHeight()

static std::string rtabmap::Parameters::typeOdomFovisBucketHeight ( )

inlinestatic

Type of parameter OdomFovis/BucketHeight , as a string: int .

Definition at line 559 of file Parameters.h.

kOdomFovisMaxKeypointsPerBucket()

static std::string rtabmap::Parameters::kOdomFovisMaxKeypointsPerBucket ( )

inlinestatic

Key of parameter OdomFovis/MaxKeypointsPerBucket : "" Default value: 25 ( int ).

Definition at line 560 of file Parameters.h.

defaultOdomFovisMaxKeypointsPerBucket()

static int rtabmap::Parameters::defaultOdomFovisMaxKeypointsPerBucket ( )

inlinestatic

Default value of parameter OdomFovis/MaxKeypointsPerBucket : 25 .

Definition at line 560 of file Parameters.h.

typeOdomFovisMaxKeypointsPerBucket()

static std::string rtabmap::Parameters::typeOdomFovisMaxKeypointsPerBucket ( )

inlinestatic

Type of parameter OdomFovis/MaxKeypointsPerBucket , as a string: int .

Definition at line 560 of file Parameters.h.

kOdomFovisUseImageNormalization()

static std::string rtabmap::Parameters::kOdomFovisUseImageNormalization ( )

inlinestatic

Key of parameter OdomFovis/UseImageNormalization : "" Default value: false ( bool ).

Definition at line 561 of file Parameters.h.

defaultOdomFovisUseImageNormalization()

static bool rtabmap::Parameters::defaultOdomFovisUseImageNormalization ( )

inlinestatic

Default value of parameter OdomFovis/UseImageNormalization : false .

Definition at line 561 of file Parameters.h.

typeOdomFovisUseImageNormalization()

static std::string rtabmap::Parameters::typeOdomFovisUseImageNormalization ( )

inlinestatic

Type of parameter OdomFovis/UseImageNormalization , as a string: bool .

Definition at line 561 of file Parameters.h.

kOdomFovisInlierMaxReprojectionError()

static std::string rtabmap::Parameters::kOdomFovisInlierMaxReprojectionError ( )

inlinestatic

Key of parameter OdomFovis/InlierMaxReprojectionError : "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation." Default value: 1.5 ( double ).

Definition at line 563 of file Parameters.h.

defaultOdomFovisInlierMaxReprojectionError()

static double rtabmap::Parameters::defaultOdomFovisInlierMaxReprojectionError ( )

inlinestatic

Default value of parameter OdomFovis/InlierMaxReprojectionError : 1.5 .

Definition at line 563 of file Parameters.h.

typeOdomFovisInlierMaxReprojectionError()

static std::string rtabmap::Parameters::typeOdomFovisInlierMaxReprojectionError ( )

inlinestatic

Type of parameter OdomFovis/InlierMaxReprojectionError , as a string: double .

Definition at line 563 of file Parameters.h.

kOdomFovisCliqueInlierThreshold()

static std::string rtabmap::Parameters::kOdomFovisCliqueInlierThreshold ( )

inlinestatic

Key of parameter OdomFovis/CliqueInlierThreshold : "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters." Default value: 0.1 ( double ).

Definition at line 564 of file Parameters.h.

defaultOdomFovisCliqueInlierThreshold()

static double rtabmap::Parameters::defaultOdomFovisCliqueInlierThreshold ( )

inlinestatic

Default value of parameter OdomFovis/CliqueInlierThreshold : 0.1 .

Definition at line 564 of file Parameters.h.

typeOdomFovisCliqueInlierThreshold()

static std::string rtabmap::Parameters::typeOdomFovisCliqueInlierThreshold ( )

inlinestatic

Type of parameter OdomFovis/CliqueInlierThreshold , as a string: double .

Definition at line 564 of file Parameters.h.

kOdomFovisMinFeaturesForEstimate()

static std::string rtabmap::Parameters::kOdomFovisMinFeaturesForEstimate ( )

inlinestatic

Key of parameter OdomFovis/MinFeaturesForEstimate : "Minimum number of features in the inlier set for the motion estimate to be considered valid." Default value: 20 ( int ).

Definition at line 565 of file Parameters.h.

defaultOdomFovisMinFeaturesForEstimate()

static int rtabmap::Parameters::defaultOdomFovisMinFeaturesForEstimate ( )

inlinestatic

Default value of parameter OdomFovis/MinFeaturesForEstimate : 20 .

Definition at line 565 of file Parameters.h.

typeOdomFovisMinFeaturesForEstimate()

static std::string rtabmap::Parameters::typeOdomFovisMinFeaturesForEstimate ( )

inlinestatic

Type of parameter OdomFovis/MinFeaturesForEstimate , as a string: int .

Definition at line 565 of file Parameters.h.

kOdomFovisMaxMeanReprojectionError()

static std::string rtabmap::Parameters::kOdomFovisMaxMeanReprojectionError ( )

inlinestatic

Key of parameter OdomFovis/MaxMeanReprojectionError : "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid." Default value: 10.0 ( double ).

Definition at line 566 of file Parameters.h.

defaultOdomFovisMaxMeanReprojectionError()

static double rtabmap::Parameters::defaultOdomFovisMaxMeanReprojectionError ( )

inlinestatic

Default value of parameter OdomFovis/MaxMeanReprojectionError : 10.0 .

Definition at line 566 of file Parameters.h.

typeOdomFovisMaxMeanReprojectionError()

static std::string rtabmap::Parameters::typeOdomFovisMaxMeanReprojectionError ( )

inlinestatic

Type of parameter OdomFovis/MaxMeanReprojectionError , as a string: double .

Definition at line 566 of file Parameters.h.

kOdomFovisUseSubpixelRefinement()

static std::string rtabmap::Parameters::kOdomFovisUseSubpixelRefinement ( )

inlinestatic

Key of parameter OdomFovis/UseSubpixelRefinement : "Specifies whether or not to refine feature matches to subpixel resolution." Default value: true ( bool ).

Definition at line 567 of file Parameters.h.

defaultOdomFovisUseSubpixelRefinement()

static bool rtabmap::Parameters::defaultOdomFovisUseSubpixelRefinement ( )

inlinestatic

Default value of parameter OdomFovis/UseSubpixelRefinement : true .

Definition at line 567 of file Parameters.h.

typeOdomFovisUseSubpixelRefinement()

static std::string rtabmap::Parameters::typeOdomFovisUseSubpixelRefinement ( )

inlinestatic

Type of parameter OdomFovis/UseSubpixelRefinement , as a string: bool .

Definition at line 567 of file Parameters.h.

kOdomFovisFeatureSearchWindow()

static std::string rtabmap::Parameters::kOdomFovisFeatureSearchWindow ( )

inlinestatic

Key of parameter OdomFovis/FeatureSearchWindow : "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate." Default value: 25 ( int ).

Definition at line 568 of file Parameters.h.

defaultOdomFovisFeatureSearchWindow()

static int rtabmap::Parameters::defaultOdomFovisFeatureSearchWindow ( )

inlinestatic

Default value of parameter OdomFovis/FeatureSearchWindow : 25 .

Definition at line 568 of file Parameters.h.

typeOdomFovisFeatureSearchWindow()

static std::string rtabmap::Parameters::typeOdomFovisFeatureSearchWindow ( )

inlinestatic

Type of parameter OdomFovis/FeatureSearchWindow , as a string: int .

Definition at line 568 of file Parameters.h.

kOdomFovisUpdateTargetFeaturesWithRefined()

static std::string rtabmap::Parameters::kOdomFovisUpdateTargetFeaturesWithRefined ( )

inlinestatic

Key of parameter OdomFovis/UpdateTargetFeaturesWithRefined : "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm." Default value: false ( bool ).

Definition at line 569 of file Parameters.h.

defaultOdomFovisUpdateTargetFeaturesWithRefined()

static bool rtabmap::Parameters::defaultOdomFovisUpdateTargetFeaturesWithRefined ( )

inlinestatic

Default value of parameter OdomFovis/UpdateTargetFeaturesWithRefined : false .

Definition at line 569 of file Parameters.h.

typeOdomFovisUpdateTargetFeaturesWithRefined()

static std::string rtabmap::Parameters::typeOdomFovisUpdateTargetFeaturesWithRefined ( )

inlinestatic

Type of parameter OdomFovis/UpdateTargetFeaturesWithRefined , as a string: bool .

Definition at line 569 of file Parameters.h.

kOdomFovisStereoRequireMutualMatch()

static std::string rtabmap::Parameters::kOdomFovisStereoRequireMutualMatch ( )

inlinestatic

Key of parameter OdomFovis/StereoRequireMutualMatch : "" Default value: true ( bool ).

Definition at line 571 of file Parameters.h.

defaultOdomFovisStereoRequireMutualMatch()

static bool rtabmap::Parameters::defaultOdomFovisStereoRequireMutualMatch ( )

inlinestatic

Default value of parameter OdomFovis/StereoRequireMutualMatch : true .

Definition at line 571 of file Parameters.h.

typeOdomFovisStereoRequireMutualMatch()

static std::string rtabmap::Parameters::typeOdomFovisStereoRequireMutualMatch ( )

inlinestatic

Type of parameter OdomFovis/StereoRequireMutualMatch , as a string: bool .

Definition at line 571 of file Parameters.h.

kOdomFovisStereoMaxDistEpipolarLine()

static std::string rtabmap::Parameters::kOdomFovisStereoMaxDistEpipolarLine ( )

inlinestatic

Key of parameter OdomFovis/StereoMaxDistEpipolarLine : "" Default value: 1.5 ( double ).

Definition at line 572 of file Parameters.h.

defaultOdomFovisStereoMaxDistEpipolarLine()

static double rtabmap::Parameters::defaultOdomFovisStereoMaxDistEpipolarLine ( )

inlinestatic

Default value of parameter OdomFovis/StereoMaxDistEpipolarLine : 1.5 .

Definition at line 572 of file Parameters.h.

typeOdomFovisStereoMaxDistEpipolarLine()

static std::string rtabmap::Parameters::typeOdomFovisStereoMaxDistEpipolarLine ( )

inlinestatic

Type of parameter OdomFovis/StereoMaxDistEpipolarLine , as a string: double .

Definition at line 572 of file Parameters.h.

kOdomFovisStereoMaxRefinementDisplacement()

static std::string rtabmap::Parameters::kOdomFovisStereoMaxRefinementDisplacement ( )

inlinestatic

Key of parameter OdomFovis/StereoMaxRefinementDisplacement : "" Default value: 1.0 ( double ).

Definition at line 573 of file Parameters.h.

defaultOdomFovisStereoMaxRefinementDisplacement()

static double rtabmap::Parameters::defaultOdomFovisStereoMaxRefinementDisplacement ( )

inlinestatic

Default value of parameter OdomFovis/StereoMaxRefinementDisplacement : 1.0 .

Definition at line 573 of file Parameters.h.

typeOdomFovisStereoMaxRefinementDisplacement()

static std::string rtabmap::Parameters::typeOdomFovisStereoMaxRefinementDisplacement ( )

inlinestatic

Type of parameter OdomFovis/StereoMaxRefinementDisplacement , as a string: double .

Definition at line 573 of file Parameters.h.

kOdomFovisStereoMaxDisparity()

static std::string rtabmap::Parameters::kOdomFovisStereoMaxDisparity ( )

inlinestatic

Key of parameter OdomFovis/StereoMaxDisparity : "" Default value: 128 ( int ).

Definition at line 574 of file Parameters.h.

defaultOdomFovisStereoMaxDisparity()

static int rtabmap::Parameters::defaultOdomFovisStereoMaxDisparity ( )

inlinestatic

Default value of parameter OdomFovis/StereoMaxDisparity : 128 .

Definition at line 574 of file Parameters.h.

typeOdomFovisStereoMaxDisparity()

static std::string rtabmap::Parameters::typeOdomFovisStereoMaxDisparity ( )

inlinestatic

Type of parameter OdomFovis/StereoMaxDisparity , as a string: int .

Definition at line 574 of file Parameters.h.

kOdomViso2RansacIters()

static std::string rtabmap::Parameters::kOdomViso2RansacIters ( )

inlinestatic

Key of parameter OdomViso2/RansacIters : "Number of RANSAC iterations." Default value: 200 ( int ).

Definition at line 577 of file Parameters.h.

defaultOdomViso2RansacIters()

static int rtabmap::Parameters::defaultOdomViso2RansacIters ( )

inlinestatic

Default value of parameter OdomViso2/RansacIters : 200 .

Definition at line 577 of file Parameters.h.

typeOdomViso2RansacIters()

static std::string rtabmap::Parameters::typeOdomViso2RansacIters ( )

inlinestatic

Type of parameter OdomViso2/RansacIters , as a string: int .

Definition at line 577 of file Parameters.h.

kOdomViso2InlierThreshold()

static std::string rtabmap::Parameters::kOdomViso2InlierThreshold ( )

inlinestatic

Key of parameter OdomViso2/InlierThreshold : "Fundamental matrix inlier threshold." Default value: 2.0 ( double ).

Definition at line 578 of file Parameters.h.

defaultOdomViso2InlierThreshold()

static double rtabmap::Parameters::defaultOdomViso2InlierThreshold ( )

inlinestatic

Default value of parameter OdomViso2/InlierThreshold : 2.0 .

Definition at line 578 of file Parameters.h.

typeOdomViso2InlierThreshold()

static std::string rtabmap::Parameters::typeOdomViso2InlierThreshold ( )

inlinestatic

Type of parameter OdomViso2/InlierThreshold , as a string: double .

Definition at line 578 of file Parameters.h.

kOdomViso2Reweighting()

static std::string rtabmap::Parameters::kOdomViso2Reweighting ( )

inlinestatic

Key of parameter OdomViso2/Reweighting : "Lower border weights (more robust to calibration errors)." Default value: true ( bool ).

Definition at line 579 of file Parameters.h.

defaultOdomViso2Reweighting()

static bool rtabmap::Parameters::defaultOdomViso2Reweighting ( )

inlinestatic

Default value of parameter OdomViso2/Reweighting : true .

Definition at line 579 of file Parameters.h.

typeOdomViso2Reweighting()

static std::string rtabmap::Parameters::typeOdomViso2Reweighting ( )

inlinestatic

Type of parameter OdomViso2/Reweighting , as a string: bool .

Definition at line 579 of file Parameters.h.

kOdomViso2MatchNmsN()

static std::string rtabmap::Parameters::kOdomViso2MatchNmsN ( )

inlinestatic

Key of parameter OdomViso2/MatchNmsN : "Non-max-suppression: min. distance between maxima (in pixels)." Default value: 3 ( int ).

Definition at line 580 of file Parameters.h.

defaultOdomViso2MatchNmsN()

static int rtabmap::Parameters::defaultOdomViso2MatchNmsN ( )

inlinestatic

Default value of parameter OdomViso2/MatchNmsN : 3 .

Definition at line 580 of file Parameters.h.

typeOdomViso2MatchNmsN()

static std::string rtabmap::Parameters::typeOdomViso2MatchNmsN ( )

inlinestatic

Type of parameter OdomViso2/MatchNmsN , as a string: int .

Definition at line 580 of file Parameters.h.

kOdomViso2MatchNmsTau()

static std::string rtabmap::Parameters::kOdomViso2MatchNmsTau ( )

inlinestatic

Key of parameter OdomViso2/MatchNmsTau : "Non-max-suppression: interest point peakiness threshold." Default value: 50 ( int ).

Definition at line 581 of file Parameters.h.

defaultOdomViso2MatchNmsTau()

static int rtabmap::Parameters::defaultOdomViso2MatchNmsTau ( )

inlinestatic

Default value of parameter OdomViso2/MatchNmsTau : 50 .

Definition at line 581 of file Parameters.h.

typeOdomViso2MatchNmsTau()

static std::string rtabmap::Parameters::typeOdomViso2MatchNmsTau ( )

inlinestatic

Type of parameter OdomViso2/MatchNmsTau , as a string: int .

Definition at line 581 of file Parameters.h.

kOdomViso2MatchBinsize()

static std::string rtabmap::Parameters::kOdomViso2MatchBinsize ( )

inlinestatic

Key of parameter OdomViso2/MatchBinsize : "Matching bin width/height (affects efficiency only)." Default value: 50 ( int ).

Definition at line 582 of file Parameters.h.

defaultOdomViso2MatchBinsize()

static int rtabmap::Parameters::defaultOdomViso2MatchBinsize ( )

inlinestatic

Default value of parameter OdomViso2/MatchBinsize : 50 .

Definition at line 582 of file Parameters.h.

typeOdomViso2MatchBinsize()

static std::string rtabmap::Parameters::typeOdomViso2MatchBinsize ( )

inlinestatic

Type of parameter OdomViso2/MatchBinsize , as a string: int .

Definition at line 582 of file Parameters.h.

kOdomViso2MatchRadius()

static std::string rtabmap::Parameters::kOdomViso2MatchRadius ( )

inlinestatic

Key of parameter OdomViso2/MatchRadius : "Matching radius (du/dv in pixels)." Default value: 200 ( int ).

Definition at line 583 of file Parameters.h.

defaultOdomViso2MatchRadius()

static int rtabmap::Parameters::defaultOdomViso2MatchRadius ( )

inlinestatic

Default value of parameter OdomViso2/MatchRadius : 200 .

Definition at line 583 of file Parameters.h.

typeOdomViso2MatchRadius()

static std::string rtabmap::Parameters::typeOdomViso2MatchRadius ( )

inlinestatic

Type of parameter OdomViso2/MatchRadius , as a string: int .

Definition at line 583 of file Parameters.h.

kOdomViso2MatchDispTolerance()

static std::string rtabmap::Parameters::kOdomViso2MatchDispTolerance ( )

inlinestatic

Key of parameter OdomViso2/MatchDispTolerance : "Disparity tolerance for stereo matches (in pixels)." Default value: 2 ( int ).

Definition at line 584 of file Parameters.h.

defaultOdomViso2MatchDispTolerance()

static int rtabmap::Parameters::defaultOdomViso2MatchDispTolerance ( )

inlinestatic

Default value of parameter OdomViso2/MatchDispTolerance : 2 .

Definition at line 584 of file Parameters.h.

typeOdomViso2MatchDispTolerance()

static std::string rtabmap::Parameters::typeOdomViso2MatchDispTolerance ( )

inlinestatic

Type of parameter OdomViso2/MatchDispTolerance , as a string: int .

Definition at line 584 of file Parameters.h.

kOdomViso2MatchOutlierDispTolerance()

static std::string rtabmap::Parameters::kOdomViso2MatchOutlierDispTolerance ( )

inlinestatic

Key of parameter OdomViso2/MatchOutlierDispTolerance : "Outlier removal: disparity tolerance (in pixels)." Default value: 5 ( int ).

Definition at line 585 of file Parameters.h.

defaultOdomViso2MatchOutlierDispTolerance()

static int rtabmap::Parameters::defaultOdomViso2MatchOutlierDispTolerance ( )

inlinestatic

Default value of parameter OdomViso2/MatchOutlierDispTolerance : 5 .

Definition at line 585 of file Parameters.h.

typeOdomViso2MatchOutlierDispTolerance()

static std::string rtabmap::Parameters::typeOdomViso2MatchOutlierDispTolerance ( )

inlinestatic

Type of parameter OdomViso2/MatchOutlierDispTolerance , as a string: int .

Definition at line 585 of file Parameters.h.

kOdomViso2MatchOutlierFlowTolerance()

static std::string rtabmap::Parameters::kOdomViso2MatchOutlierFlowTolerance ( )

inlinestatic

Key of parameter OdomViso2/MatchOutlierFlowTolerance : "Outlier removal: flow tolerance (in pixels)." Default value: 5 ( int ).

Definition at line 586 of file Parameters.h.

defaultOdomViso2MatchOutlierFlowTolerance()

static int rtabmap::Parameters::defaultOdomViso2MatchOutlierFlowTolerance ( )

inlinestatic

Default value of parameter OdomViso2/MatchOutlierFlowTolerance : 5 .

Definition at line 586 of file Parameters.h.

typeOdomViso2MatchOutlierFlowTolerance()

static std::string rtabmap::Parameters::typeOdomViso2MatchOutlierFlowTolerance ( )

inlinestatic

Type of parameter OdomViso2/MatchOutlierFlowTolerance , as a string: int .

Definition at line 586 of file Parameters.h.

kOdomViso2MatchMultiStage()

static std::string rtabmap::Parameters::kOdomViso2MatchMultiStage ( )

inlinestatic

Key of parameter OdomViso2/MatchMultiStage : "Multistage matching (denser and faster)." Default value: true ( bool ).

Definition at line 587 of file Parameters.h.

defaultOdomViso2MatchMultiStage()

static bool rtabmap::Parameters::defaultOdomViso2MatchMultiStage ( )

inlinestatic

Default value of parameter OdomViso2/MatchMultiStage : true .

Definition at line 587 of file Parameters.h.

typeOdomViso2MatchMultiStage()

static std::string rtabmap::Parameters::typeOdomViso2MatchMultiStage ( )

inlinestatic

Type of parameter OdomViso2/MatchMultiStage , as a string: bool .

Definition at line 587 of file Parameters.h.

kOdomViso2MatchHalfResolution()

static std::string rtabmap::Parameters::kOdomViso2MatchHalfResolution ( )

inlinestatic

Key of parameter OdomViso2/MatchHalfResolution : "Match at half resolution, refine at full resolution." Default value: true ( bool ).

Definition at line 588 of file Parameters.h.

defaultOdomViso2MatchHalfResolution()

static bool rtabmap::Parameters::defaultOdomViso2MatchHalfResolution ( )

inlinestatic

Default value of parameter OdomViso2/MatchHalfResolution : true .

Definition at line 588 of file Parameters.h.

typeOdomViso2MatchHalfResolution()

static std::string rtabmap::Parameters::typeOdomViso2MatchHalfResolution ( )

inlinestatic

Type of parameter OdomViso2/MatchHalfResolution , as a string: bool .

Definition at line 588 of file Parameters.h.

kOdomViso2MatchRefinement()

static std::string rtabmap::Parameters::kOdomViso2MatchRefinement ( )

inlinestatic

Key of parameter OdomViso2/MatchRefinement : "Refinement (0=none,1=pixel,2=subpixel)." Default value: 1 ( int ).

Definition at line 589 of file Parameters.h.

defaultOdomViso2MatchRefinement()

static int rtabmap::Parameters::defaultOdomViso2MatchRefinement ( )

inlinestatic

Default value of parameter OdomViso2/MatchRefinement : 1 .

Definition at line 589 of file Parameters.h.

typeOdomViso2MatchRefinement()

static std::string rtabmap::Parameters::typeOdomViso2MatchRefinement ( )

inlinestatic

Type of parameter OdomViso2/MatchRefinement , as a string: int .

Definition at line 589 of file Parameters.h.

kOdomViso2BucketMaxFeatures()

static std::string rtabmap::Parameters::kOdomViso2BucketMaxFeatures ( )

inlinestatic

Key of parameter OdomViso2/BucketMaxFeatures : "Maximal number of features per bucket." Default value: 2 ( int ).

Definition at line 590 of file Parameters.h.

defaultOdomViso2BucketMaxFeatures()

static int rtabmap::Parameters::defaultOdomViso2BucketMaxFeatures ( )

inlinestatic

Default value of parameter OdomViso2/BucketMaxFeatures : 2 .

Definition at line 590 of file Parameters.h.

typeOdomViso2BucketMaxFeatures()

static std::string rtabmap::Parameters::typeOdomViso2BucketMaxFeatures ( )

inlinestatic

Type of parameter OdomViso2/BucketMaxFeatures , as a string: int .

Definition at line 590 of file Parameters.h.

kOdomViso2BucketWidth()

static std::string rtabmap::Parameters::kOdomViso2BucketWidth ( )

inlinestatic

Key of parameter OdomViso2/BucketWidth : "Width of bucket." Default value: 50 ( double ).

Definition at line 591 of file Parameters.h.

defaultOdomViso2BucketWidth()

static double rtabmap::Parameters::defaultOdomViso2BucketWidth ( )

inlinestatic

Default value of parameter OdomViso2/BucketWidth : 50 .

Definition at line 591 of file Parameters.h.

typeOdomViso2BucketWidth()

static std::string rtabmap::Parameters::typeOdomViso2BucketWidth ( )

inlinestatic

Type of parameter OdomViso2/BucketWidth , as a string: double .

Definition at line 591 of file Parameters.h.

kOdomViso2BucketHeight()

static std::string rtabmap::Parameters::kOdomViso2BucketHeight ( )

inlinestatic

Key of parameter OdomViso2/BucketHeight : "Height of bucket." Default value: 50 ( double ).

Definition at line 592 of file Parameters.h.

defaultOdomViso2BucketHeight()

static double rtabmap::Parameters::defaultOdomViso2BucketHeight ( )

inlinestatic

Default value of parameter OdomViso2/BucketHeight : 50 .

Definition at line 592 of file Parameters.h.

typeOdomViso2BucketHeight()

static std::string rtabmap::Parameters::typeOdomViso2BucketHeight ( )

inlinestatic

Type of parameter OdomViso2/BucketHeight , as a string: double .

Definition at line 592 of file Parameters.h.

kOdomORBSLAMVocPath()

static std::string rtabmap::Parameters::kOdomORBSLAMVocPath ( )

inlinestatic

Key of parameter OdomORBSLAM/VocPath : "Path to ORB vocabulary (*.txt)." Default value: "" (string).

Definition at line 595 of file Parameters.h.

defaultOdomORBSLAMVocPath()

static std::string rtabmap::Parameters::defaultOdomORBSLAMVocPath ( )

inlinestatic

Default value of parameter OdomORBSLAM/VocPath : "" .

Definition at line 595 of file Parameters.h.

typeOdomORBSLAMVocPath()

static std::string rtabmap::Parameters::typeOdomORBSLAMVocPath ( )

inlinestatic

Type of parameter OdomORBSLAM/VocPath , as a string: string.

Definition at line 595 of file Parameters.h.

kOdomORBSLAMBf()

static std::string rtabmap::Parameters::kOdomORBSLAMBf ( )

inlinestatic

Key of parameter OdomORBSLAM/Bf : "Fake IR projector baseline (m) used only when stereo is not used." Default value: 0.076 ( double ).

Definition at line 596 of file Parameters.h.

defaultOdomORBSLAMBf()

static double rtabmap::Parameters::defaultOdomORBSLAMBf ( )

inlinestatic

Default value of parameter OdomORBSLAM/Bf : 0.076 .

Definition at line 596 of file Parameters.h.

typeOdomORBSLAMBf()

static std::string rtabmap::Parameters::typeOdomORBSLAMBf ( )

inlinestatic

Type of parameter OdomORBSLAM/Bf , as a string: double .

Definition at line 596 of file Parameters.h.

kOdomORBSLAMThDepth()

static std::string rtabmap::Parameters::kOdomORBSLAMThDepth ( )

inlinestatic

Key of parameter OdomORBSLAM/ThDepth : "Close/Far threshold. Baseline times." Default value: 40.0 ( double ).

Definition at line 597 of file Parameters.h.

defaultOdomORBSLAMThDepth()

static double rtabmap::Parameters::defaultOdomORBSLAMThDepth ( )

inlinestatic

Default value of parameter OdomORBSLAM/ThDepth : 40.0 .

Definition at line 597 of file Parameters.h.

typeOdomORBSLAMThDepth()

static std::string rtabmap::Parameters::typeOdomORBSLAMThDepth ( )

inlinestatic

Type of parameter OdomORBSLAM/ThDepth , as a string: double .

Definition at line 597 of file Parameters.h.

kOdomORBSLAMFps()

static std::string rtabmap::Parameters::kOdomORBSLAMFps ( )

inlinestatic

Key of parameter OdomORBSLAM/Fps : "Camera FPS (0 to estimate from input data)." Default value: 0.0 ( float ).

Definition at line 598 of file Parameters.h.

defaultOdomORBSLAMFps()

static float rtabmap::Parameters::defaultOdomORBSLAMFps ( )

inlinestatic

Default value of parameter OdomORBSLAM/Fps : 0.0 .

Definition at line 598 of file Parameters.h.

typeOdomORBSLAMFps()

static std::string rtabmap::Parameters::typeOdomORBSLAMFps ( )

inlinestatic

Type of parameter OdomORBSLAM/Fps , as a string: float .

Definition at line 598 of file Parameters.h.

kOdomORBSLAMMaxFeatures()

static std::string rtabmap::Parameters::kOdomORBSLAMMaxFeatures ( )

inlinestatic

Key of parameter OdomORBSLAM/MaxFeatures : "Maximum ORB features extracted per frame." Default value: 1000 ( int ).

Definition at line 599 of file Parameters.h.

defaultOdomORBSLAMMaxFeatures()

static int rtabmap::Parameters::defaultOdomORBSLAMMaxFeatures ( )

inlinestatic

Default value of parameter OdomORBSLAM/MaxFeatures : 1000 .

Definition at line 599 of file Parameters.h.

typeOdomORBSLAMMaxFeatures()

static std::string rtabmap::Parameters::typeOdomORBSLAMMaxFeatures ( )

inlinestatic

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

Definition at line 599 of file Parameters.h.

kOdomORBSLAMMapSize()

static std::string rtabmap::Parameters::kOdomORBSLAMMapSize ( )

inlinestatic

Key of parameter OdomORBSLAM/MapSize : "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2." Default value: 3000 ( int ).

Definition at line 600 of file Parameters.h.

defaultOdomORBSLAMMapSize()

static int rtabmap::Parameters::defaultOdomORBSLAMMapSize ( )

inlinestatic

Default value of parameter OdomORBSLAM/MapSize : 3000 .

Definition at line 600 of file Parameters.h.

typeOdomORBSLAMMapSize()

static std::string rtabmap::Parameters::typeOdomORBSLAMMapSize ( )

inlinestatic

Type of parameter OdomORBSLAM/MapSize , as a string: int .

Definition at line 600 of file Parameters.h.

kOdomORBSLAMInertial()

static std::string rtabmap::Parameters::kOdomORBSLAMInertial ( )

inlinestatic

Key of parameter OdomORBSLAM/Inertial : "Enable IMU. Only supported with ORB_SLAM3." Default value: false ( bool ).

Definition at line 601 of file Parameters.h.

defaultOdomORBSLAMInertial()

static bool rtabmap::Parameters::defaultOdomORBSLAMInertial ( )

inlinestatic

Default value of parameter OdomORBSLAM/Inertial : false .

Definition at line 601 of file Parameters.h.

typeOdomORBSLAMInertial()

static std::string rtabmap::Parameters::typeOdomORBSLAMInertial ( )

inlinestatic

Type of parameter OdomORBSLAM/Inertial , as a string: bool .

Definition at line 601 of file Parameters.h.

kOdomORBSLAMGyroNoise()

static std::string rtabmap::Parameters::kOdomORBSLAMGyroNoise ( )

inlinestatic

Key of parameter OdomORBSLAM/GyroNoise : "IMU gyroscope \"white noise\"." Default value: 0.01 ( double ).

Definition at line 602 of file Parameters.h.

defaultOdomORBSLAMGyroNoise()

static double rtabmap::Parameters::defaultOdomORBSLAMGyroNoise ( )

inlinestatic

Default value of parameter OdomORBSLAM/GyroNoise : 0.01 .

Definition at line 602 of file Parameters.h.

typeOdomORBSLAMGyroNoise()

static std::string rtabmap::Parameters::typeOdomORBSLAMGyroNoise ( )

inlinestatic

Type of parameter OdomORBSLAM/GyroNoise , as a string: double .

Definition at line 602 of file Parameters.h.

kOdomORBSLAMAccNoise()

static std::string rtabmap::Parameters::kOdomORBSLAMAccNoise ( )

inlinestatic

Key of parameter OdomORBSLAM/AccNoise : "IMU accelerometer \"white noise\"." Default value: 0.1 ( double ).

Definition at line 603 of file Parameters.h.

defaultOdomORBSLAMAccNoise()

static double rtabmap::Parameters::defaultOdomORBSLAMAccNoise ( )

inlinestatic

Default value of parameter OdomORBSLAM/AccNoise : 0.1 .

Definition at line 603 of file Parameters.h.

typeOdomORBSLAMAccNoise()

static std::string rtabmap::Parameters::typeOdomORBSLAMAccNoise ( )

inlinestatic

Type of parameter OdomORBSLAM/AccNoise , as a string: double .

Definition at line 603 of file Parameters.h.

kOdomORBSLAMGyroWalk()

static std::string rtabmap::Parameters::kOdomORBSLAMGyroWalk ( )

inlinestatic

Key of parameter OdomORBSLAM/GyroWalk : "IMU gyroscope \"random walk\"." Default value: 0.000001 ( double ).

Definition at line 604 of file Parameters.h.

defaultOdomORBSLAMGyroWalk()

static double rtabmap::Parameters::defaultOdomORBSLAMGyroWalk ( )

inlinestatic

Default value of parameter OdomORBSLAM/GyroWalk : 0.000001 .

Definition at line 604 of file Parameters.h.

typeOdomORBSLAMGyroWalk()

static std::string rtabmap::Parameters::typeOdomORBSLAMGyroWalk ( )

inlinestatic

Type of parameter OdomORBSLAM/GyroWalk , as a string: double .

Definition at line 604 of file Parameters.h.

kOdomORBSLAMAccWalk()

static std::string rtabmap::Parameters::kOdomORBSLAMAccWalk ( )

inlinestatic

Key of parameter OdomORBSLAM/AccWalk : "IMU accelerometer \"random walk\"." Default value: 0.0001 ( double ).

Definition at line 605 of file Parameters.h.

defaultOdomORBSLAMAccWalk()

static double rtabmap::Parameters::defaultOdomORBSLAMAccWalk ( )

inlinestatic

Default value of parameter OdomORBSLAM/AccWalk : 0.0001 .

Definition at line 605 of file Parameters.h.

typeOdomORBSLAMAccWalk()

static std::string rtabmap::Parameters::typeOdomORBSLAMAccWalk ( )

inlinestatic

Type of parameter OdomORBSLAM/AccWalk , as a string: double .

Definition at line 605 of file Parameters.h.

kOdomORBSLAMSamplingRate()

static std::string rtabmap::Parameters::kOdomORBSLAMSamplingRate ( )

inlinestatic

Key of parameter OdomORBSLAM/SamplingRate : "IMU sampling rate (0 to estimate from input data)." Default value: 0 ( double ).

Definition at line 606 of file Parameters.h.

defaultOdomORBSLAMSamplingRate()

static double rtabmap::Parameters::defaultOdomORBSLAMSamplingRate ( )

inlinestatic

Default value of parameter OdomORBSLAM/SamplingRate : 0 .

Definition at line 606 of file Parameters.h.

typeOdomORBSLAMSamplingRate()

static std::string rtabmap::Parameters::typeOdomORBSLAMSamplingRate ( )

inlinestatic

Type of parameter OdomORBSLAM/SamplingRate , as a string: double .

Definition at line 606 of file Parameters.h.

kOdomOKVISConfigPath()

static std::string rtabmap::Parameters::kOdomOKVISConfigPath ( )

inlinestatic

Key of parameter OdomOKVIS/ConfigPath : "Path of OKVIS config file." Default value: "" (string).

Definition at line 610 of file Parameters.h.

defaultOdomOKVISConfigPath()

static std::string rtabmap::Parameters::defaultOdomOKVISConfigPath ( )

inlinestatic

Default value of parameter OdomOKVIS/ConfigPath : "" .

Definition at line 610 of file Parameters.h.

typeOdomOKVISConfigPath()

static std::string rtabmap::Parameters::typeOdomOKVISConfigPath ( )

inlinestatic

Type of parameter OdomOKVIS/ConfigPath , as a string: string.

Definition at line 610 of file Parameters.h.

kOdomLOAMSensor()

static std::string rtabmap::Parameters::kOdomLOAMSensor ( )

inlinestatic

Key of parameter OdomLOAM/Sensor : "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E" Default value: 2 ( int ).

Definition at line 613 of file Parameters.h.

defaultOdomLOAMSensor()

static int rtabmap::Parameters::defaultOdomLOAMSensor ( )

inlinestatic

Default value of parameter OdomLOAM/Sensor : 2 .

Definition at line 613 of file Parameters.h.

typeOdomLOAMSensor()

static std::string rtabmap::Parameters::typeOdomLOAMSensor ( )

inlinestatic

Type of parameter OdomLOAM/Sensor , as a string: int .

Definition at line 613 of file Parameters.h.

kOdomLOAMScanPeriod()

static std::string rtabmap::Parameters::kOdomLOAMScanPeriod ( )

inlinestatic

Key of parameter OdomLOAM/ScanPeriod : "Scan period (s)" Default value: 0.1 ( float ).

Definition at line 614 of file Parameters.h.

defaultOdomLOAMScanPeriod()

static float rtabmap::Parameters::defaultOdomLOAMScanPeriod ( )

inlinestatic

Default value of parameter OdomLOAM/ScanPeriod : 0.1 .

Definition at line 614 of file Parameters.h.

typeOdomLOAMScanPeriod()

static std::string rtabmap::Parameters::typeOdomLOAMScanPeriod ( )

inlinestatic

Type of parameter OdomLOAM/ScanPeriod , as a string: float .

Definition at line 614 of file Parameters.h.

kOdomLOAMResolution()

static std::string rtabmap::Parameters::kOdomLOAMResolution ( )

inlinestatic

Key of parameter OdomLOAM/Resolution : "Map resolution" Default value: 0.2 ( float ).

Definition at line 615 of file Parameters.h.

defaultOdomLOAMResolution()

static float rtabmap::Parameters::defaultOdomLOAMResolution ( )

inlinestatic

Default value of parameter OdomLOAM/Resolution : 0.2 .

Definition at line 615 of file Parameters.h.

typeOdomLOAMResolution()

static std::string rtabmap::Parameters::typeOdomLOAMResolution ( )

inlinestatic

Type of parameter OdomLOAM/Resolution , as a string: float .

Definition at line 615 of file Parameters.h.

kOdomLOAMLinVar()

static std::string rtabmap::Parameters::kOdomLOAMLinVar ( )

inlinestatic

Key of parameter OdomLOAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

Definition at line 616 of file Parameters.h.

defaultOdomLOAMLinVar()

static float rtabmap::Parameters::defaultOdomLOAMLinVar ( )

inlinestatic

Default value of parameter OdomLOAM/LinVar : 0.01 .

Definition at line 616 of file Parameters.h.

typeOdomLOAMLinVar()

static std::string rtabmap::Parameters::typeOdomLOAMLinVar ( )

inlinestatic

Type of parameter OdomLOAM/LinVar , as a string: float .

Definition at line 616 of file Parameters.h.

kOdomLOAMAngVar()

static std::string rtabmap::Parameters::kOdomLOAMAngVar ( )

inlinestatic

Key of parameter OdomLOAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

Definition at line 617 of file Parameters.h.

defaultOdomLOAMAngVar()

static float rtabmap::Parameters::defaultOdomLOAMAngVar ( )

inlinestatic

Default value of parameter OdomLOAM/AngVar : 0.01 .

Definition at line 617 of file Parameters.h.

typeOdomLOAMAngVar()

static std::string rtabmap::Parameters::typeOdomLOAMAngVar ( )

inlinestatic

Type of parameter OdomLOAM/AngVar , as a string: float .

Definition at line 617 of file Parameters.h.

kOdomLOAMLocalMapping()

static std::string rtabmap::Parameters::kOdomLOAMLocalMapping ( )

inlinestatic

Key of parameter OdomLOAM/LocalMapping : "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved." Default value: true ( bool ).

Definition at line 618 of file Parameters.h.

defaultOdomLOAMLocalMapping()

static bool rtabmap::Parameters::defaultOdomLOAMLocalMapping ( )

inlinestatic

Default value of parameter OdomLOAM/LocalMapping : true .

Definition at line 618 of file Parameters.h.

typeOdomLOAMLocalMapping()

static std::string rtabmap::Parameters::typeOdomLOAMLocalMapping ( )

inlinestatic

Type of parameter OdomLOAM/LocalMapping , as a string: bool .

Definition at line 618 of file Parameters.h.

kOdomMSCKFGridRow()

static std::string rtabmap::Parameters::kOdomMSCKFGridRow ( )

inlinestatic

Key of parameter OdomMSCKF/GridRow : "" Default value: 4 ( int ).

Definition at line 621 of file Parameters.h.

defaultOdomMSCKFGridRow()

static int rtabmap::Parameters::defaultOdomMSCKFGridRow ( )

inlinestatic

Default value of parameter OdomMSCKF/GridRow : 4 .

Definition at line 621 of file Parameters.h.

typeOdomMSCKFGridRow()

static std::string rtabmap::Parameters::typeOdomMSCKFGridRow ( )

inlinestatic

Type of parameter OdomMSCKF/GridRow , as a string: int .

Definition at line 621 of file Parameters.h.

kOdomMSCKFGridCol()

static std::string rtabmap::Parameters::kOdomMSCKFGridCol ( )

inlinestatic

Key of parameter OdomMSCKF/GridCol : "" Default value: 5 ( int ).

Definition at line 622 of file Parameters.h.

defaultOdomMSCKFGridCol()

static int rtabmap::Parameters::defaultOdomMSCKFGridCol ( )

inlinestatic

Default value of parameter OdomMSCKF/GridCol : 5 .

Definition at line 622 of file Parameters.h.

typeOdomMSCKFGridCol()

static std::string rtabmap::Parameters::typeOdomMSCKFGridCol ( )

inlinestatic

Type of parameter OdomMSCKF/GridCol , as a string: int .

Definition at line 622 of file Parameters.h.

kOdomMSCKFGridMinFeatureNum()

static std::string rtabmap::Parameters::kOdomMSCKFGridMinFeatureNum ( )

inlinestatic

Key of parameter OdomMSCKF/GridMinFeatureNum : "" Default value: 3 ( int ).

Definition at line 623 of file Parameters.h.

defaultOdomMSCKFGridMinFeatureNum()

static int rtabmap::Parameters::defaultOdomMSCKFGridMinFeatureNum ( )

inlinestatic

Default value of parameter OdomMSCKF/GridMinFeatureNum : 3 .

Definition at line 623 of file Parameters.h.

typeOdomMSCKFGridMinFeatureNum()

static std::string rtabmap::Parameters::typeOdomMSCKFGridMinFeatureNum ( )

inlinestatic

Type of parameter OdomMSCKF/GridMinFeatureNum , as a string: int .

Definition at line 623 of file Parameters.h.

kOdomMSCKFGridMaxFeatureNum()

static std::string rtabmap::Parameters::kOdomMSCKFGridMaxFeatureNum ( )

inlinestatic

Key of parameter OdomMSCKF/GridMaxFeatureNum : "" Default value: 4 ( int ).

Definition at line 624 of file Parameters.h.

defaultOdomMSCKFGridMaxFeatureNum()

static int rtabmap::Parameters::defaultOdomMSCKFGridMaxFeatureNum ( )

inlinestatic

Default value of parameter OdomMSCKF/GridMaxFeatureNum : 4 .

Definition at line 624 of file Parameters.h.

typeOdomMSCKFGridMaxFeatureNum()

static std::string rtabmap::Parameters::typeOdomMSCKFGridMaxFeatureNum ( )

inlinestatic

Type of parameter OdomMSCKF/GridMaxFeatureNum , as a string: int .

Definition at line 624 of file Parameters.h.

kOdomMSCKFPyramidLevels()

static std::string rtabmap::Parameters::kOdomMSCKFPyramidLevels ( )

inlinestatic

Key of parameter OdomMSCKF/PyramidLevels : "" Default value: 3 ( int ).

Definition at line 625 of file Parameters.h.

defaultOdomMSCKFPyramidLevels()

static int rtabmap::Parameters::defaultOdomMSCKFPyramidLevels ( )

inlinestatic

Default value of parameter OdomMSCKF/PyramidLevels : 3 .

Definition at line 625 of file Parameters.h.

typeOdomMSCKFPyramidLevels()

static std::string rtabmap::Parameters::typeOdomMSCKFPyramidLevels ( )

inlinestatic

Type of parameter OdomMSCKF/PyramidLevels , as a string: int .

Definition at line 625 of file Parameters.h.

kOdomMSCKFPatchSize()

static std::string rtabmap::Parameters::kOdomMSCKFPatchSize ( )

inlinestatic

Key of parameter OdomMSCKF/PatchSize : "" Default value: 15 ( int ).

Definition at line 626 of file Parameters.h.

defaultOdomMSCKFPatchSize()

static int rtabmap::Parameters::defaultOdomMSCKFPatchSize ( )

inlinestatic

Default value of parameter OdomMSCKF/PatchSize : 15 .

Definition at line 626 of file Parameters.h.

typeOdomMSCKFPatchSize()

static std::string rtabmap::Parameters::typeOdomMSCKFPatchSize ( )

inlinestatic

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

Definition at line 626 of file Parameters.h.

kOdomMSCKFFastThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFFastThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/FastThreshold : "" Default value: 10 ( int ).

Definition at line 627 of file Parameters.h.

defaultOdomMSCKFFastThreshold()

static int rtabmap::Parameters::defaultOdomMSCKFFastThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/FastThreshold : 10 .

Definition at line 627 of file Parameters.h.

typeOdomMSCKFFastThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFFastThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/FastThreshold , as a string: int .

Definition at line 627 of file Parameters.h.

kOdomMSCKFMaxIteration()

static std::string rtabmap::Parameters::kOdomMSCKFMaxIteration ( )

inlinestatic

Key of parameter OdomMSCKF/MaxIteration : "" Default value: 30 ( int ).

Definition at line 628 of file Parameters.h.

defaultOdomMSCKFMaxIteration()

static int rtabmap::Parameters::defaultOdomMSCKFMaxIteration ( )

inlinestatic

Default value of parameter OdomMSCKF/MaxIteration : 30 .

Definition at line 628 of file Parameters.h.

typeOdomMSCKFMaxIteration()

static std::string rtabmap::Parameters::typeOdomMSCKFMaxIteration ( )

inlinestatic

Type of parameter OdomMSCKF/MaxIteration , as a string: int .

Definition at line 628 of file Parameters.h.

kOdomMSCKFTrackPrecision()

static std::string rtabmap::Parameters::kOdomMSCKFTrackPrecision ( )

inlinestatic

Key of parameter OdomMSCKF/TrackPrecision : "" Default value: 0.01 ( double ).

Definition at line 629 of file Parameters.h.

defaultOdomMSCKFTrackPrecision()

static double rtabmap::Parameters::defaultOdomMSCKFTrackPrecision ( )

inlinestatic

Default value of parameter OdomMSCKF/TrackPrecision : 0.01 .

Definition at line 629 of file Parameters.h.

typeOdomMSCKFTrackPrecision()

static std::string rtabmap::Parameters::typeOdomMSCKFTrackPrecision ( )

inlinestatic

Type of parameter OdomMSCKF/TrackPrecision , as a string: double .

Definition at line 629 of file Parameters.h.

kOdomMSCKFRansacThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFRansacThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/RansacThreshold : "" Default value: 3 ( double ).

Definition at line 630 of file Parameters.h.

defaultOdomMSCKFRansacThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFRansacThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/RansacThreshold : 3 .

Definition at line 630 of file Parameters.h.

typeOdomMSCKFRansacThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFRansacThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/RansacThreshold , as a string: double .

Definition at line 630 of file Parameters.h.

kOdomMSCKFStereoThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFStereoThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/StereoThreshold : "" Default value: 5 ( double ).

Definition at line 631 of file Parameters.h.

defaultOdomMSCKFStereoThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFStereoThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/StereoThreshold : 5 .

Definition at line 631 of file Parameters.h.

typeOdomMSCKFStereoThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFStereoThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/StereoThreshold , as a string: double .

Definition at line 631 of file Parameters.h.

kOdomMSCKFPositionStdThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFPositionStdThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/PositionStdThreshold : "" Default value: 8.0 ( double ).

Definition at line 632 of file Parameters.h.

defaultOdomMSCKFPositionStdThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFPositionStdThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/PositionStdThreshold : 8.0 .

Definition at line 632 of file Parameters.h.

typeOdomMSCKFPositionStdThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFPositionStdThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/PositionStdThreshold , as a string: double .

Definition at line 632 of file Parameters.h.

kOdomMSCKFRotationThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFRotationThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/RotationThreshold : "" Default value: 0.2618 ( double ).

Definition at line 633 of file Parameters.h.

defaultOdomMSCKFRotationThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFRotationThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/RotationThreshold : 0.2618 .

Definition at line 633 of file Parameters.h.

typeOdomMSCKFRotationThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFRotationThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/RotationThreshold , as a string: double .

Definition at line 633 of file Parameters.h.

kOdomMSCKFTranslationThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFTranslationThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/TranslationThreshold : "" Default value: 0.4 ( double ).

Definition at line 634 of file Parameters.h.

defaultOdomMSCKFTranslationThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFTranslationThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/TranslationThreshold : 0.4 .

Definition at line 634 of file Parameters.h.

typeOdomMSCKFTranslationThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFTranslationThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/TranslationThreshold , as a string: double .

Definition at line 634 of file Parameters.h.

kOdomMSCKFTrackingRateThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFTrackingRateThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/TrackingRateThreshold : "" Default value: 0.5 ( double ).

Definition at line 635 of file Parameters.h.

defaultOdomMSCKFTrackingRateThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFTrackingRateThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/TrackingRateThreshold : 0.5 .

Definition at line 635 of file Parameters.h.

typeOdomMSCKFTrackingRateThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFTrackingRateThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/TrackingRateThreshold , as a string: double .

Definition at line 635 of file Parameters.h.

kOdomMSCKFOptTranslationThreshold()

static std::string rtabmap::Parameters::kOdomMSCKFOptTranslationThreshold ( )

inlinestatic

Key of parameter OdomMSCKF/OptTranslationThreshold : "" Default value: 0 ( double ).

Definition at line 636 of file Parameters.h.

defaultOdomMSCKFOptTranslationThreshold()

static double rtabmap::Parameters::defaultOdomMSCKFOptTranslationThreshold ( )

inlinestatic

Default value of parameter OdomMSCKF/OptTranslationThreshold : 0 .

Definition at line 636 of file Parameters.h.

typeOdomMSCKFOptTranslationThreshold()

static std::string rtabmap::Parameters::typeOdomMSCKFOptTranslationThreshold ( )

inlinestatic

Type of parameter OdomMSCKF/OptTranslationThreshold , as a string: double .

Definition at line 636 of file Parameters.h.

kOdomMSCKFNoiseGyro()

static std::string rtabmap::Parameters::kOdomMSCKFNoiseGyro ( )

inlinestatic

Key of parameter OdomMSCKF/NoiseGyro : "" Default value: 0.005 ( double ).

Definition at line 637 of file Parameters.h.

defaultOdomMSCKFNoiseGyro()

static double rtabmap::Parameters::defaultOdomMSCKFNoiseGyro ( )

inlinestatic

Default value of parameter OdomMSCKF/NoiseGyro : 0.005 .

Definition at line 637 of file Parameters.h.

typeOdomMSCKFNoiseGyro()

static std::string rtabmap::Parameters::typeOdomMSCKFNoiseGyro ( )

inlinestatic

Type of parameter OdomMSCKF/NoiseGyro , as a string: double .

Definition at line 637 of file Parameters.h.

kOdomMSCKFNoiseAcc()

static std::string rtabmap::Parameters::kOdomMSCKFNoiseAcc ( )

inlinestatic

Key of parameter OdomMSCKF/NoiseAcc : "" Default value: 0.05 ( double ).

Definition at line 638 of file Parameters.h.

defaultOdomMSCKFNoiseAcc()

static double rtabmap::Parameters::defaultOdomMSCKFNoiseAcc ( )

inlinestatic

Default value of parameter OdomMSCKF/NoiseAcc : 0.05 .

Definition at line 638 of file Parameters.h.

typeOdomMSCKFNoiseAcc()

static std::string rtabmap::Parameters::typeOdomMSCKFNoiseAcc ( )

inlinestatic

Type of parameter OdomMSCKF/NoiseAcc , as a string: double .

Definition at line 638 of file Parameters.h.

kOdomMSCKFNoiseGyroBias()

static std::string rtabmap::Parameters::kOdomMSCKFNoiseGyroBias ( )

inlinestatic

Key of parameter OdomMSCKF/NoiseGyroBias : "" Default value: 0.001 ( double ).

Definition at line 639 of file Parameters.h.

defaultOdomMSCKFNoiseGyroBias()

static double rtabmap::Parameters::defaultOdomMSCKFNoiseGyroBias ( )

inlinestatic

Default value of parameter OdomMSCKF/NoiseGyroBias : 0.001 .

Definition at line 639 of file Parameters.h.

typeOdomMSCKFNoiseGyroBias()

static std::string rtabmap::Parameters::typeOdomMSCKFNoiseGyroBias ( )

inlinestatic

Type of parameter OdomMSCKF/NoiseGyroBias , as a string: double .

Definition at line 639 of file Parameters.h.

kOdomMSCKFNoiseAccBias()

static std::string rtabmap::Parameters::kOdomMSCKFNoiseAccBias ( )

inlinestatic

Key of parameter OdomMSCKF/NoiseAccBias : "" Default value: 0.01 ( double ).

Definition at line 640 of file Parameters.h.

defaultOdomMSCKFNoiseAccBias()

static double rtabmap::Parameters::defaultOdomMSCKFNoiseAccBias ( )

inlinestatic

Default value of parameter OdomMSCKF/NoiseAccBias : 0.01 .

Definition at line 640 of file Parameters.h.

typeOdomMSCKFNoiseAccBias()

static std::string rtabmap::Parameters::typeOdomMSCKFNoiseAccBias ( )

inlinestatic

Type of parameter OdomMSCKF/NoiseAccBias , as a string: double .

Definition at line 640 of file Parameters.h.

kOdomMSCKFNoiseFeature()

static std::string rtabmap::Parameters::kOdomMSCKFNoiseFeature ( )

inlinestatic

Key of parameter OdomMSCKF/NoiseFeature : "" Default value: 0.035 ( double ).

Definition at line 641 of file Parameters.h.

defaultOdomMSCKFNoiseFeature()

static double rtabmap::Parameters::defaultOdomMSCKFNoiseFeature ( )

inlinestatic

Default value of parameter OdomMSCKF/NoiseFeature : 0.035 .

Definition at line 641 of file Parameters.h.

typeOdomMSCKFNoiseFeature()

static std::string rtabmap::Parameters::typeOdomMSCKFNoiseFeature ( )

inlinestatic

Type of parameter OdomMSCKF/NoiseFeature , as a string: double .

Definition at line 641 of file Parameters.h.

kOdomMSCKFInitCovVel()

static std::string rtabmap::Parameters::kOdomMSCKFInitCovVel ( )

inlinestatic

Key of parameter OdomMSCKF/InitCovVel : "" Default value: 0.25 ( double ).

Definition at line 642 of file Parameters.h.

defaultOdomMSCKFInitCovVel()

static double rtabmap::Parameters::defaultOdomMSCKFInitCovVel ( )

inlinestatic

Default value of parameter OdomMSCKF/InitCovVel : 0.25 .

Definition at line 642 of file Parameters.h.

typeOdomMSCKFInitCovVel()

static std::string rtabmap::Parameters::typeOdomMSCKFInitCovVel ( )

inlinestatic

Type of parameter OdomMSCKF/InitCovVel , as a string: double .

Definition at line 642 of file Parameters.h.

kOdomMSCKFInitCovGyroBias()

static std::string rtabmap::Parameters::kOdomMSCKFInitCovGyroBias ( )

inlinestatic

Key of parameter OdomMSCKF/InitCovGyroBias : "" Default value: 0.01 ( double ).

Definition at line 643 of file Parameters.h.

defaultOdomMSCKFInitCovGyroBias()

static double rtabmap::Parameters::defaultOdomMSCKFInitCovGyroBias ( )

inlinestatic

Default value of parameter OdomMSCKF/InitCovGyroBias : 0.01 .

Definition at line 643 of file Parameters.h.

typeOdomMSCKFInitCovGyroBias()

static std::string rtabmap::Parameters::typeOdomMSCKFInitCovGyroBias ( )

inlinestatic

Type of parameter OdomMSCKF/InitCovGyroBias , as a string: double .

Definition at line 643 of file Parameters.h.

kOdomMSCKFInitCovAccBias()

static std::string rtabmap::Parameters::kOdomMSCKFInitCovAccBias ( )

inlinestatic

Key of parameter OdomMSCKF/InitCovAccBias : "" Default value: 0.01 ( double ).

Definition at line 644 of file Parameters.h.

defaultOdomMSCKFInitCovAccBias()

static double rtabmap::Parameters::defaultOdomMSCKFInitCovAccBias ( )

inlinestatic

Default value of parameter OdomMSCKF/InitCovAccBias : 0.01 .

Definition at line 644 of file Parameters.h.

typeOdomMSCKFInitCovAccBias()

static std::string rtabmap::Parameters::typeOdomMSCKFInitCovAccBias ( )

inlinestatic

Type of parameter OdomMSCKF/InitCovAccBias , as a string: double .

Definition at line 644 of file Parameters.h.

kOdomMSCKFInitCovExRot()

static std::string rtabmap::Parameters::kOdomMSCKFInitCovExRot ( )

inlinestatic

Key of parameter OdomMSCKF/InitCovExRot : "" Default value: 0.00030462 ( double ).

Definition at line 645 of file Parameters.h.

defaultOdomMSCKFInitCovExRot()

static double rtabmap::Parameters::defaultOdomMSCKFInitCovExRot ( )

inlinestatic

Default value of parameter OdomMSCKF/InitCovExRot : 0.00030462 .

Definition at line 645 of file Parameters.h.

typeOdomMSCKFInitCovExRot()

static std::string rtabmap::Parameters::typeOdomMSCKFInitCovExRot ( )

inlinestatic

Type of parameter OdomMSCKF/InitCovExRot , as a string: double .

Definition at line 645 of file Parameters.h.

kOdomMSCKFInitCovExTrans()

static std::string rtabmap::Parameters::kOdomMSCKFInitCovExTrans ( )

inlinestatic

Key of parameter OdomMSCKF/InitCovExTrans : "" Default value: 0.000025 ( double ).

Definition at line 646 of file Parameters.h.

defaultOdomMSCKFInitCovExTrans()

static double rtabmap::Parameters::defaultOdomMSCKFInitCovExTrans ( )

inlinestatic

Default value of parameter OdomMSCKF/InitCovExTrans : 0.000025 .

Definition at line 646 of file Parameters.h.

typeOdomMSCKFInitCovExTrans()

static std::string rtabmap::Parameters::typeOdomMSCKFInitCovExTrans ( )

inlinestatic

Type of parameter OdomMSCKF/InitCovExTrans , as a string: double .

Definition at line 646 of file Parameters.h.

kOdomMSCKFMaxCamStateSize()

static std::string rtabmap::Parameters::kOdomMSCKFMaxCamStateSize ( )

inlinestatic

Key of parameter OdomMSCKF/MaxCamStateSize : "" Default value: 20 ( int ).

Definition at line 647 of file Parameters.h.

defaultOdomMSCKFMaxCamStateSize()

static int rtabmap::Parameters::defaultOdomMSCKFMaxCamStateSize ( )

inlinestatic

Default value of parameter OdomMSCKF/MaxCamStateSize : 20 .

Definition at line 647 of file Parameters.h.

typeOdomMSCKFMaxCamStateSize()

static std::string rtabmap::Parameters::typeOdomMSCKFMaxCamStateSize ( )

inlinestatic

Type of parameter OdomMSCKF/MaxCamStateSize , as a string: int .

Definition at line 647 of file Parameters.h.

kOdomVINSFusionConfigPath()

static std::string rtabmap::Parameters::kOdomVINSFusionConfigPath ( )

inlinestatic

Key of parameter OdomVINSFusion/ConfigPath : "Path of VINS-Fusion config file." Default value: "" (string).

Definition at line 650 of file Parameters.h.

defaultOdomVINSFusionConfigPath()

static std::string rtabmap::Parameters::defaultOdomVINSFusionConfigPath ( )

inlinestatic

Default value of parameter OdomVINSFusion/ConfigPath : "" .

Definition at line 650 of file Parameters.h.

typeOdomVINSFusionConfigPath()

static std::string rtabmap::Parameters::typeOdomVINSFusionConfigPath ( )

inlinestatic

Type of parameter OdomVINSFusion/ConfigPath , as a string: string.

Definition at line 650 of file Parameters.h.

kOdomOpenVINSConfigPath()

static std::string rtabmap::Parameters::kOdomOpenVINSConfigPath ( )

inlinestatic

Key of parameter OdomOpenVINS/ConfigPath : "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group." Default value: "" (string).

Definition at line 653 of file Parameters.h.

defaultOdomOpenVINSConfigPath()

static std::string rtabmap::Parameters::defaultOdomOpenVINSConfigPath ( )

inlinestatic

Default value of parameter OdomOpenVINS/ConfigPath : "" .

Definition at line 653 of file Parameters.h.

typeOdomOpenVINSConfigPath()

static std::string rtabmap::Parameters::typeOdomOpenVINSConfigPath ( )

inlinestatic

Type of parameter OdomOpenVINS/ConfigPath , as a string: string.

Definition at line 653 of file Parameters.h.

kOdomOpenVINSUseStereo()

static std::string rtabmap::Parameters::kOdomOpenVINSUseStereo ( )

inlinestatic

Key of parameter OdomOpenVINS/UseStereo : "If we have more than 1 camera, if we should try to track stereo constraints between pairs." Default value: true ( bool ).

Definition at line 654 of file Parameters.h.

defaultOdomOpenVINSUseStereo()

static bool rtabmap::Parameters::defaultOdomOpenVINSUseStereo ( )

inlinestatic

Default value of parameter OdomOpenVINS/UseStereo : true .

Definition at line 654 of file Parameters.h.

typeOdomOpenVINSUseStereo()

static std::string rtabmap::Parameters::typeOdomOpenVINSUseStereo ( )

inlinestatic

Type of parameter OdomOpenVINS/UseStereo , as a string: bool .

Definition at line 654 of file Parameters.h.

kOdomOpenVINSUseKLT()

static std::string rtabmap::Parameters::kOdomOpenVINSUseKLT ( )

inlinestatic

Key of parameter OdomOpenVINS/UseKLT : "If true we will use KLT, otherwise use a ORB descriptor + robust matching." Default value: true ( bool ).

Definition at line 655 of file Parameters.h.

defaultOdomOpenVINSUseKLT()

static bool rtabmap::Parameters::defaultOdomOpenVINSUseKLT ( )

inlinestatic

Default value of parameter OdomOpenVINS/UseKLT : true .

Definition at line 655 of file Parameters.h.

typeOdomOpenVINSUseKLT()

static std::string rtabmap::Parameters::typeOdomOpenVINSUseKLT ( )

inlinestatic

Type of parameter OdomOpenVINS/UseKLT , as a string: bool .

Definition at line 655 of file Parameters.h.

kOdomOpenVINSNumPts()

static std::string rtabmap::Parameters::kOdomOpenVINSNumPts ( )

inlinestatic

Key of parameter OdomOpenVINS/NumPts : "Number of points (per camera) we will extract and try to track." Default value: 200 ( int ).

Definition at line 656 of file Parameters.h.

defaultOdomOpenVINSNumPts()

static int rtabmap::Parameters::defaultOdomOpenVINSNumPts ( )

inlinestatic

Default value of parameter OdomOpenVINS/NumPts : 200 .

Definition at line 656 of file Parameters.h.

typeOdomOpenVINSNumPts()

static std::string rtabmap::Parameters::typeOdomOpenVINSNumPts ( )

inlinestatic

Type of parameter OdomOpenVINS/NumPts , as a string: int .

Definition at line 656 of file Parameters.h.

kOdomOpenVINSMinPxDist()

static std::string rtabmap::Parameters::kOdomOpenVINSMinPxDist ( )

inlinestatic

Key of parameter OdomOpenVINS/MinPxDist : "Eistance between features (features near each other provide less information)." Default value: 15 ( int ).

Definition at line 657 of file Parameters.h.

defaultOdomOpenVINSMinPxDist()

static int rtabmap::Parameters::defaultOdomOpenVINSMinPxDist ( )

inlinestatic

Default value of parameter OdomOpenVINS/MinPxDist : 15 .

Definition at line 657 of file Parameters.h.

typeOdomOpenVINSMinPxDist()

static std::string rtabmap::Parameters::typeOdomOpenVINSMinPxDist ( )

inlinestatic

Type of parameter OdomOpenVINS/MinPxDist , as a string: int .

Definition at line 657 of file Parameters.h.

kOdomOpenVINSFiTriangulate1d()

static std::string rtabmap::Parameters::kOdomOpenVINSFiTriangulate1d ( )

inlinestatic

Key of parameter OdomOpenVINS/FiTriangulate1d : "If we should perform 1d triangulation instead of 3d." Default value: false ( bool ).

Definition at line 658 of file Parameters.h.

defaultOdomOpenVINSFiTriangulate1d()

static bool rtabmap::Parameters::defaultOdomOpenVINSFiTriangulate1d ( )

inlinestatic

Default value of parameter OdomOpenVINS/FiTriangulate1d : false .

Definition at line 658 of file Parameters.h.

typeOdomOpenVINSFiTriangulate1d()

static std::string rtabmap::Parameters::typeOdomOpenVINSFiTriangulate1d ( )

inlinestatic

Type of parameter OdomOpenVINS/FiTriangulate1d , as a string: bool .

Definition at line 658 of file Parameters.h.

kOdomOpenVINSFiRefineFeatures()

static std::string rtabmap::Parameters::kOdomOpenVINSFiRefineFeatures ( )

inlinestatic

Key of parameter OdomOpenVINS/FiRefineFeatures : "If we should perform Levenberg-Marquardt refinement." Default value: true ( bool ).

Definition at line 659 of file Parameters.h.

defaultOdomOpenVINSFiRefineFeatures()

static bool rtabmap::Parameters::defaultOdomOpenVINSFiRefineFeatures ( )

inlinestatic

Default value of parameter OdomOpenVINS/FiRefineFeatures : true .

Definition at line 659 of file Parameters.h.

typeOdomOpenVINSFiRefineFeatures()

static std::string rtabmap::Parameters::typeOdomOpenVINSFiRefineFeatures ( )

inlinestatic

Type of parameter OdomOpenVINS/FiRefineFeatures , as a string: bool .

Definition at line 659 of file Parameters.h.

kOdomOpenVINSFiMaxRuns()

static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxRuns ( )

inlinestatic

Key of parameter OdomOpenVINS/FiMaxRuns : "Max runs for Levenberg-Marquardt." Default value: 5 ( int ).

Definition at line 660 of file Parameters.h.

defaultOdomOpenVINSFiMaxRuns()

static int rtabmap::Parameters::defaultOdomOpenVINSFiMaxRuns ( )

inlinestatic

Default value of parameter OdomOpenVINS/FiMaxRuns : 5 .

Definition at line 660 of file Parameters.h.

typeOdomOpenVINSFiMaxRuns()

static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxRuns ( )

inlinestatic

Type of parameter OdomOpenVINS/FiMaxRuns , as a string: int .

Definition at line 660 of file Parameters.h.

kOdomOpenVINSFiMaxBaseline()

static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxBaseline ( )

inlinestatic

Key of parameter OdomOpenVINS/FiMaxBaseline : "Max baseline ratio to accept triangulated features." Default value: 40 ( double ).

Definition at line 661 of file Parameters.h.

defaultOdomOpenVINSFiMaxBaseline()

static double rtabmap::Parameters::defaultOdomOpenVINSFiMaxBaseline ( )

inlinestatic

Default value of parameter OdomOpenVINS/FiMaxBaseline : 40 .

Definition at line 661 of file Parameters.h.

typeOdomOpenVINSFiMaxBaseline()

static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxBaseline ( )

inlinestatic

Type of parameter OdomOpenVINS/FiMaxBaseline , as a string: double .

Definition at line 661 of file Parameters.h.

kOdomOpenVINSFiMaxCondNumber()

static std::string rtabmap::Parameters::kOdomOpenVINSFiMaxCondNumber ( )

inlinestatic

Key of parameter OdomOpenVINS/FiMaxCondNumber : "Max condition number of linear triangulation matrix accept triangulated features." Default value: 10000 ( double ).

Definition at line 662 of file Parameters.h.

defaultOdomOpenVINSFiMaxCondNumber()

static double rtabmap::Parameters::defaultOdomOpenVINSFiMaxCondNumber ( )

inlinestatic

Default value of parameter OdomOpenVINS/FiMaxCondNumber : 10000 .

Definition at line 662 of file Parameters.h.

typeOdomOpenVINSFiMaxCondNumber()

static std::string rtabmap::Parameters::typeOdomOpenVINSFiMaxCondNumber ( )

inlinestatic

Type of parameter OdomOpenVINS/FiMaxCondNumber , as a string: double .

Definition at line 662 of file Parameters.h.

kOdomOpenVINSUseFEJ()

static std::string rtabmap::Parameters::kOdomOpenVINSUseFEJ ( )

inlinestatic

Key of parameter OdomOpenVINS/UseFEJ : "If first-estimate Jacobians should be used (enable for good consistency)." Default value: true ( bool ).

Definition at line 664 of file Parameters.h.

defaultOdomOpenVINSUseFEJ()

static bool rtabmap::Parameters::defaultOdomOpenVINSUseFEJ ( )

inlinestatic

Default value of parameter OdomOpenVINS/UseFEJ : true .

Definition at line 664 of file Parameters.h.

typeOdomOpenVINSUseFEJ()

static std::string rtabmap::Parameters::typeOdomOpenVINSUseFEJ ( )

inlinestatic

Type of parameter OdomOpenVINS/UseFEJ , as a string: bool .

Definition at line 664 of file Parameters.h.

kOdomOpenVINSIntegration()

static std::string rtabmap::Parameters::kOdomOpenVINSIntegration ( )

inlinestatic

Key of parameter OdomOpenVINS/Integration : "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used)." Default value: 1 ( int ).

Definition at line 665 of file Parameters.h.

defaultOdomOpenVINSIntegration()

static int rtabmap::Parameters::defaultOdomOpenVINSIntegration ( )

inlinestatic

Default value of parameter OdomOpenVINS/Integration : 1 .

Definition at line 665 of file Parameters.h.

typeOdomOpenVINSIntegration()

static std::string rtabmap::Parameters::typeOdomOpenVINSIntegration ( )

inlinestatic

Type of parameter OdomOpenVINS/Integration , as a string: int .

Definition at line 665 of file Parameters.h.

kOdomOpenVINSCalibCamExtrinsics()

static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamExtrinsics ( )

inlinestatic

Key of parameter OdomOpenVINS/CalibCamExtrinsics : "Bool to determine whether or not to calibrate imu-to-camera pose." Default value: false ( bool ).

Definition at line 666 of file Parameters.h.

defaultOdomOpenVINSCalibCamExtrinsics()

static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamExtrinsics ( )

inlinestatic

Default value of parameter OdomOpenVINS/CalibCamExtrinsics : false .

Definition at line 666 of file Parameters.h.

typeOdomOpenVINSCalibCamExtrinsics()

static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamExtrinsics ( )

inlinestatic

Type of parameter OdomOpenVINS/CalibCamExtrinsics , as a string: bool .

Definition at line 666 of file Parameters.h.

kOdomOpenVINSCalibCamIntrinsics()

static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamIntrinsics ( )

inlinestatic

Key of parameter OdomOpenVINS/CalibCamIntrinsics : "Bool to determine whether or not to calibrate camera intrinsics." Default value: false ( bool ).

Definition at line 667 of file Parameters.h.

defaultOdomOpenVINSCalibCamIntrinsics()

static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamIntrinsics ( )

inlinestatic

Default value of parameter OdomOpenVINS/CalibCamIntrinsics : false .

Definition at line 667 of file Parameters.h.

typeOdomOpenVINSCalibCamIntrinsics()

static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamIntrinsics ( )

inlinestatic

Type of parameter OdomOpenVINS/CalibCamIntrinsics , as a string: bool .

Definition at line 667 of file Parameters.h.

kOdomOpenVINSCalibCamTimeoffset()

static std::string rtabmap::Parameters::kOdomOpenVINSCalibCamTimeoffset ( )

inlinestatic

Key of parameter OdomOpenVINS/CalibCamTimeoffset : "Bool to determine whether or not to calibrate camera to IMU time offset." Default value: false ( bool ).

Definition at line 668 of file Parameters.h.

defaultOdomOpenVINSCalibCamTimeoffset()

static bool rtabmap::Parameters::defaultOdomOpenVINSCalibCamTimeoffset ( )

inlinestatic

Default value of parameter OdomOpenVINS/CalibCamTimeoffset : false .

Definition at line 668 of file Parameters.h.

typeOdomOpenVINSCalibCamTimeoffset()

static std::string rtabmap::Parameters::typeOdomOpenVINSCalibCamTimeoffset ( )

inlinestatic

Type of parameter OdomOpenVINS/CalibCamTimeoffset , as a string: bool .

Definition at line 668 of file Parameters.h.

kOdomOpenVINSCalibIMUIntrinsics()

static std::string rtabmap::Parameters::kOdomOpenVINSCalibIMUIntrinsics ( )

inlinestatic

Key of parameter OdomOpenVINS/CalibIMUIntrinsics : "Bool to determine whether or not to calibrate the IMU intrinsics." Default value: false ( bool ).

Definition at line 669 of file Parameters.h.

defaultOdomOpenVINSCalibIMUIntrinsics()

static bool rtabmap::Parameters::defaultOdomOpenVINSCalibIMUIntrinsics ( )

inlinestatic

Default value of parameter OdomOpenVINS/CalibIMUIntrinsics : false .

Definition at line 669 of file Parameters.h.

typeOdomOpenVINSCalibIMUIntrinsics()

static std::string rtabmap::Parameters::typeOdomOpenVINSCalibIMUIntrinsics ( )

inlinestatic

Type of parameter OdomOpenVINS/CalibIMUIntrinsics , as a string: bool .

Definition at line 669 of file Parameters.h.

kOdomOpenVINSCalibIMUGSensitivity()

static std::string rtabmap::Parameters::kOdomOpenVINSCalibIMUGSensitivity ( )

inlinestatic

Key of parameter OdomOpenVINS/CalibIMUGSensitivity : "Bool to determine whether or not to calibrate the Gravity sensitivity." Default value: false ( bool ).

Definition at line 670 of file Parameters.h.

defaultOdomOpenVINSCalibIMUGSensitivity()

static bool rtabmap::Parameters::defaultOdomOpenVINSCalibIMUGSensitivity ( )

inlinestatic

Default value of parameter OdomOpenVINS/CalibIMUGSensitivity : false .

Definition at line 670 of file Parameters.h.

typeOdomOpenVINSCalibIMUGSensitivity()

static std::string rtabmap::Parameters::typeOdomOpenVINSCalibIMUGSensitivity ( )

inlinestatic

Type of parameter OdomOpenVINS/CalibIMUGSensitivity , as a string: bool .

Definition at line 670 of file Parameters.h.

kOdomOpenVINSMaxClones()

static std::string rtabmap::Parameters::kOdomOpenVINSMaxClones ( )

inlinestatic

Key of parameter OdomOpenVINS/MaxClones : "Max clone size of sliding window." Default value: 11 ( int ).

Definition at line 671 of file Parameters.h.

defaultOdomOpenVINSMaxClones()

static int rtabmap::Parameters::defaultOdomOpenVINSMaxClones ( )

inlinestatic

Default value of parameter OdomOpenVINS/MaxClones : 11 .

Definition at line 671 of file Parameters.h.

typeOdomOpenVINSMaxClones()

static std::string rtabmap::Parameters::typeOdomOpenVINSMaxClones ( )

inlinestatic

Type of parameter OdomOpenVINS/MaxClones , as a string: int .

Definition at line 671 of file Parameters.h.

kOdomOpenVINSMaxSLAM()

static std::string rtabmap::Parameters::kOdomOpenVINSMaxSLAM ( )

inlinestatic

Key of parameter OdomOpenVINS/MaxSLAM : "Max number of estimated SLAM features." Default value: 50 ( int ).

Definition at line 672 of file Parameters.h.

defaultOdomOpenVINSMaxSLAM()

static int rtabmap::Parameters::defaultOdomOpenVINSMaxSLAM ( )

inlinestatic

Default value of parameter OdomOpenVINS/MaxSLAM : 50 .

Definition at line 672 of file Parameters.h.

typeOdomOpenVINSMaxSLAM()

static std::string rtabmap::Parameters::typeOdomOpenVINSMaxSLAM ( )

inlinestatic

Type of parameter OdomOpenVINS/MaxSLAM , as a string: int .

Definition at line 672 of file Parameters.h.

kOdomOpenVINSMaxSLAMInUpdate()

static std::string rtabmap::Parameters::kOdomOpenVINSMaxSLAMInUpdate ( )

inlinestatic

Key of parameter OdomOpenVINS/MaxSLAMInUpdate : "Max number of SLAM features we allow to be included in a single EKF update.." Default value: 25 ( int ).

Definition at line 673 of file Parameters.h.

defaultOdomOpenVINSMaxSLAMInUpdate()

static int rtabmap::Parameters::defaultOdomOpenVINSMaxSLAMInUpdate ( )

inlinestatic

Default value of parameter OdomOpenVINS/MaxSLAMInUpdate : 25 .

Definition at line 673 of file Parameters.h.

typeOdomOpenVINSMaxSLAMInUpdate()

static std::string rtabmap::Parameters::typeOdomOpenVINSMaxSLAMInUpdate ( )

inlinestatic

Type of parameter OdomOpenVINS/MaxSLAMInUpdate , as a string: int .

Definition at line 673 of file Parameters.h.

kOdomOpenVINSMaxMSCKFInUpdate()

static std::string rtabmap::Parameters::kOdomOpenVINSMaxMSCKFInUpdate ( )

inlinestatic

Key of parameter OdomOpenVINS/MaxMSCKFInUpdate : "Max number of MSCKF features we will use at a given image timestep.." Default value: 50 ( int ).

Definition at line 674 of file Parameters.h.

defaultOdomOpenVINSMaxMSCKFInUpdate()

static int rtabmap::Parameters::defaultOdomOpenVINSMaxMSCKFInUpdate ( )

inlinestatic

Default value of parameter OdomOpenVINS/MaxMSCKFInUpdate : 50 .

Definition at line 674 of file Parameters.h.

typeOdomOpenVINSMaxMSCKFInUpdate()

static std::string rtabmap::Parameters::typeOdomOpenVINSMaxMSCKFInUpdate ( )

inlinestatic

Type of parameter OdomOpenVINS/MaxMSCKFInUpdate , as a string: int .

Definition at line 674 of file Parameters.h.

kOdomOpenVINSFeatRepMSCKF()

static std::string rtabmap::Parameters::kOdomOpenVINSFeatRepMSCKF ( )

inlinestatic

Key of parameter OdomOpenVINS/FeatRepMSCKF : "What representation our features are in (msckf features)." Default value: 0 ( int ).

Definition at line 675 of file Parameters.h.

defaultOdomOpenVINSFeatRepMSCKF()

static int rtabmap::Parameters::defaultOdomOpenVINSFeatRepMSCKF ( )

inlinestatic

Default value of parameter OdomOpenVINS/FeatRepMSCKF : 0 .

Definition at line 675 of file Parameters.h.

typeOdomOpenVINSFeatRepMSCKF()

static std::string rtabmap::Parameters::typeOdomOpenVINSFeatRepMSCKF ( )

inlinestatic

Type of parameter OdomOpenVINS/FeatRepMSCKF , as a string: int .

Definition at line 675 of file Parameters.h.

kOdomOpenVINSFeatRepSLAM()

static std::string rtabmap::Parameters::kOdomOpenVINSFeatRepSLAM ( )

inlinestatic

Key of parameter OdomOpenVINS/FeatRepSLAM : "What representation our features are in (slam features)." Default value: 4 ( int ).

Definition at line 676 of file Parameters.h.

defaultOdomOpenVINSFeatRepSLAM()

static int rtabmap::Parameters::defaultOdomOpenVINSFeatRepSLAM ( )

inlinestatic

Default value of parameter OdomOpenVINS/FeatRepSLAM : 4 .

Definition at line 676 of file Parameters.h.

typeOdomOpenVINSFeatRepSLAM()

static std::string rtabmap::Parameters::typeOdomOpenVINSFeatRepSLAM ( )

inlinestatic

Type of parameter OdomOpenVINS/FeatRepSLAM , as a string: int .

Definition at line 676 of file Parameters.h.

kOdomOpenVINSDtSLAMDelay()

static std::string rtabmap::Parameters::kOdomOpenVINSDtSLAMDelay ( )

inlinestatic

Key of parameter OdomOpenVINS/DtSLAMDelay : "Delay, in seconds, that we should wait from init before we start estimating SLAM features." Default value: 0.0 ( double ).

Definition at line 677 of file Parameters.h.

defaultOdomOpenVINSDtSLAMDelay()

static double rtabmap::Parameters::defaultOdomOpenVINSDtSLAMDelay ( )

inlinestatic

Default value of parameter OdomOpenVINS/DtSLAMDelay : 0.0 .

Definition at line 677 of file Parameters.h.

typeOdomOpenVINSDtSLAMDelay()

static std::string rtabmap::Parameters::typeOdomOpenVINSDtSLAMDelay ( )

inlinestatic

Type of parameter OdomOpenVINS/DtSLAMDelay , as a string: double .

Definition at line 677 of file Parameters.h.

kOdomOpenVINSGravityMag()

static std::string rtabmap::Parameters::kOdomOpenVINSGravityMag ( )

inlinestatic

Key of parameter OdomOpenVINS/GravityMag : "Gravity magnitude in the global frame (i.e. should be 9.81 typically)." Default value: 9.81 ( double ).

Definition at line 678 of file Parameters.h.

defaultOdomOpenVINSGravityMag()

static double rtabmap::Parameters::defaultOdomOpenVINSGravityMag ( )

inlinestatic

Default value of parameter OdomOpenVINS/GravityMag : 9.81 .

Definition at line 678 of file Parameters.h.

typeOdomOpenVINSGravityMag()

static std::string rtabmap::Parameters::typeOdomOpenVINSGravityMag ( )

inlinestatic

Type of parameter OdomOpenVINS/GravityMag , as a string: double .

Definition at line 678 of file Parameters.h.

kOdomOpenVINSLeftMaskPath()

static std::string rtabmap::Parameters::kOdomOpenVINSLeftMaskPath ( )

inlinestatic

Key of parameter OdomOpenVINS/LeftMaskPath : "Mask for left image." Default value: "" (string).

Definition at line 679 of file Parameters.h.

defaultOdomOpenVINSLeftMaskPath()

static std::string rtabmap::Parameters::defaultOdomOpenVINSLeftMaskPath ( )

inlinestatic

Default value of parameter OdomOpenVINS/LeftMaskPath : "" .

Definition at line 679 of file Parameters.h.

typeOdomOpenVINSLeftMaskPath()

static std::string rtabmap::Parameters::typeOdomOpenVINSLeftMaskPath ( )

inlinestatic

Type of parameter OdomOpenVINS/LeftMaskPath , as a string: string.

Definition at line 679 of file Parameters.h.

kOdomOpenVINSRightMaskPath()

static std::string rtabmap::Parameters::kOdomOpenVINSRightMaskPath ( )

inlinestatic

Key of parameter OdomOpenVINS/RightMaskPath : "Mask for right image." Default value: "" (string).

Definition at line 680 of file Parameters.h.

defaultOdomOpenVINSRightMaskPath()

static std::string rtabmap::Parameters::defaultOdomOpenVINSRightMaskPath ( )

inlinestatic

Default value of parameter OdomOpenVINS/RightMaskPath : "" .

Definition at line 680 of file Parameters.h.

typeOdomOpenVINSRightMaskPath()

static std::string rtabmap::Parameters::typeOdomOpenVINSRightMaskPath ( )

inlinestatic

Type of parameter OdomOpenVINS/RightMaskPath , as a string: string.

Definition at line 680 of file Parameters.h.

kOdomOpenVINSInitWindowTime()

static std::string rtabmap::Parameters::kOdomOpenVINSInitWindowTime ( )

inlinestatic

Key of parameter OdomOpenVINS/InitWindowTime : "Amount of time we will initialize over (seconds)." Default value: 2.0 ( double ).

Definition at line 682 of file Parameters.h.

defaultOdomOpenVINSInitWindowTime()

static double rtabmap::Parameters::defaultOdomOpenVINSInitWindowTime ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitWindowTime : 2.0 .

Definition at line 682 of file Parameters.h.

typeOdomOpenVINSInitWindowTime()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitWindowTime ( )

inlinestatic

Type of parameter OdomOpenVINS/InitWindowTime , as a string: double .

Definition at line 682 of file Parameters.h.

kOdomOpenVINSInitIMUThresh()

static std::string rtabmap::Parameters::kOdomOpenVINSInitIMUThresh ( )

inlinestatic

Key of parameter OdomOpenVINS/InitIMUThresh : "Variance threshold on our acceleration to be classified as moving." Default value: 1.0 ( double ).

Definition at line 683 of file Parameters.h.

defaultOdomOpenVINSInitIMUThresh()

static double rtabmap::Parameters::defaultOdomOpenVINSInitIMUThresh ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitIMUThresh : 1.0 .

Definition at line 683 of file Parameters.h.

typeOdomOpenVINSInitIMUThresh()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitIMUThresh ( )

inlinestatic

Type of parameter OdomOpenVINS/InitIMUThresh , as a string: double .

Definition at line 683 of file Parameters.h.

kOdomOpenVINSInitMaxDisparity()

static std::string rtabmap::Parameters::kOdomOpenVINSInitMaxDisparity ( )

inlinestatic

Key of parameter OdomOpenVINS/InitMaxDisparity : "Max disparity to consider the platform stationary (dependent on resolution)." Default value: 10.0 ( double ).

Definition at line 684 of file Parameters.h.

defaultOdomOpenVINSInitMaxDisparity()

static double rtabmap::Parameters::defaultOdomOpenVINSInitMaxDisparity ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitMaxDisparity : 10.0 .

Definition at line 684 of file Parameters.h.

typeOdomOpenVINSInitMaxDisparity()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitMaxDisparity ( )

inlinestatic

Type of parameter OdomOpenVINS/InitMaxDisparity , as a string: double .

Definition at line 684 of file Parameters.h.

kOdomOpenVINSInitMaxFeatures()

static std::string rtabmap::Parameters::kOdomOpenVINSInitMaxFeatures ( )

inlinestatic

Key of parameter OdomOpenVINS/InitMaxFeatures : "How many features to track during initialization (saves on computation)." Default value: 50 ( int ).

Definition at line 685 of file Parameters.h.

defaultOdomOpenVINSInitMaxFeatures()

static int rtabmap::Parameters::defaultOdomOpenVINSInitMaxFeatures ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitMaxFeatures : 50 .

Definition at line 685 of file Parameters.h.

typeOdomOpenVINSInitMaxFeatures()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitMaxFeatures ( )

inlinestatic

Type of parameter OdomOpenVINS/InitMaxFeatures , as a string: int .

Definition at line 685 of file Parameters.h.

kOdomOpenVINSInitDynUse()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynUse ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynUse : "If dynamic initialization should be used." Default value: false ( bool ).

Definition at line 686 of file Parameters.h.

defaultOdomOpenVINSInitDynUse()

static bool rtabmap::Parameters::defaultOdomOpenVINSInitDynUse ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynUse : false .

Definition at line 686 of file Parameters.h.

typeOdomOpenVINSInitDynUse()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynUse ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynUse , as a string: bool .

Definition at line 686 of file Parameters.h.

kOdomOpenVINSInitDynMLEOptCalib()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEOptCalib ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMLEOptCalib : "If we should optimize calibration during intialization (not recommended)." Default value: false ( bool ).

Definition at line 687 of file Parameters.h.

defaultOdomOpenVINSInitDynMLEOptCalib()

static bool rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEOptCalib ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMLEOptCalib : false .

Definition at line 687 of file Parameters.h.

typeOdomOpenVINSInitDynMLEOptCalib()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEOptCalib ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMLEOptCalib , as a string: bool .

Definition at line 687 of file Parameters.h.

kOdomOpenVINSInitDynMLEMaxIter()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxIter ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMLEMaxIter : "How many iterations the MLE refinement should use (zero to skip the MLE)." Default value: 50 ( int ).

Definition at line 688 of file Parameters.h.

defaultOdomOpenVINSInitDynMLEMaxIter()

static int rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxIter ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMLEMaxIter : 50 .

Definition at line 688 of file Parameters.h.

typeOdomOpenVINSInitDynMLEMaxIter()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxIter ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMLEMaxIter , as a string: int .

Definition at line 688 of file Parameters.h.

kOdomOpenVINSInitDynMLEMaxTime()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxTime ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMLEMaxTime : "How many seconds the MLE should be completed in." Default value: 0.05 ( double ).

Definition at line 689 of file Parameters.h.

defaultOdomOpenVINSInitDynMLEMaxTime()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxTime ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMLEMaxTime : 0.05 .

Definition at line 689 of file Parameters.h.

typeOdomOpenVINSInitDynMLEMaxTime()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxTime ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMLEMaxTime , as a string: double .

Definition at line 689 of file Parameters.h.

kOdomOpenVINSInitDynMLEMaxThreads()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMLEMaxThreads ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMLEMaxThreads : "How many threads the MLE should use." Default value: 6 ( int ).

Definition at line 690 of file Parameters.h.

defaultOdomOpenVINSInitDynMLEMaxThreads()

static int rtabmap::Parameters::defaultOdomOpenVINSInitDynMLEMaxThreads ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMLEMaxThreads : 6 .

Definition at line 690 of file Parameters.h.

typeOdomOpenVINSInitDynMLEMaxThreads()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMLEMaxThreads ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMLEMaxThreads , as a string: int .

Definition at line 690 of file Parameters.h.

kOdomOpenVINSInitDynNumPose()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynNumPose ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynNumPose : "Number of poses to use within our window time (evenly spaced)." Default value: 6 ( int ).

Definition at line 691 of file Parameters.h.

defaultOdomOpenVINSInitDynNumPose()

static int rtabmap::Parameters::defaultOdomOpenVINSInitDynNumPose ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynNumPose : 6 .

Definition at line 691 of file Parameters.h.

typeOdomOpenVINSInitDynNumPose()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynNumPose ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynNumPose , as a string: int .

Definition at line 691 of file Parameters.h.

kOdomOpenVINSInitDynMinDeg()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMinDeg ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMinDeg : "Orientation change needed to try to init." Default value: 10.0 ( double ).

Definition at line 692 of file Parameters.h.

defaultOdomOpenVINSInitDynMinDeg()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMinDeg ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMinDeg : 10.0 .

Definition at line 692 of file Parameters.h.

typeOdomOpenVINSInitDynMinDeg()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMinDeg ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMinDeg , as a string: double .

Definition at line 692 of file Parameters.h.

kOdomOpenVINSInitDynInflationOri()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationOri ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynInflationOri : "What to inflate the recovered q_GtoI covariance by." Default value: 10.0 ( double ).

Definition at line 693 of file Parameters.h.

defaultOdomOpenVINSInitDynInflationOri()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationOri ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynInflationOri : 10.0 .

Definition at line 693 of file Parameters.h.

typeOdomOpenVINSInitDynInflationOri()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationOri ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynInflationOri , as a string: double .

Definition at line 693 of file Parameters.h.

kOdomOpenVINSInitDynInflationVel()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationVel ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynInflationVel : "What to inflate the recovered v_IinG covariance by." Default value: 100.0 ( double ).

Definition at line 694 of file Parameters.h.

defaultOdomOpenVINSInitDynInflationVel()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationVel ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynInflationVel : 100.0 .

Definition at line 694 of file Parameters.h.

typeOdomOpenVINSInitDynInflationVel()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationVel ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynInflationVel , as a string: double .

Definition at line 694 of file Parameters.h.

kOdomOpenVINSInitDynInflationBg()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationBg ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynInflationBg : "What to inflate the recovered bias_g covariance by." Default value: 10.0 ( double ).

Definition at line 695 of file Parameters.h.

defaultOdomOpenVINSInitDynInflationBg()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationBg ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynInflationBg : 10.0 .

Definition at line 695 of file Parameters.h.

typeOdomOpenVINSInitDynInflationBg()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationBg ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynInflationBg , as a string: double .

Definition at line 695 of file Parameters.h.

kOdomOpenVINSInitDynInflationBa()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynInflationBa ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynInflationBa : "What to inflate the recovered bias_a covariance by." Default value: 100.0 ( double ).

Definition at line 696 of file Parameters.h.

defaultOdomOpenVINSInitDynInflationBa()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynInflationBa ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynInflationBa : 100.0 .

Definition at line 696 of file Parameters.h.

typeOdomOpenVINSInitDynInflationBa()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynInflationBa ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynInflationBa , as a string: double .

Definition at line 696 of file Parameters.h.

kOdomOpenVINSInitDynMinRecCond()

static std::string rtabmap::Parameters::kOdomOpenVINSInitDynMinRecCond ( )

inlinestatic

Key of parameter OdomOpenVINS/InitDynMinRecCond : "Reciprocal condition number thresh for info inversion." Default value: 1e-15 ( double ).

Definition at line 697 of file Parameters.h.

defaultOdomOpenVINSInitDynMinRecCond()

static double rtabmap::Parameters::defaultOdomOpenVINSInitDynMinRecCond ( )

inlinestatic

Default value of parameter OdomOpenVINS/InitDynMinRecCond : 1e-15 .

Definition at line 697 of file Parameters.h.

typeOdomOpenVINSInitDynMinRecCond()

static std::string rtabmap::Parameters::typeOdomOpenVINSInitDynMinRecCond ( )

inlinestatic

Type of parameter OdomOpenVINS/InitDynMinRecCond , as a string: double .

Definition at line 697 of file Parameters.h.

kOdomOpenVINSTryZUPT()

static std::string rtabmap::Parameters::kOdomOpenVINSTryZUPT ( )

inlinestatic

Key of parameter OdomOpenVINS/TryZUPT : "If we should try to use zero velocity update." Default value: true ( bool ).

Definition at line 699 of file Parameters.h.

defaultOdomOpenVINSTryZUPT()

static bool rtabmap::Parameters::defaultOdomOpenVINSTryZUPT ( )

inlinestatic

Default value of parameter OdomOpenVINS/TryZUPT : true .

Definition at line 699 of file Parameters.h.

typeOdomOpenVINSTryZUPT()

static std::string rtabmap::Parameters::typeOdomOpenVINSTryZUPT ( )

inlinestatic

Type of parameter OdomOpenVINS/TryZUPT , as a string: bool .

Definition at line 699 of file Parameters.h.

kOdomOpenVINSZUPTChi2Multiplier()

static std::string rtabmap::Parameters::kOdomOpenVINSZUPTChi2Multiplier ( )

inlinestatic

Key of parameter OdomOpenVINS/ZUPTChi2Multiplier : "Chi2 multiplier for zero velocity." Default value: 0.0 ( double ).

Definition at line 700 of file Parameters.h.

defaultOdomOpenVINSZUPTChi2Multiplier()

static double rtabmap::Parameters::defaultOdomOpenVINSZUPTChi2Multiplier ( )

inlinestatic

Default value of parameter OdomOpenVINS/ZUPTChi2Multiplier : 0.0 .

Definition at line 700 of file Parameters.h.

typeOdomOpenVINSZUPTChi2Multiplier()

static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTChi2Multiplier ( )

inlinestatic

Type of parameter OdomOpenVINS/ZUPTChi2Multiplier , as a string: double .

Definition at line 700 of file Parameters.h.

kOdomOpenVINSZUPTMaxVelodicy()

static std::string rtabmap::Parameters::kOdomOpenVINSZUPTMaxVelodicy ( )

inlinestatic

Key of parameter OdomOpenVINS/ZUPTMaxVelodicy : "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.1 ( double ).

Definition at line 701 of file Parameters.h.

defaultOdomOpenVINSZUPTMaxVelodicy()

static double rtabmap::Parameters::defaultOdomOpenVINSZUPTMaxVelodicy ( )

inlinestatic

Default value of parameter OdomOpenVINS/ZUPTMaxVelodicy : 0.1 .

Definition at line 701 of file Parameters.h.

typeOdomOpenVINSZUPTMaxVelodicy()

static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTMaxVelodicy ( )

inlinestatic

Type of parameter OdomOpenVINS/ZUPTMaxVelodicy , as a string: double .

Definition at line 701 of file Parameters.h.

kOdomOpenVINSZUPTNoiseMultiplier()

static std::string rtabmap::Parameters::kOdomOpenVINSZUPTNoiseMultiplier ( )

inlinestatic

Key of parameter OdomOpenVINS/ZUPTNoiseMultiplier : "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0)." Default value: 10.0 ( double ).

Definition at line 702 of file Parameters.h.

defaultOdomOpenVINSZUPTNoiseMultiplier()

static double rtabmap::Parameters::defaultOdomOpenVINSZUPTNoiseMultiplier ( )

inlinestatic

Default value of parameter OdomOpenVINS/ZUPTNoiseMultiplier : 10.0 .

Definition at line 702 of file Parameters.h.

typeOdomOpenVINSZUPTNoiseMultiplier()

static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTNoiseMultiplier ( )

inlinestatic

Type of parameter OdomOpenVINS/ZUPTNoiseMultiplier , as a string: double .

Definition at line 702 of file Parameters.h.

kOdomOpenVINSZUPTMaxDisparity()

static std::string rtabmap::Parameters::kOdomOpenVINSZUPTMaxDisparity ( )

inlinestatic

Key of parameter OdomOpenVINS/ZUPTMaxDisparity : "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt)." Default value: 0.5 ( double ).

Definition at line 703 of file Parameters.h.

defaultOdomOpenVINSZUPTMaxDisparity()

static double rtabmap::Parameters::defaultOdomOpenVINSZUPTMaxDisparity ( )

inlinestatic

Default value of parameter OdomOpenVINS/ZUPTMaxDisparity : 0.5 .

Definition at line 703 of file Parameters.h.

typeOdomOpenVINSZUPTMaxDisparity()

static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTMaxDisparity ( )

inlinestatic

Type of parameter OdomOpenVINS/ZUPTMaxDisparity , as a string: double .

Definition at line 703 of file Parameters.h.

kOdomOpenVINSZUPTOnlyAtBeginning()

static std::string rtabmap::Parameters::kOdomOpenVINSZUPTOnlyAtBeginning ( )

inlinestatic

Key of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : "If we should only use the zupt at the very beginning static initialization phase." Default value: false ( bool ).

Definition at line 704 of file Parameters.h.

defaultOdomOpenVINSZUPTOnlyAtBeginning()

static bool rtabmap::Parameters::defaultOdomOpenVINSZUPTOnlyAtBeginning ( )

inlinestatic

Default value of parameter OdomOpenVINS/ZUPTOnlyAtBeginning : false .

Definition at line 704 of file Parameters.h.

typeOdomOpenVINSZUPTOnlyAtBeginning()

static std::string rtabmap::Parameters::typeOdomOpenVINSZUPTOnlyAtBeginning ( )

inlinestatic

Type of parameter OdomOpenVINS/ZUPTOnlyAtBeginning , as a string: bool .

Definition at line 704 of file Parameters.h.

kOdomOpenVINSAccelerometerNoiseDensity()

static std::string rtabmap::Parameters::kOdomOpenVINSAccelerometerNoiseDensity ( )

inlinestatic

Key of parameter OdomOpenVINS/AccelerometerNoiseDensity : "[m/s^2/sqrt(Hz)] (accel \"white noise\")." Default value: 0.01 ( double ).

Definition at line 706 of file Parameters.h.

defaultOdomOpenVINSAccelerometerNoiseDensity()

static double rtabmap::Parameters::defaultOdomOpenVINSAccelerometerNoiseDensity ( )

inlinestatic

Default value of parameter OdomOpenVINS/AccelerometerNoiseDensity : 0.01 .

Definition at line 706 of file Parameters.h.

typeOdomOpenVINSAccelerometerNoiseDensity()

static std::string rtabmap::Parameters::typeOdomOpenVINSAccelerometerNoiseDensity ( )

inlinestatic

Type of parameter OdomOpenVINS/AccelerometerNoiseDensity , as a string: double .

Definition at line 706 of file Parameters.h.

kOdomOpenVINSAccelerometerRandomWalk()

static std::string rtabmap::Parameters::kOdomOpenVINSAccelerometerRandomWalk ( )

inlinestatic

Key of parameter OdomOpenVINS/AccelerometerRandomWalk : "[m/s^3/sqrt(Hz)] (accel bias diffusion)." Default value: 0.001 ( double ).

Definition at line 707 of file Parameters.h.

defaultOdomOpenVINSAccelerometerRandomWalk()

static double rtabmap::Parameters::defaultOdomOpenVINSAccelerometerRandomWalk ( )

inlinestatic

Default value of parameter OdomOpenVINS/AccelerometerRandomWalk : 0.001 .

Definition at line 707 of file Parameters.h.

typeOdomOpenVINSAccelerometerRandomWalk()

static std::string rtabmap::Parameters::typeOdomOpenVINSAccelerometerRandomWalk ( )

inlinestatic

Type of parameter OdomOpenVINS/AccelerometerRandomWalk , as a string: double .

Definition at line 707 of file Parameters.h.

kOdomOpenVINSGyroscopeNoiseDensity()

static std::string rtabmap::Parameters::kOdomOpenVINSGyroscopeNoiseDensity ( )

inlinestatic

Key of parameter OdomOpenVINS/GyroscopeNoiseDensity : "[rad/s/sqrt(Hz)] (gyro \"white noise\")." Default value: 0.001 ( double ).

Definition at line 708 of file Parameters.h.

defaultOdomOpenVINSGyroscopeNoiseDensity()

static double rtabmap::Parameters::defaultOdomOpenVINSGyroscopeNoiseDensity ( )

inlinestatic

Default value of parameter OdomOpenVINS/GyroscopeNoiseDensity : 0.001 .

Definition at line 708 of file Parameters.h.

typeOdomOpenVINSGyroscopeNoiseDensity()

static std::string rtabmap::Parameters::typeOdomOpenVINSGyroscopeNoiseDensity ( )

inlinestatic

Type of parameter OdomOpenVINS/GyroscopeNoiseDensity , as a string: double .

Definition at line 708 of file Parameters.h.

kOdomOpenVINSGyroscopeRandomWalk()

static std::string rtabmap::Parameters::kOdomOpenVINSGyroscopeRandomWalk ( )

inlinestatic

Key of parameter OdomOpenVINS/GyroscopeRandomWalk : "[rad/s^2/sqrt(Hz)] (gyro bias diffusion)." Default value: 0.0001 ( double ).

Definition at line 709 of file Parameters.h.

defaultOdomOpenVINSGyroscopeRandomWalk()

static double rtabmap::Parameters::defaultOdomOpenVINSGyroscopeRandomWalk ( )

inlinestatic

Default value of parameter OdomOpenVINS/GyroscopeRandomWalk : 0.0001 .

Definition at line 709 of file Parameters.h.

typeOdomOpenVINSGyroscopeRandomWalk()

static std::string rtabmap::Parameters::typeOdomOpenVINSGyroscopeRandomWalk ( )

inlinestatic

Type of parameter OdomOpenVINS/GyroscopeRandomWalk , as a string: double .

Definition at line 709 of file Parameters.h.

kOdomOpenVINSUpMSCKFSigmaPx()

static std::string rtabmap::Parameters::kOdomOpenVINSUpMSCKFSigmaPx ( )

inlinestatic

Key of parameter OdomOpenVINS/UpMSCKFSigmaPx : "Pixel noise for MSCKF features." Default value: 1.0 ( double ).

Definition at line 710 of file Parameters.h.

defaultOdomOpenVINSUpMSCKFSigmaPx()

static double rtabmap::Parameters::defaultOdomOpenVINSUpMSCKFSigmaPx ( )

inlinestatic

Default value of parameter OdomOpenVINS/UpMSCKFSigmaPx : 1.0 .

Definition at line 710 of file Parameters.h.

typeOdomOpenVINSUpMSCKFSigmaPx()

static std::string rtabmap::Parameters::typeOdomOpenVINSUpMSCKFSigmaPx ( )

inlinestatic

Type of parameter OdomOpenVINS/UpMSCKFSigmaPx , as a string: double .

Definition at line 710 of file Parameters.h.

kOdomOpenVINSUpMSCKFChi2Multiplier()

static std::string rtabmap::Parameters::kOdomOpenVINSUpMSCKFChi2Multiplier ( )

inlinestatic

Key of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : "Chi2 multiplier for MSCKF features." Default value: 1.0 ( double ).

Definition at line 711 of file Parameters.h.

defaultOdomOpenVINSUpMSCKFChi2Multiplier()

static double rtabmap::Parameters::defaultOdomOpenVINSUpMSCKFChi2Multiplier ( )

inlinestatic

Default value of parameter OdomOpenVINS/UpMSCKFChi2Multiplier : 1.0 .

Definition at line 711 of file Parameters.h.

typeOdomOpenVINSUpMSCKFChi2Multiplier()

static std::string rtabmap::Parameters::typeOdomOpenVINSUpMSCKFChi2Multiplier ( )

inlinestatic

Type of parameter OdomOpenVINS/UpMSCKFChi2Multiplier , as a string: double .

Definition at line 711 of file Parameters.h.

kOdomOpenVINSUpSLAMSigmaPx()

static std::string rtabmap::Parameters::kOdomOpenVINSUpSLAMSigmaPx ( )

inlinestatic

Key of parameter OdomOpenVINS/UpSLAMSigmaPx : "Pixel noise for SLAM features." Default value: 1.0 ( double ).

Definition at line 712 of file Parameters.h.

defaultOdomOpenVINSUpSLAMSigmaPx()

static double rtabmap::Parameters::defaultOdomOpenVINSUpSLAMSigmaPx ( )

inlinestatic

Default value of parameter OdomOpenVINS/UpSLAMSigmaPx : 1.0 .

Definition at line 712 of file Parameters.h.

typeOdomOpenVINSUpSLAMSigmaPx()

static std::string rtabmap::Parameters::typeOdomOpenVINSUpSLAMSigmaPx ( )

inlinestatic

Type of parameter OdomOpenVINS/UpSLAMSigmaPx , as a string: double .

Definition at line 712 of file Parameters.h.

kOdomOpenVINSUpSLAMChi2Multiplier()

static std::string rtabmap::Parameters::kOdomOpenVINSUpSLAMChi2Multiplier ( )

inlinestatic

Key of parameter OdomOpenVINS/UpSLAMChi2Multiplier : "Chi2 multiplier for SLAM features." Default value: 1.0 ( double ).

Definition at line 713 of file Parameters.h.

defaultOdomOpenVINSUpSLAMChi2Multiplier()

static double rtabmap::Parameters::defaultOdomOpenVINSUpSLAMChi2Multiplier ( )

inlinestatic

Default value of parameter OdomOpenVINS/UpSLAMChi2Multiplier : 1.0 .

Definition at line 713 of file Parameters.h.

typeOdomOpenVINSUpSLAMChi2Multiplier()

static std::string rtabmap::Parameters::typeOdomOpenVINSUpSLAMChi2Multiplier ( )

inlinestatic

Type of parameter OdomOpenVINS/UpSLAMChi2Multiplier , as a string: double .

Definition at line 713 of file Parameters.h.

kOdomOpen3DMaxDepth()

static std::string rtabmap::Parameters::kOdomOpen3DMaxDepth ( )

inlinestatic

Key of parameter OdomOpen3D/MaxDepth : "Maximum depth." Default value: 3.0 ( float ).

Definition at line 716 of file Parameters.h.

defaultOdomOpen3DMaxDepth()

static float rtabmap::Parameters::defaultOdomOpen3DMaxDepth ( )

inlinestatic

Default value of parameter OdomOpen3D/MaxDepth : 3.0 .

Definition at line 716 of file Parameters.h.

typeOdomOpen3DMaxDepth()

static std::string rtabmap::Parameters::typeOdomOpen3DMaxDepth ( )

inlinestatic

Type of parameter OdomOpen3D/MaxDepth , as a string: float .

Definition at line 716 of file Parameters.h.

kOdomOpen3DMethod()

static std::string rtabmap::Parameters::kOdomOpen3DMethod ( )

inlinestatic

Key of parameter OdomOpen3D/Method : "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid." Default value: 0 ( int ).

Definition at line 717 of file Parameters.h.

defaultOdomOpen3DMethod()

static int rtabmap::Parameters::defaultOdomOpen3DMethod ( )

inlinestatic

Default value of parameter OdomOpen3D/Method : 0 .

Definition at line 717 of file Parameters.h.

typeOdomOpen3DMethod()

static std::string rtabmap::Parameters::typeOdomOpen3DMethod ( )

inlinestatic

Type of parameter OdomOpen3D/Method , as a string: int .

Definition at line 717 of file Parameters.h.

kOdomCuVSLAMMulticamMode()

static std::string rtabmap::Parameters::kOdomCuVSLAMMulticamMode ( )

inlinestatic

Key of parameter OdomCuVSLAM/MulticamMode : "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision." Default value: 0 ( int ).

Definition at line 720 of file Parameters.h.

defaultOdomCuVSLAMMulticamMode()

static int rtabmap::Parameters::defaultOdomCuVSLAMMulticamMode ( )

inlinestatic

Default value of parameter OdomCuVSLAM/MulticamMode : 0 .

Definition at line 720 of file Parameters.h.

typeOdomCuVSLAMMulticamMode()

static std::string rtabmap::Parameters::typeOdomCuVSLAMMulticamMode ( )

inlinestatic

Type of parameter OdomCuVSLAM/MulticamMode , as a string: int .

Definition at line 720 of file Parameters.h.

kOdomLIOSAMConfigPath()

static std::string rtabmap::Parameters::kOdomLIOSAMConfigPath ( )

inlinestatic

Key of parameter OdomLIOSAM/ConfigPath : "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored." Default value: "" (string).

Definition at line 723 of file Parameters.h.

defaultOdomLIOSAMConfigPath()

static std::string rtabmap::Parameters::defaultOdomLIOSAMConfigPath ( )

inlinestatic

Default value of parameter OdomLIOSAM/ConfigPath : "" .

Definition at line 723 of file Parameters.h.

typeOdomLIOSAMConfigPath()

static std::string rtabmap::Parameters::typeOdomLIOSAMConfigPath ( )

inlinestatic

Type of parameter OdomLIOSAM/ConfigPath , as a string: string.

Definition at line 723 of file Parameters.h.

kOdomLIOSAMSensor()

static std::string rtabmap::Parameters::kOdomLIOSAMSensor ( )

inlinestatic

Key of parameter OdomLIOSAM/Sensor : "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox" Default value: 0 ( int ).

Definition at line 724 of file Parameters.h.

defaultOdomLIOSAMSensor()

static int rtabmap::Parameters::defaultOdomLIOSAMSensor ( )

inlinestatic

Default value of parameter OdomLIOSAM/Sensor : 0 .

Definition at line 724 of file Parameters.h.

typeOdomLIOSAMSensor()

static std::string rtabmap::Parameters::typeOdomLIOSAMSensor ( )

inlinestatic

Type of parameter OdomLIOSAM/Sensor , as a string: int .

Definition at line 724 of file Parameters.h.

kOdomLIOSAMNScan()

static std::string rtabmap::Parameters::kOdomLIOSAMNScan ( )

inlinestatic

Key of parameter OdomLIOSAM/NScan : "Number of LiDAR channels (16, 32, 64, 128)." Default value: 16 ( int ).

Definition at line 725 of file Parameters.h.

defaultOdomLIOSAMNScan()

static int rtabmap::Parameters::defaultOdomLIOSAMNScan ( )

inlinestatic

Default value of parameter OdomLIOSAM/NScan : 16 .

Definition at line 725 of file Parameters.h.

typeOdomLIOSAMNScan()

static std::string rtabmap::Parameters::typeOdomLIOSAMNScan ( )

inlinestatic

Type of parameter OdomLIOSAM/NScan , as a string: int .

Definition at line 725 of file Parameters.h.

kOdomLIOSAMHorizonScan()

static std::string rtabmap::Parameters::kOdomLIOSAMHorizonScan ( )

inlinestatic

Key of parameter OdomLIOSAM/HorizonScan : "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048)." Default value: 1800 ( int ).

Definition at line 726 of file Parameters.h.

defaultOdomLIOSAMHorizonScan()

static int rtabmap::Parameters::defaultOdomLIOSAMHorizonScan ( )

inlinestatic

Default value of parameter OdomLIOSAM/HorizonScan : 1800 .

Definition at line 726 of file Parameters.h.

typeOdomLIOSAMHorizonScan()

static std::string rtabmap::Parameters::typeOdomLIOSAMHorizonScan ( )

inlinestatic

Type of parameter OdomLIOSAM/HorizonScan , as a string: int .

Definition at line 726 of file Parameters.h.

kOdomLIOSAMImuAccNoise()

static std::string rtabmap::Parameters::kOdomLIOSAMImuAccNoise ( )

inlinestatic

Key of parameter OdomLIOSAM/ImuAccNoise : "IMU accelerometer white noise." Default value: 0.01 ( float ).

Definition at line 727 of file Parameters.h.

defaultOdomLIOSAMImuAccNoise()

static float rtabmap::Parameters::defaultOdomLIOSAMImuAccNoise ( )

inlinestatic

Default value of parameter OdomLIOSAM/ImuAccNoise : 0.01 .

Definition at line 727 of file Parameters.h.

typeOdomLIOSAMImuAccNoise()

static std::string rtabmap::Parameters::typeOdomLIOSAMImuAccNoise ( )

inlinestatic

Type of parameter OdomLIOSAM/ImuAccNoise , as a string: float .

Definition at line 727 of file Parameters.h.

kOdomLIOSAMImuGyrNoise()

static std::string rtabmap::Parameters::kOdomLIOSAMImuGyrNoise ( )

inlinestatic

Key of parameter OdomLIOSAM/ImuGyrNoise : "IMU gyroscope white noise." Default value: 0.001 ( float ).

Definition at line 728 of file Parameters.h.

defaultOdomLIOSAMImuGyrNoise()

static float rtabmap::Parameters::defaultOdomLIOSAMImuGyrNoise ( )

inlinestatic

Default value of parameter OdomLIOSAM/ImuGyrNoise : 0.001 .

Definition at line 728 of file Parameters.h.

typeOdomLIOSAMImuGyrNoise()

static std::string rtabmap::Parameters::typeOdomLIOSAMImuGyrNoise ( )

inlinestatic

Type of parameter OdomLIOSAM/ImuGyrNoise , as a string: float .

Definition at line 728 of file Parameters.h.

kOdomLIOSAMImuAccBiasN()

static std::string rtabmap::Parameters::kOdomLIOSAMImuAccBiasN ( )

inlinestatic

Key of parameter OdomLIOSAM/ImuAccBiasN : "IMU accelerometer bias noise." Default value: 0.0002 ( float ).

Definition at line 729 of file Parameters.h.

defaultOdomLIOSAMImuAccBiasN()

static float rtabmap::Parameters::defaultOdomLIOSAMImuAccBiasN ( )

inlinestatic

Default value of parameter OdomLIOSAM/ImuAccBiasN : 0.0002 .

Definition at line 729 of file Parameters.h.

typeOdomLIOSAMImuAccBiasN()

static std::string rtabmap::Parameters::typeOdomLIOSAMImuAccBiasN ( )

inlinestatic

Type of parameter OdomLIOSAM/ImuAccBiasN , as a string: float .

Definition at line 729 of file Parameters.h.

kOdomLIOSAMImuGyrBiasN()

static std::string rtabmap::Parameters::kOdomLIOSAMImuGyrBiasN ( )

inlinestatic

Key of parameter OdomLIOSAM/ImuGyrBiasN : "IMU gyroscope bias noise." Default value: 0.00003 ( float ).

Definition at line 730 of file Parameters.h.

defaultOdomLIOSAMImuGyrBiasN()

static float rtabmap::Parameters::defaultOdomLIOSAMImuGyrBiasN ( )

inlinestatic

Default value of parameter OdomLIOSAM/ImuGyrBiasN : 0.00003 .

Definition at line 730 of file Parameters.h.

typeOdomLIOSAMImuGyrBiasN()

static std::string rtabmap::Parameters::typeOdomLIOSAMImuGyrBiasN ( )

inlinestatic

Type of parameter OdomLIOSAM/ImuGyrBiasN , as a string: float .

Definition at line 730 of file Parameters.h.

kOdomLIOSAMImuGravity()

static std::string rtabmap::Parameters::kOdomLIOSAMImuGravity ( )

inlinestatic

Key of parameter OdomLIOSAM/ImuGravity : "Gravity magnitude." Default value: 9.80511 ( float ).

Definition at line 731 of file Parameters.h.

defaultOdomLIOSAMImuGravity()

static float rtabmap::Parameters::defaultOdomLIOSAMImuGravity ( )

inlinestatic

Default value of parameter OdomLIOSAM/ImuGravity : 9.80511 .

Definition at line 731 of file Parameters.h.

typeOdomLIOSAMImuGravity()

static std::string rtabmap::Parameters::typeOdomLIOSAMImuGravity ( )

inlinestatic

Type of parameter OdomLIOSAM/ImuGravity , as a string: float .

Definition at line 731 of file Parameters.h.

kOdomLIOSAMEdgeThreshold()

static std::string rtabmap::Parameters::kOdomLIOSAMEdgeThreshold ( )

inlinestatic

Key of parameter OdomLIOSAM/EdgeThreshold : "Edge feature curvature threshold." Default value: 1.0 ( float ).

Definition at line 732 of file Parameters.h.

defaultOdomLIOSAMEdgeThreshold()

static float rtabmap::Parameters::defaultOdomLIOSAMEdgeThreshold ( )

inlinestatic

Default value of parameter OdomLIOSAM/EdgeThreshold : 1.0 .

Definition at line 732 of file Parameters.h.

typeOdomLIOSAMEdgeThreshold()

static std::string rtabmap::Parameters::typeOdomLIOSAMEdgeThreshold ( )

inlinestatic

Type of parameter OdomLIOSAM/EdgeThreshold , as a string: float .

Definition at line 732 of file Parameters.h.

kOdomLIOSAMSurfThreshold()

static std::string rtabmap::Parameters::kOdomLIOSAMSurfThreshold ( )

inlinestatic

Key of parameter OdomLIOSAM/SurfThreshold : "Surface feature curvature threshold." Default value: 0.1 ( float ).

Definition at line 733 of file Parameters.h.

defaultOdomLIOSAMSurfThreshold()

static float rtabmap::Parameters::defaultOdomLIOSAMSurfThreshold ( )

inlinestatic

Default value of parameter OdomLIOSAM/SurfThreshold : 0.1 .

Definition at line 733 of file Parameters.h.

typeOdomLIOSAMSurfThreshold()

static std::string rtabmap::Parameters::typeOdomLIOSAMSurfThreshold ( )

inlinestatic

Type of parameter OdomLIOSAM/SurfThreshold , as a string: float .

Definition at line 733 of file Parameters.h.

kOdomLIOSAMLinVar()

static std::string rtabmap::Parameters::kOdomLIOSAMLinVar ( )

inlinestatic

Key of parameter OdomLIOSAM/LinVar : "Linear output variance." Default value: 0.01 ( float ).

Definition at line 734 of file Parameters.h.

defaultOdomLIOSAMLinVar()

static float rtabmap::Parameters::defaultOdomLIOSAMLinVar ( )

inlinestatic

Default value of parameter OdomLIOSAM/LinVar : 0.01 .

Definition at line 734 of file Parameters.h.

typeOdomLIOSAMLinVar()

static std::string rtabmap::Parameters::typeOdomLIOSAMLinVar ( )

inlinestatic

Type of parameter OdomLIOSAM/LinVar , as a string: float .

Definition at line 734 of file Parameters.h.

kOdomLIOSAMAngVar()

static std::string rtabmap::Parameters::kOdomLIOSAMAngVar ( )

inlinestatic

Key of parameter OdomLIOSAM/AngVar : "Angular output variance." Default value: 0.01 ( float ).

Definition at line 735 of file Parameters.h.

defaultOdomLIOSAMAngVar()

static float rtabmap::Parameters::defaultOdomLIOSAMAngVar ( )

inlinestatic

Default value of parameter OdomLIOSAM/AngVar : 0.01 .

Definition at line 735 of file Parameters.h.

typeOdomLIOSAMAngVar()

static std::string rtabmap::Parameters::typeOdomLIOSAMAngVar ( )

inlinestatic

Type of parameter OdomLIOSAM/AngVar , as a string: float .

Definition at line 735 of file Parameters.h.

kRegRepeatOnce()

static std::string rtabmap::Parameters::kRegRepeatOnce ( )

inlinestatic

Key of parameter Reg/RepeatOnce : "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches." Default value: true ( bool ).

Definition at line 738 of file Parameters.h.

defaultRegRepeatOnce()

static bool rtabmap::Parameters::defaultRegRepeatOnce ( )

inlinestatic

Default value of parameter Reg/RepeatOnce : true .

Definition at line 738 of file Parameters.h.

typeRegRepeatOnce()

static std::string rtabmap::Parameters::typeRegRepeatOnce ( )

inlinestatic

Type of parameter Reg/RepeatOnce , as a string: bool .

Definition at line 738 of file Parameters.h.

kRegStrategy()

static std::string rtabmap::Parameters::kRegStrategy ( )

inlinestatic

Key of parameter Reg/Strategy : "0=Vis, 1=Icp, 2=VisIcp" Default value: 0 ( int ).

Definition at line 739 of file Parameters.h.

defaultRegStrategy()

static int rtabmap::Parameters::defaultRegStrategy ( )

inlinestatic

Default value of parameter Reg/Strategy : 0 .

Definition at line 739 of file Parameters.h.

typeRegStrategy()

static std::string rtabmap::Parameters::typeRegStrategy ( )

inlinestatic

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

Definition at line 739 of file Parameters.h.

kRegForce3DoF()

static std::string rtabmap::Parameters::kRegForce3DoF ( )

inlinestatic

Key of parameter Reg/Force3DoF : "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0." Default value: false ( bool ).

Definition at line 740 of file Parameters.h.

defaultRegForce3DoF()

static bool rtabmap::Parameters::defaultRegForce3DoF ( )

inlinestatic

Default value of parameter Reg/Force3DoF : false .

Definition at line 740 of file Parameters.h.

typeRegForce3DoF()

static std::string rtabmap::Parameters::typeRegForce3DoF ( )

inlinestatic

Type of parameter Reg/Force3DoF , as a string: bool .

Definition at line 740 of file Parameters.h.

kVisEstimationType()

static std::string rtabmap::Parameters::kVisEstimationType ( )

inlinestatic

Key of parameter Vis/EstimationType : "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)" Default value: 1 ( int ).

Definition at line 743 of file Parameters.h.

defaultVisEstimationType()

static int rtabmap::Parameters::defaultVisEstimationType ( )

inlinestatic

Default value of parameter Vis/EstimationType : 1 .

Definition at line 743 of file Parameters.h.

typeVisEstimationType()

static std::string rtabmap::Parameters::typeVisEstimationType ( )

inlinestatic

Type of parameter Vis/EstimationType , as a string: int .

Definition at line 743 of file Parameters.h.

kVisInlierDistance()

static std::string rtabmap::Parameters::kVisInlierDistance ( )

inlinestatic

Key of parameter Vis/InlierDistance : uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

Definition at line 744 of file Parameters.h.

defaultVisInlierDistance()

static float rtabmap::Parameters::defaultVisInlierDistance ( )

inlinestatic

Default value of parameter Vis/InlierDistance : 0.1 .

Definition at line 744 of file Parameters.h.

typeVisInlierDistance()

static std::string rtabmap::Parameters::typeVisInlierDistance ( )

inlinestatic

Type of parameter Vis/InlierDistance , as a string: float .

Definition at line 744 of file Parameters.h.

kVisRefineIterations()

static std::string rtabmap::Parameters::kVisRefineIterations ( )

inlinestatic

Key of parameter Vis/RefineIterations : uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()) Default value: 5 ( int ).

Definition at line 745 of file Parameters.h.

defaultVisRefineIterations()

static int rtabmap::Parameters::defaultVisRefineIterations ( )

inlinestatic

Default value of parameter Vis/RefineIterations : 5 .

Definition at line 745 of file Parameters.h.

typeVisRefineIterations()

static std::string rtabmap::Parameters::typeVisRefineIterations ( )

inlinestatic

Type of parameter Vis/RefineIterations , as a string: int .

Definition at line 745 of file Parameters.h.

kVisPnPReprojError()

static std::string rtabmap::Parameters::kVisPnPReprojError ( )

inlinestatic

Key of parameter Vis/PnPReprojError : uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()) Default value: 2 ( float ).

Definition at line 746 of file Parameters.h.

defaultVisPnPReprojError()

static float rtabmap::Parameters::defaultVisPnPReprojError ( )

inlinestatic

Default value of parameter Vis/PnPReprojError : 2 .

Definition at line 746 of file Parameters.h.

typeVisPnPReprojError()

static std::string rtabmap::Parameters::typeVisPnPReprojError ( )

inlinestatic

Type of parameter Vis/PnPReprojError , as a string: float .

Definition at line 746 of file Parameters.h.

kVisPnPFlags()

static std::string rtabmap::Parameters::kVisPnPFlags ( )

inlinestatic

Key of parameter Vis/PnPFlags : uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()) Default value: 0 ( int ).

Definition at line 747 of file Parameters.h.

defaultVisPnPFlags()

static int rtabmap::Parameters::defaultVisPnPFlags ( )

inlinestatic

Default value of parameter Vis/PnPFlags : 0 .

Definition at line 747 of file Parameters.h.

typeVisPnPFlags()

static std::string rtabmap::Parameters::typeVisPnPFlags ( )

inlinestatic

Type of parameter Vis/PnPFlags , as a string: int .

Definition at line 747 of file Parameters.h.

kVisPnPRefineIterations()

static std::string rtabmap::Parameters::kVisPnPRefineIterations ( )

inlinestatic

Key of parameter Vis/PnPRefineIterations : uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()) Default value: 1 ( int ).

Definition at line 751 of file Parameters.h.

defaultVisPnPRefineIterations()

static int rtabmap::Parameters::defaultVisPnPRefineIterations ( )

inlinestatic

Default value of parameter Vis/PnPRefineIterations : 1 .

Definition at line 751 of file Parameters.h.

typeVisPnPRefineIterations()

static std::string rtabmap::Parameters::typeVisPnPRefineIterations ( )

inlinestatic

Type of parameter Vis/PnPRefineIterations , as a string: int .

Definition at line 751 of file Parameters.h.

kVisPnPVarianceMedianRatio()

static std::string rtabmap::Parameters::kVisPnPVarianceMedianRatio ( )

inlinestatic

Key of parameter Vis/PnPVarianceMedianRatio : uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()) Default value: 4 ( int ).

Definition at line 753 of file Parameters.h.

defaultVisPnPVarianceMedianRatio()

static int rtabmap::Parameters::defaultVisPnPVarianceMedianRatio ( )

inlinestatic

Default value of parameter Vis/PnPVarianceMedianRatio : 4 .

Definition at line 753 of file Parameters.h.

typeVisPnPVarianceMedianRatio()

static std::string rtabmap::Parameters::typeVisPnPVarianceMedianRatio ( )

inlinestatic

Type of parameter Vis/PnPVarianceMedianRatio , as a string: int .

Definition at line 753 of file Parameters.h.

kVisPnPMaxVariance()

static std::string rtabmap::Parameters::kVisPnPMaxVariance ( )

inlinestatic

Key of parameter Vis/PnPMaxVariance : uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()) Default value: 0.0 ( float ).

Definition at line 754 of file Parameters.h.

defaultVisPnPMaxVariance()

static float rtabmap::Parameters::defaultVisPnPMaxVariance ( )

inlinestatic

Default value of parameter Vis/PnPMaxVariance : 0.0 .

Definition at line 754 of file Parameters.h.

typeVisPnPMaxVariance()

static std::string rtabmap::Parameters::typeVisPnPMaxVariance ( )

inlinestatic

Type of parameter Vis/PnPMaxVariance , as a string: float .

Definition at line 754 of file Parameters.h.

kVisPnPSamplingPolicy()

static std::string rtabmap::Parameters::kVisPnPSamplingPolicy ( )

inlinestatic

Key of parameter Vis/PnPSamplingPolicy : uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str() Default value: 1 ( unsigned int ).

Definition at line 755 of file Parameters.h.

defaultVisPnPSamplingPolicy()

static unsigned int rtabmap::Parameters::defaultVisPnPSamplingPolicy ( )

inlinestatic

Default value of parameter Vis/PnPSamplingPolicy : 1 .

Definition at line 755 of file Parameters.h.

typeVisPnPSamplingPolicy()

static std::string rtabmap::Parameters::typeVisPnPSamplingPolicy ( )

inlinestatic

Type of parameter Vis/PnPSamplingPolicy , as a string: unsigned int .

Definition at line 755 of file Parameters.h.

kVisPnPSplitLinearCovComponents()

static std::string rtabmap::Parameters::kVisPnPSplitLinearCovComponents ( )

inlinestatic

Key of parameter Vis/PnPSplitLinearCovComponents : uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str() Default value: false ( bool ).

Definition at line 756 of file Parameters.h.

defaultVisPnPSplitLinearCovComponents()

static bool rtabmap::Parameters::defaultVisPnPSplitLinearCovComponents ( )

inlinestatic

Default value of parameter Vis/PnPSplitLinearCovComponents : false .

Definition at line 756 of file Parameters.h.

typeVisPnPSplitLinearCovComponents()

static std::string rtabmap::Parameters::typeVisPnPSplitLinearCovComponents ( )

inlinestatic

Type of parameter Vis/PnPSplitLinearCovComponents , as a string: bool .

Definition at line 756 of file Parameters.h.

kVisEpipolarGeometryVar()

static std::string rtabmap::Parameters::kVisEpipolarGeometryVar ( )

inlinestatic

Key of parameter Vis/EpipolarGeometryVar : uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()) Default value: 0.1 ( float ).

Definition at line 758 of file Parameters.h.

defaultVisEpipolarGeometryVar()

static float rtabmap::Parameters::defaultVisEpipolarGeometryVar ( )

inlinestatic

Default value of parameter Vis/EpipolarGeometryVar : 0.1 .

Definition at line 758 of file Parameters.h.

typeVisEpipolarGeometryVar()

static std::string rtabmap::Parameters::typeVisEpipolarGeometryVar ( )

inlinestatic

Type of parameter Vis/EpipolarGeometryVar , as a string: float .

Definition at line 758 of file Parameters.h.

kVisMinInliers()

static std::string rtabmap::Parameters::kVisMinInliers ( )

inlinestatic

Key of parameter Vis/MinInliers : "Minimum feature correspondences to compute/accept the transformation." Default value: 20 ( int ).

Definition at line 759 of file Parameters.h.

defaultVisMinInliers()

static int rtabmap::Parameters::defaultVisMinInliers ( )

inlinestatic

Default value of parameter Vis/MinInliers : 20 .

Definition at line 759 of file Parameters.h.

typeVisMinInliers()

static std::string rtabmap::Parameters::typeVisMinInliers ( )

inlinestatic

Type of parameter Vis/MinInliers , as a string: int .

Definition at line 759 of file Parameters.h.

kVisMeanInliersDistance()

static std::string rtabmap::Parameters::kVisMeanInliersDistance ( )

inlinestatic

Key of parameter Vis/MeanInliersDistance : "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled." Default value: 0.0 ( float ).

Definition at line 760 of file Parameters.h.

defaultVisMeanInliersDistance()

static float rtabmap::Parameters::defaultVisMeanInliersDistance ( )

inlinestatic

Default value of parameter Vis/MeanInliersDistance : 0.0 .

Definition at line 760 of file Parameters.h.

typeVisMeanInliersDistance()

static std::string rtabmap::Parameters::typeVisMeanInliersDistance ( )

inlinestatic

Type of parameter Vis/MeanInliersDistance , as a string: float .

Definition at line 760 of file Parameters.h.

kVisMinInliersDistribution()

static std::string rtabmap::Parameters::kVisMinInliersDistribution ( )

inlinestatic

Key of parameter Vis/MinInliersDistribution : "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled." Default value: 0.0 ( float ).

Definition at line 761 of file Parameters.h.

defaultVisMinInliersDistribution()

static float rtabmap::Parameters::defaultVisMinInliersDistribution ( )

inlinestatic

Default value of parameter Vis/MinInliersDistribution : 0.0 .

Definition at line 761 of file Parameters.h.

typeVisMinInliersDistribution()

static std::string rtabmap::Parameters::typeVisMinInliersDistribution ( )

inlinestatic

Type of parameter Vis/MinInliersDistribution , as a string: float .

Definition at line 761 of file Parameters.h.

kVisIterations()

static std::string rtabmap::Parameters::kVisIterations ( )

inlinestatic

Key of parameter Vis/Iterations : "Maximum iterations to compute the transform." Default value: 300 ( int ).

Definition at line 763 of file Parameters.h.

defaultVisIterations()

static int rtabmap::Parameters::defaultVisIterations ( )

inlinestatic

Default value of parameter Vis/Iterations : 300 .

Definition at line 763 of file Parameters.h.

typeVisIterations()

static std::string rtabmap::Parameters::typeVisIterations ( )

inlinestatic

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

Definition at line 763 of file Parameters.h.

kVisFeatureType()

static std::string rtabmap::Parameters::kVisFeatureType ( )

inlinestatic

Key of parameter Vis/FeatureType : "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat" Default value: 6 ( int ).

Definition at line 768 of file Parameters.h.

defaultVisFeatureType()

static int rtabmap::Parameters::defaultVisFeatureType ( )

inlinestatic

Default value of parameter Vis/FeatureType : 6 .

Definition at line 768 of file Parameters.h.

typeVisFeatureType()

static std::string rtabmap::Parameters::typeVisFeatureType ( )

inlinestatic

Type of parameter Vis/FeatureType , as a string: int .

Definition at line 768 of file Parameters.h.

kVisMaxFeatures()

static std::string rtabmap::Parameters::kVisMaxFeatures ( )

inlinestatic

Key of parameter Vis/MaxFeatures : "0 no limits." Default value: 1000 ( int ).

Definition at line 770 of file Parameters.h.

defaultVisMaxFeatures()

static int rtabmap::Parameters::defaultVisMaxFeatures ( )

inlinestatic

Default value of parameter Vis/MaxFeatures : 1000 .

Definition at line 770 of file Parameters.h.

typeVisMaxFeatures()

static std::string rtabmap::Parameters::typeVisMaxFeatures ( )

inlinestatic

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

Definition at line 770 of file Parameters.h.

kVisSSC()

static std::string rtabmap::Parameters::kVisSSC ( )

inlinestatic

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

Definition at line 771 of file Parameters.h.

defaultVisSSC()

static bool rtabmap::Parameters::defaultVisSSC ( )

inlinestatic

Default value of parameter Vis/SSC : false .

Definition at line 771 of file Parameters.h.

typeVisSSC()

static std::string rtabmap::Parameters::typeVisSSC ( )

inlinestatic

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

Definition at line 771 of file Parameters.h.

kVisMaxDepth()

static std::string rtabmap::Parameters::kVisMaxDepth ( )

inlinestatic

Key of parameter Vis/MaxDepth : "Max depth of the features (0 means no limit)." Default value: 0 ( float ).

Definition at line 772 of file Parameters.h.

defaultVisMaxDepth()

static float rtabmap::Parameters::defaultVisMaxDepth ( )

inlinestatic

Default value of parameter Vis/MaxDepth : 0 .

Definition at line 772 of file Parameters.h.

typeVisMaxDepth()

static std::string rtabmap::Parameters::typeVisMaxDepth ( )

inlinestatic

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

Definition at line 772 of file Parameters.h.

kVisMinDepth()

static std::string rtabmap::Parameters::kVisMinDepth ( )

inlinestatic

Key of parameter Vis/MinDepth : "Min depth of the features (0 means no limit)." Default value: 0 ( float ).

Definition at line 773 of file Parameters.h.

defaultVisMinDepth()

static float rtabmap::Parameters::defaultVisMinDepth ( )

inlinestatic

Default value of parameter Vis/MinDepth : 0 .

Definition at line 773 of file Parameters.h.

typeVisMinDepth()

static std::string rtabmap::Parameters::typeVisMinDepth ( )

inlinestatic

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

Definition at line 773 of file Parameters.h.

kVisDepthAsMask()

static std::string rtabmap::Parameters::kVisDepthAsMask ( )

inlinestatic

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

Definition at line 774 of file Parameters.h.

defaultVisDepthAsMask()

static bool rtabmap::Parameters::defaultVisDepthAsMask ( )

inlinestatic

Default value of parameter Vis/DepthAsMask : true .

Definition at line 774 of file Parameters.h.

typeVisDepthAsMask()

static std::string rtabmap::Parameters::typeVisDepthAsMask ( )

inlinestatic

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

Definition at line 774 of file Parameters.h.

kVisDepthMaskFloorThr()

static std::string rtabmap::Parameters::kVisDepthMaskFloorThr ( )

inlinestatic

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

Definition at line 775 of file Parameters.h.

defaultVisDepthMaskFloorThr()

static float rtabmap::Parameters::defaultVisDepthMaskFloorThr ( )

inlinestatic

Default value of parameter Vis/DepthMaskFloorThr : 0.0 .

Definition at line 775 of file Parameters.h.

typeVisDepthMaskFloorThr()

static std::string rtabmap::Parameters::typeVisDepthMaskFloorThr ( )

inlinestatic

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

Definition at line 775 of file Parameters.h.

kVisRoiRatios()

static std::string rtabmap::Parameters::kVisRoiRatios ( )

inlinestatic

Key of parameter Vis/RoiRatios : "Region of interest ratios [left, right, top, bottom]." Default value: "0.0 0.0 0.0 0.0" (string).

Definition at line 776 of file Parameters.h.

defaultVisRoiRatios()

static std::string rtabmap::Parameters::defaultVisRoiRatios ( )

inlinestatic

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

Definition at line 776 of file Parameters.h.

typeVisRoiRatios()

static std::string rtabmap::Parameters::typeVisRoiRatios ( )

inlinestatic

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

Definition at line 776 of file Parameters.h.

kVisSubPixWinSize()

static std::string rtabmap::Parameters::kVisSubPixWinSize ( )

inlinestatic

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

Definition at line 777 of file Parameters.h.

defaultVisSubPixWinSize()

static int rtabmap::Parameters::defaultVisSubPixWinSize ( )

inlinestatic

Default value of parameter Vis/SubPixWinSize : 3 .

Definition at line 777 of file Parameters.h.

typeVisSubPixWinSize()

static std::string rtabmap::Parameters::typeVisSubPixWinSize ( )

inlinestatic

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

Definition at line 777 of file Parameters.h.

kVisSubPixIterations()

static std::string rtabmap::Parameters::kVisSubPixIterations ( )

inlinestatic

Key of parameter Vis/SubPixIterations : "See cv::cornerSubPix(). 0 disables sub pixel refining." Default value: 0 ( int ).

Definition at line 778 of file Parameters.h.

defaultVisSubPixIterations()

static int rtabmap::Parameters::defaultVisSubPixIterations ( )

inlinestatic

Default value of parameter Vis/SubPixIterations : 0 .

Definition at line 778 of file Parameters.h.

typeVisSubPixIterations()

static std::string rtabmap::Parameters::typeVisSubPixIterations ( )

inlinestatic

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

Definition at line 778 of file Parameters.h.

kVisSubPixEps()

static std::string rtabmap::Parameters::kVisSubPixEps ( )

inlinestatic

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

Definition at line 779 of file Parameters.h.

defaultVisSubPixEps()

static float rtabmap::Parameters::defaultVisSubPixEps ( )

inlinestatic

Default value of parameter Vis/SubPixEps : 0.02 .

Definition at line 779 of file Parameters.h.

typeVisSubPixEps()

static std::string rtabmap::Parameters::typeVisSubPixEps ( )

inlinestatic

Type of parameter Vis/SubPixEps , as a string: float .

Definition at line 779 of file Parameters.h.

kVisGridRows()

static std::string rtabmap::Parameters::kVisGridRows ( )

inlinestatic

Key of parameter Vis/GridRows : uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

Definition at line 780 of file Parameters.h.

defaultVisGridRows()

static int rtabmap::Parameters::defaultVisGridRows ( )

inlinestatic

Default value of parameter Vis/GridRows : 1 .

Definition at line 780 of file Parameters.h.

typeVisGridRows()

static std::string rtabmap::Parameters::typeVisGridRows ( )

inlinestatic

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

Definition at line 780 of file Parameters.h.

kVisGridCols()

static std::string rtabmap::Parameters::kVisGridCols ( )

inlinestatic

Key of parameter Vis/GridCols : uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()) Default value: 1 ( int ).

Definition at line 781 of file Parameters.h.

defaultVisGridCols()

static int rtabmap::Parameters::defaultVisGridCols ( )

inlinestatic

Default value of parameter Vis/GridCols : 1 .

Definition at line 781 of file Parameters.h.

typeVisGridCols()

static std::string rtabmap::Parameters::typeVisGridCols ( )

inlinestatic

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

Definition at line 781 of file Parameters.h.

kVisCorType()

static std::string rtabmap::Parameters::kVisCorType ( )

inlinestatic

Key of parameter Vis/CorType : "Correspondences computation approach: 0=Features Matching, 1=Optical Flow" Default value: 0 ( int ).

Definition at line 782 of file Parameters.h.

defaultVisCorType()

static int rtabmap::Parameters::defaultVisCorType ( )

inlinestatic

Default value of parameter Vis/CorType : 0 .

Definition at line 782 of file Parameters.h.

typeVisCorType()

static std::string rtabmap::Parameters::typeVisCorType ( )

inlinestatic

Type of parameter Vis/CorType , as a string: int .

Definition at line 782 of file Parameters.h.

kVisCorNNType()

static std::string rtabmap::Parameters::kVisCorNNType ( )

inlinestatic

Key of parameter Vis/CorNNType : uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()) Default value: 1 ( int ).

Definition at line 783 of file Parameters.h.

defaultVisCorNNType()

static int rtabmap::Parameters::defaultVisCorNNType ( )

inlinestatic

Default value of parameter Vis/CorNNType : 1 .

Definition at line 783 of file Parameters.h.

typeVisCorNNType()

static std::string rtabmap::Parameters::typeVisCorNNType ( )

inlinestatic

Type of parameter Vis/CorNNType , as a string: int .

Definition at line 783 of file Parameters.h.

kVisCorNNDR()

static std::string rtabmap::Parameters::kVisCorNNDR ( )

inlinestatic

Key of parameter Vis/CorNNDR : uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()) Default value: 0.8 ( float ).

Definition at line 784 of file Parameters.h.

defaultVisCorNNDR()

static float rtabmap::Parameters::defaultVisCorNNDR ( )

inlinestatic

Default value of parameter Vis/CorNNDR : 0.8 .

Definition at line 784 of file Parameters.h.

typeVisCorNNDR()

static std::string rtabmap::Parameters::typeVisCorNNDR ( )

inlinestatic

Type of parameter Vis/CorNNDR , as a string: float .

Definition at line 784 of file Parameters.h.

kVisCorGuessWinSize()

static std::string rtabmap::Parameters::kVisCorGuessWinSize ( )

inlinestatic

Key of parameter Vis/CorGuessWinSize : uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()) Default value: 40 ( int ).

Definition at line 785 of file Parameters.h.

defaultVisCorGuessWinSize()

static int rtabmap::Parameters::defaultVisCorGuessWinSize ( )

inlinestatic

Default value of parameter Vis/CorGuessWinSize : 40 .

Definition at line 785 of file Parameters.h.

typeVisCorGuessWinSize()

static std::string rtabmap::Parameters::typeVisCorGuessWinSize ( )

inlinestatic

Type of parameter Vis/CorGuessWinSize , as a string: int .

Definition at line 785 of file Parameters.h.

kVisCorGuessMatchToProjection()

static std::string rtabmap::Parameters::kVisCorGuessMatchToProjection ( )

inlinestatic

Key of parameter Vis/CorGuessMatchToProjection : uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()) Default value: false ( bool ).

Definition at line 786 of file Parameters.h.

defaultVisCorGuessMatchToProjection()

static bool rtabmap::Parameters::defaultVisCorGuessMatchToProjection ( )

inlinestatic

Default value of parameter Vis/CorGuessMatchToProjection : false .

Definition at line 786 of file Parameters.h.

typeVisCorGuessMatchToProjection()

static std::string rtabmap::Parameters::typeVisCorGuessMatchToProjection ( )

inlinestatic

Type of parameter Vis/CorGuessMatchToProjection , as a string: bool .

Definition at line 786 of file Parameters.h.

kVisCorFlowWinSize()

static std::string rtabmap::Parameters::kVisCorFlowWinSize ( )

inlinestatic

Key of parameter Vis/CorFlowWinSize : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 16 ( int ).

Definition at line 787 of file Parameters.h.

defaultVisCorFlowWinSize()

static int rtabmap::Parameters::defaultVisCorFlowWinSize ( )

inlinestatic

Default value of parameter Vis/CorFlowWinSize : 16 .

Definition at line 787 of file Parameters.h.

typeVisCorFlowWinSize()

static std::string rtabmap::Parameters::typeVisCorFlowWinSize ( )

inlinestatic

Type of parameter Vis/CorFlowWinSize , as a string: int .

Definition at line 787 of file Parameters.h.

kVisCorFlowIterations()

static std::string rtabmap::Parameters::kVisCorFlowIterations ( )

inlinestatic

Key of parameter Vis/CorFlowIterations : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 30 ( int ).

Definition at line 788 of file Parameters.h.

defaultVisCorFlowIterations()

static int rtabmap::Parameters::defaultVisCorFlowIterations ( )

inlinestatic

Default value of parameter Vis/CorFlowIterations : 30 .

Definition at line 788 of file Parameters.h.

typeVisCorFlowIterations()

static std::string rtabmap::Parameters::typeVisCorFlowIterations ( )

inlinestatic

Type of parameter Vis/CorFlowIterations , as a string: int .

Definition at line 788 of file Parameters.h.

kVisCorFlowEps()

static std::string rtabmap::Parameters::kVisCorFlowEps ( )

inlinestatic

Key of parameter Vis/CorFlowEps : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 0.01 ( float ).

Definition at line 789 of file Parameters.h.

defaultVisCorFlowEps()

static float rtabmap::Parameters::defaultVisCorFlowEps ( )

inlinestatic

Default value of parameter Vis/CorFlowEps : 0.01 .

Definition at line 789 of file Parameters.h.

typeVisCorFlowEps()

static std::string rtabmap::Parameters::typeVisCorFlowEps ( )

inlinestatic

Type of parameter Vis/CorFlowEps , as a string: float .

Definition at line 789 of file Parameters.h.

kVisCorFlowMaxLevel()

static std::string rtabmap::Parameters::kVisCorFlowMaxLevel ( )

inlinestatic

Key of parameter Vis/CorFlowMaxLevel : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()) Default value: 3 ( int ).

Definition at line 790 of file Parameters.h.

defaultVisCorFlowMaxLevel()

static int rtabmap::Parameters::defaultVisCorFlowMaxLevel ( )

inlinestatic

Default value of parameter Vis/CorFlowMaxLevel : 3 .

Definition at line 790 of file Parameters.h.

typeVisCorFlowMaxLevel()

static std::string rtabmap::Parameters::typeVisCorFlowMaxLevel ( )

inlinestatic

Type of parameter Vis/CorFlowMaxLevel , as a string: int .

Definition at line 790 of file Parameters.h.

kVisCorFlowUseMinEigenVals()

static std::string rtabmap::Parameters::kVisCorFlowUseMinEigenVals ( )

inlinestatic

Key of parameter Vis/CorFlowUseMinEigenVals : uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()) Default value: true ( bool ).

Definition at line 791 of file Parameters.h.

defaultVisCorFlowUseMinEigenVals()

static bool rtabmap::Parameters::defaultVisCorFlowUseMinEigenVals ( )

inlinestatic

Default value of parameter Vis/CorFlowUseMinEigenVals : true .

Definition at line 791 of file Parameters.h.

typeVisCorFlowUseMinEigenVals()

static std::string rtabmap::Parameters::typeVisCorFlowUseMinEigenVals ( )

inlinestatic

Type of parameter Vis/CorFlowUseMinEigenVals , as a string: bool .

Definition at line 791 of file Parameters.h.

kVisCorFlowMinEigThreshold()

static std::string rtabmap::Parameters::kVisCorFlowMinEigThreshold ( )

inlinestatic

Key of parameter Vis/CorFlowMinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 1e-4 ( float ).

Definition at line 792 of file Parameters.h.

defaultVisCorFlowMinEigThreshold()

static float rtabmap::Parameters::defaultVisCorFlowMinEigThreshold ( )

inlinestatic

Default value of parameter Vis/CorFlowMinEigThreshold : 1e-4 .

Definition at line 792 of file Parameters.h.

typeVisCorFlowMinEigThreshold()

static std::string rtabmap::Parameters::typeVisCorFlowMinEigThreshold ( )

inlinestatic

Type of parameter Vis/CorFlowMinEigThreshold , as a string: float .

Definition at line 792 of file Parameters.h.

kVisCorFlowErrorThreshold()

static std::string rtabmap::Parameters::kVisCorFlowErrorThreshold ( )

inlinestatic

Key of parameter Vis/CorFlowErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()) Default value: 20 ( float ).

Definition at line 793 of file Parameters.h.

defaultVisCorFlowErrorThreshold()

static float rtabmap::Parameters::defaultVisCorFlowErrorThreshold ( )

inlinestatic

Default value of parameter Vis/CorFlowErrorThreshold : 20 .

Definition at line 793 of file Parameters.h.

typeVisCorFlowErrorThreshold()

static std::string rtabmap::Parameters::typeVisCorFlowErrorThreshold ( )

inlinestatic

Type of parameter Vis/CorFlowErrorThreshold , as a string: float .

Definition at line 793 of file Parameters.h.

kVisCorFlowGpu()

static std::string rtabmap::Parameters::kVisCorFlowGpu ( )

inlinestatic

Key of parameter Vis/CorFlowGpu : uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()) Default value: false ( bool ).

Definition at line 794 of file Parameters.h.

defaultVisCorFlowGpu()

static bool rtabmap::Parameters::defaultVisCorFlowGpu ( )

inlinestatic

Default value of parameter Vis/CorFlowGpu : false .

Definition at line 794 of file Parameters.h.

typeVisCorFlowGpu()

static std::string rtabmap::Parameters::typeVisCorFlowGpu ( )

inlinestatic

Type of parameter Vis/CorFlowGpu , as a string: bool .

Definition at line 794 of file Parameters.h.

kVisBundleAdjustment()

static std::string rtabmap::Parameters::kVisBundleAdjustment ( )

inlinestatic

Key of parameter Vis/BundleAdjustment : uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()) Default value: 0 ( int ).

Definition at line 798 of file Parameters.h.

defaultVisBundleAdjustment()

static int rtabmap::Parameters::defaultVisBundleAdjustment ( )

inlinestatic

Default value of parameter Vis/BundleAdjustment : 0 .

Definition at line 798 of file Parameters.h.

typeVisBundleAdjustment()

static std::string rtabmap::Parameters::typeVisBundleAdjustment ( )

inlinestatic

Type of parameter Vis/BundleAdjustment , as a string: int .

Definition at line 798 of file Parameters.h.

kPyMatcherPath()

static std::string rtabmap::Parameters::kPyMatcherPath ( )

inlinestatic

Key of parameter PyMatcher/Path : "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied." Default value: "" (string).

Definition at line 802 of file Parameters.h.

defaultPyMatcherPath()

static std::string rtabmap::Parameters::defaultPyMatcherPath ( )

inlinestatic

Default value of parameter PyMatcher/Path : "" .

Definition at line 802 of file Parameters.h.

typePyMatcherPath()

static std::string rtabmap::Parameters::typePyMatcherPath ( )

inlinestatic

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

Definition at line 802 of file Parameters.h.

kPyMatcherIterations()

static std::string rtabmap::Parameters::kPyMatcherIterations ( )

inlinestatic

Key of parameter PyMatcher/Iterations : "Sinkhorn iterations. Used by SuperGlue." Default value: 20 ( int ).

Definition at line 803 of file Parameters.h.

defaultPyMatcherIterations()

static int rtabmap::Parameters::defaultPyMatcherIterations ( )

inlinestatic

Default value of parameter PyMatcher/Iterations : 20 .

Definition at line 803 of file Parameters.h.

typePyMatcherIterations()

static std::string rtabmap::Parameters::typePyMatcherIterations ( )

inlinestatic

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

Definition at line 803 of file Parameters.h.

kPyMatcherThreshold()

static std::string rtabmap::Parameters::kPyMatcherThreshold ( )

inlinestatic

Key of parameter PyMatcher/Threshold : "Used by SuperGlue." Default value: 0.2 ( float ).

Definition at line 804 of file Parameters.h.

defaultPyMatcherThreshold()

static float rtabmap::Parameters::defaultPyMatcherThreshold ( )

inlinestatic

Default value of parameter PyMatcher/Threshold : 0.2 .

Definition at line 804 of file Parameters.h.

typePyMatcherThreshold()

static std::string rtabmap::Parameters::typePyMatcherThreshold ( )

inlinestatic

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

Definition at line 804 of file Parameters.h.

kPyMatcherCuda()

static std::string rtabmap::Parameters::kPyMatcherCuda ( )

inlinestatic

Key of parameter PyMatcher/Cuda : "Used by SuperGlue." Default value: true ( bool ).

Definition at line 805 of file Parameters.h.

defaultPyMatcherCuda()

static bool rtabmap::Parameters::defaultPyMatcherCuda ( )

inlinestatic

Default value of parameter PyMatcher/Cuda : true .

Definition at line 805 of file Parameters.h.

typePyMatcherCuda()

static std::string rtabmap::Parameters::typePyMatcherCuda ( )

inlinestatic

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

Definition at line 805 of file Parameters.h.

kPyMatcherModel()

static std::string rtabmap::Parameters::kPyMatcherModel ( )

inlinestatic

Key of parameter PyMatcher/Model : "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\")." Default value: "indoor" (string).

Definition at line 806 of file Parameters.h.

defaultPyMatcherModel()

static std::string rtabmap::Parameters::defaultPyMatcherModel ( )

inlinestatic

Default value of parameter PyMatcher/Model : "indoor" .

Definition at line 806 of file Parameters.h.

typePyMatcherModel()

static std::string rtabmap::Parameters::typePyMatcherModel ( )

inlinestatic

Type of parameter PyMatcher/Model , as a string: string.

Definition at line 806 of file Parameters.h.

kGMSWithRotation()

static std::string rtabmap::Parameters::kGMSWithRotation ( )

inlinestatic

Key of parameter GMS/WithRotation : "Take rotation transformation into account." Default value: false ( bool ).

Definition at line 808 of file Parameters.h.

defaultGMSWithRotation()

static bool rtabmap::Parameters::defaultGMSWithRotation ( )

inlinestatic

Default value of parameter GMS/WithRotation : false .

Definition at line 808 of file Parameters.h.

typeGMSWithRotation()

static std::string rtabmap::Parameters::typeGMSWithRotation ( )

inlinestatic

Type of parameter GMS/WithRotation , as a string: bool .

Definition at line 808 of file Parameters.h.

kGMSWithScale()

static std::string rtabmap::Parameters::kGMSWithScale ( )

inlinestatic

Key of parameter GMS/WithScale : "Take scale transformation into account." Default value: false ( bool ).

Definition at line 809 of file Parameters.h.

defaultGMSWithScale()

static bool rtabmap::Parameters::defaultGMSWithScale ( )

inlinestatic

Default value of parameter GMS/WithScale : false .

Definition at line 809 of file Parameters.h.

typeGMSWithScale()

static std::string rtabmap::Parameters::typeGMSWithScale ( )

inlinestatic

Type of parameter GMS/WithScale , as a string: bool .

Definition at line 809 of file Parameters.h.

kGMSThresholdFactor()

static std::string rtabmap::Parameters::kGMSThresholdFactor ( )

inlinestatic

Key of parameter GMS/ThresholdFactor : "The higher, the less matches." Default value: 6.0 ( double ).

Definition at line 810 of file Parameters.h.

defaultGMSThresholdFactor()

static double rtabmap::Parameters::defaultGMSThresholdFactor ( )

inlinestatic

Default value of parameter GMS/ThresholdFactor : 6.0 .

Definition at line 810 of file Parameters.h.

typeGMSThresholdFactor()

static std::string rtabmap::Parameters::typeGMSThresholdFactor ( )

inlinestatic

Type of parameter GMS/ThresholdFactor , as a string: double .

Definition at line 810 of file Parameters.h.

kPyDescriptorPath()

static std::string rtabmap::Parameters::kPyDescriptorPath ( )

inlinestatic

Key of parameter PyDescriptor/Path : "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used." Default value: "" (string).

Definition at line 813 of file Parameters.h.

defaultPyDescriptorPath()

static std::string rtabmap::Parameters::defaultPyDescriptorPath ( )

inlinestatic

Default value of parameter PyDescriptor/Path : "" .

Definition at line 813 of file Parameters.h.

typePyDescriptorPath()

static std::string rtabmap::Parameters::typePyDescriptorPath ( )

inlinestatic

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

Definition at line 813 of file Parameters.h.

kPyDescriptorDim()

static std::string rtabmap::Parameters::kPyDescriptorDim ( )

inlinestatic

Key of parameter PyDescriptor/Dim : "Descriptor dimension." Default value: 4096 ( int ).

Definition at line 814 of file Parameters.h.

defaultPyDescriptorDim()

static int rtabmap::Parameters::defaultPyDescriptorDim ( )

inlinestatic

Default value of parameter PyDescriptor/Dim : 4096 .

Definition at line 814 of file Parameters.h.

typePyDescriptorDim()

static std::string rtabmap::Parameters::typePyDescriptorDim ( )

inlinestatic

Type of parameter PyDescriptor/Dim , as a string: int .

Definition at line 814 of file Parameters.h.

kIcpStrategy()

static std::string rtabmap::Parameters::kIcpStrategy ( )

inlinestatic

Key of parameter Icp/Strategy : "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare)." Default value: 0 ( int ).

Definition at line 820 of file Parameters.h.

defaultIcpStrategy()

static int rtabmap::Parameters::defaultIcpStrategy ( )

inlinestatic

Default value of parameter Icp/Strategy : 0 .

Definition at line 820 of file Parameters.h.

typeIcpStrategy()

static std::string rtabmap::Parameters::typeIcpStrategy ( )

inlinestatic

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

Definition at line 820 of file Parameters.h.

kIcpMaxTranslation()

static std::string rtabmap::Parameters::kIcpMaxTranslation ( )

inlinestatic

Key of parameter Icp/MaxTranslation : "Maximum ICP translation correction accepted (m)." Default value: 0.2 ( float ).

Definition at line 822 of file Parameters.h.

defaultIcpMaxTranslation()

static float rtabmap::Parameters::defaultIcpMaxTranslation ( )

inlinestatic

Default value of parameter Icp/MaxTranslation : 0.2 .

Definition at line 822 of file Parameters.h.

typeIcpMaxTranslation()

static std::string rtabmap::Parameters::typeIcpMaxTranslation ( )

inlinestatic

Type of parameter Icp/MaxTranslation , as a string: float .

Definition at line 822 of file Parameters.h.

kIcpMaxRotation()

static std::string rtabmap::Parameters::kIcpMaxRotation ( )

inlinestatic

Key of parameter Icp/MaxRotation : "Maximum ICP rotation correction accepted (rad)." Default value: 0.78 ( float ).

Definition at line 823 of file Parameters.h.

defaultIcpMaxRotation()

static float rtabmap::Parameters::defaultIcpMaxRotation ( )

inlinestatic

Default value of parameter Icp/MaxRotation : 0.78 .

Definition at line 823 of file Parameters.h.

typeIcpMaxRotation()

static std::string rtabmap::Parameters::typeIcpMaxRotation ( )

inlinestatic

Type of parameter Icp/MaxRotation , as a string: float .

Definition at line 823 of file Parameters.h.

kIcpVoxelSize()

static std::string rtabmap::Parameters::kIcpVoxelSize ( )

inlinestatic

Key of parameter Icp/VoxelSize : "Uniform sampling voxel size (0=disabled)." Default value: 0.05 ( float ).

Definition at line 824 of file Parameters.h.

defaultIcpVoxelSize()

static float rtabmap::Parameters::defaultIcpVoxelSize ( )

inlinestatic

Default value of parameter Icp/VoxelSize : 0.05 .

Definition at line 824 of file Parameters.h.

typeIcpVoxelSize()

static std::string rtabmap::Parameters::typeIcpVoxelSize ( )

inlinestatic

Type of parameter Icp/VoxelSize , as a string: float .

Definition at line 824 of file Parameters.h.

kIcpDownsamplingStep()

static std::string rtabmap::Parameters::kIcpDownsamplingStep ( )

inlinestatic

Key of parameter Icp/DownsamplingStep : "Downsampling step size (1=no sampling). This is done before uniform sampling." Default value: 1 ( int ).

Definition at line 825 of file Parameters.h.

defaultIcpDownsamplingStep()

static int rtabmap::Parameters::defaultIcpDownsamplingStep ( )

inlinestatic

Default value of parameter Icp/DownsamplingStep : 1 .

Definition at line 825 of file Parameters.h.

typeIcpDownsamplingStep()

static std::string rtabmap::Parameters::typeIcpDownsamplingStep ( )

inlinestatic

Type of parameter Icp/DownsamplingStep , as a string: int .

Definition at line 825 of file Parameters.h.

kIcpRangeMin()

static std::string rtabmap::Parameters::kIcpRangeMin ( )

inlinestatic

Key of parameter Icp/RangeMin : "Minimum range filtering (0=disabled)." Default value: 0 ( float ).

Definition at line 826 of file Parameters.h.

defaultIcpRangeMin()

static float rtabmap::Parameters::defaultIcpRangeMin ( )

inlinestatic

Default value of parameter Icp/RangeMin : 0 .

Definition at line 826 of file Parameters.h.

typeIcpRangeMin()

static std::string rtabmap::Parameters::typeIcpRangeMin ( )

inlinestatic

Type of parameter Icp/RangeMin , as a string: float .

Definition at line 826 of file Parameters.h.

kIcpRangeMax()

static std::string rtabmap::Parameters::kIcpRangeMax ( )

inlinestatic

Key of parameter Icp/RangeMax : "Maximum range filtering (0=disabled)." Default value: 0 ( float ).

Definition at line 827 of file Parameters.h.

defaultIcpRangeMax()

static float rtabmap::Parameters::defaultIcpRangeMax ( )

inlinestatic

Default value of parameter Icp/RangeMax : 0 .

Definition at line 827 of file Parameters.h.

typeIcpRangeMax()

static std::string rtabmap::Parameters::typeIcpRangeMax ( )

inlinestatic

Type of parameter Icp/RangeMax , as a string: float .

Definition at line 827 of file Parameters.h.

kIcpMaxCorrespondenceDistance()

static std::string rtabmap::Parameters::kIcpMaxCorrespondenceDistance ( )

inlinestatic

Key of parameter Icp/MaxCorrespondenceDistance : "Max distance for point correspondences." Default value: 0.05 ( float ).

Definition at line 831 of file Parameters.h.

defaultIcpMaxCorrespondenceDistance()

static float rtabmap::Parameters::defaultIcpMaxCorrespondenceDistance ( )

inlinestatic

Default value of parameter Icp/MaxCorrespondenceDistance : 0.05 .

Definition at line 831 of file Parameters.h.

typeIcpMaxCorrespondenceDistance()

static std::string rtabmap::Parameters::typeIcpMaxCorrespondenceDistance ( )

inlinestatic

Type of parameter Icp/MaxCorrespondenceDistance , as a string: float .

Definition at line 831 of file Parameters.h.

kIcpReciprocalCorrespondences()

static std::string rtabmap::Parameters::kIcpReciprocalCorrespondences ( )

inlinestatic

Key of parameter Icp/ReciprocalCorrespondences : "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence." Default value: true ( bool ).

Definition at line 833 of file Parameters.h.

defaultIcpReciprocalCorrespondences()

static bool rtabmap::Parameters::defaultIcpReciprocalCorrespondences ( )

inlinestatic

Default value of parameter Icp/ReciprocalCorrespondences : true .

Definition at line 833 of file Parameters.h.

typeIcpReciprocalCorrespondences()

static std::string rtabmap::Parameters::typeIcpReciprocalCorrespondences ( )

inlinestatic

Type of parameter Icp/ReciprocalCorrespondences , as a string: bool .

Definition at line 833 of file Parameters.h.

kIcpIterations()

static std::string rtabmap::Parameters::kIcpIterations ( )

inlinestatic

Key of parameter Icp/Iterations : "Max iterations." Default value: 30 ( int ).

Definition at line 834 of file Parameters.h.

defaultIcpIterations()

static int rtabmap::Parameters::defaultIcpIterations ( )

inlinestatic

Default value of parameter Icp/Iterations : 30 .

Definition at line 834 of file Parameters.h.

typeIcpIterations()

static std::string rtabmap::Parameters::typeIcpIterations ( )

inlinestatic

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

Definition at line 834 of file Parameters.h.

kIcpEpsilon()

static std::string rtabmap::Parameters::kIcpEpsilon ( )

inlinestatic

Key of parameter Icp/Epsilon : "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution." Default value: 0 ( float ).

Definition at line 835 of file Parameters.h.

defaultIcpEpsilon()

static float rtabmap::Parameters::defaultIcpEpsilon ( )

inlinestatic

Default value of parameter Icp/Epsilon : 0 .

Definition at line 835 of file Parameters.h.

typeIcpEpsilon()

static std::string rtabmap::Parameters::typeIcpEpsilon ( )

inlinestatic

Type of parameter Icp/Epsilon , as a string: float .

Definition at line 835 of file Parameters.h.

kIcpCorrespondenceRatio()

static std::string rtabmap::Parameters::kIcpCorrespondenceRatio ( )

inlinestatic

Key of parameter Icp/CorrespondenceRatio : "Ratio of matching correspondences to accept the transform." Default value: 0.1 ( float ).

Definition at line 836 of file Parameters.h.

defaultIcpCorrespondenceRatio()

static float rtabmap::Parameters::defaultIcpCorrespondenceRatio ( )

inlinestatic

Default value of parameter Icp/CorrespondenceRatio : 0.1 .

Definition at line 836 of file Parameters.h.

typeIcpCorrespondenceRatio()

static std::string rtabmap::Parameters::typeIcpCorrespondenceRatio ( )

inlinestatic

Type of parameter Icp/CorrespondenceRatio , as a string: float .

Definition at line 836 of file Parameters.h.

kIcpForce4DoF()

static std::string rtabmap::Parameters::kIcpForce4DoF ( )

inlinestatic

Key of parameter Icp/Force4DoF : uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()) Default value: false ( bool ).

Definition at line 837 of file Parameters.h.

defaultIcpForce4DoF()

static bool rtabmap::Parameters::defaultIcpForce4DoF ( )

inlinestatic

Default value of parameter Icp/Force4DoF : false .

Definition at line 837 of file Parameters.h.

typeIcpForce4DoF()

static std::string rtabmap::Parameters::typeIcpForce4DoF ( )

inlinestatic

Type of parameter Icp/Force4DoF , as a string: bool .

Definition at line 837 of file Parameters.h.

kIcpFiltersEnabled()

static std::string rtabmap::Parameters::kIcpFiltersEnabled ( )

inlinestatic

Key of parameter Icp/FiltersEnabled : "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both." Default value: 3 ( int ).

Definition at line 838 of file Parameters.h.

defaultIcpFiltersEnabled()

static int rtabmap::Parameters::defaultIcpFiltersEnabled ( )

inlinestatic

Default value of parameter Icp/FiltersEnabled : 3 .

Definition at line 838 of file Parameters.h.

typeIcpFiltersEnabled()

static std::string rtabmap::Parameters::typeIcpFiltersEnabled ( )

inlinestatic

Type of parameter Icp/FiltersEnabled , as a string: int .

Definition at line 838 of file Parameters.h.

kIcpPointToPlane()

static std::string rtabmap::Parameters::kIcpPointToPlane ( )

inlinestatic

Key of parameter Icp/PointToPlane : "Use point to plane ICP." Default value: false ( bool ).

Definition at line 842 of file Parameters.h.

defaultIcpPointToPlane()

static bool rtabmap::Parameters::defaultIcpPointToPlane ( )

inlinestatic

Default value of parameter Icp/PointToPlane : false .

Definition at line 842 of file Parameters.h.

typeIcpPointToPlane()

static std::string rtabmap::Parameters::typeIcpPointToPlane ( )

inlinestatic

Type of parameter Icp/PointToPlane , as a string: bool .

Definition at line 842 of file Parameters.h.

kIcpPointToPlaneK()

static std::string rtabmap::Parameters::kIcpPointToPlaneK ( )

inlinestatic

Key of parameter Icp/PointToPlaneK : "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals." Default value: 5 ( int ).

Definition at line 844 of file Parameters.h.

defaultIcpPointToPlaneK()

static int rtabmap::Parameters::defaultIcpPointToPlaneK ( )

inlinestatic

Default value of parameter Icp/PointToPlaneK : 5 .

Definition at line 844 of file Parameters.h.

typeIcpPointToPlaneK()

static std::string rtabmap::Parameters::typeIcpPointToPlaneK ( )

inlinestatic

Type of parameter Icp/PointToPlaneK , as a string: int .

Definition at line 844 of file Parameters.h.

kIcpPointToPlaneRadius()

static std::string rtabmap::Parameters::kIcpPointToPlaneRadius ( )

inlinestatic

Key of parameter Icp/PointToPlaneRadius : "Search radius to compute normals for point to plane if the cloud doesn't have already normals." Default value: 0.0 ( float ).

Definition at line 845 of file Parameters.h.

defaultIcpPointToPlaneRadius()

static float rtabmap::Parameters::defaultIcpPointToPlaneRadius ( )

inlinestatic

Default value of parameter Icp/PointToPlaneRadius : 0.0 .

Definition at line 845 of file Parameters.h.

typeIcpPointToPlaneRadius()

static std::string rtabmap::Parameters::typeIcpPointToPlaneRadius ( )

inlinestatic

Type of parameter Icp/PointToPlaneRadius , as a string: float .

Definition at line 845 of file Parameters.h.

kIcpPointToPlaneGroundNormalsUp()

static std::string rtabmap::Parameters::kIcpPointToPlaneGroundNormalsUp ( )

inlinestatic

Key of parameter Icp/PointToPlaneGroundNormalsUp : "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans." Default value: 0.0 ( float ).

Definition at line 846 of file Parameters.h.

defaultIcpPointToPlaneGroundNormalsUp()

static float rtabmap::Parameters::defaultIcpPointToPlaneGroundNormalsUp ( )

inlinestatic

Default value of parameter Icp/PointToPlaneGroundNormalsUp : 0.0 .

Definition at line 846 of file Parameters.h.

typeIcpPointToPlaneGroundNormalsUp()

static std::string rtabmap::Parameters::typeIcpPointToPlaneGroundNormalsUp ( )

inlinestatic

Type of parameter Icp/PointToPlaneGroundNormalsUp , as a string: float .

Definition at line 846 of file Parameters.h.

kIcpPointToPlaneMinComplexity()

static std::string rtabmap::Parameters::kIcpPointToPlaneMinComplexity ( )

inlinestatic

Key of parameter Icp/PointToPlaneMinComplexity : uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()) Default value: 0.02 ( float ).

Definition at line 847 of file Parameters.h.

defaultIcpPointToPlaneMinComplexity()

static float rtabmap::Parameters::defaultIcpPointToPlaneMinComplexity ( )

inlinestatic

Default value of parameter Icp/PointToPlaneMinComplexity : 0.02 .

Definition at line 847 of file Parameters.h.

typeIcpPointToPlaneMinComplexity()

static std::string rtabmap::Parameters::typeIcpPointToPlaneMinComplexity ( )

inlinestatic

Type of parameter Icp/PointToPlaneMinComplexity , as a string: float .

Definition at line 847 of file Parameters.h.

kIcpPointToPlaneComplexityCentered()

static std::string rtabmap::Parameters::kIcpPointToPlaneComplexityCentered ( )

inlinestatic

Key of parameter Icp/PointToPlaneComplexityCentered : uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()) Default value: false ( bool ).

Definition at line 848 of file Parameters.h.

defaultIcpPointToPlaneComplexityCentered()

static bool rtabmap::Parameters::defaultIcpPointToPlaneComplexityCentered ( )

inlinestatic

Default value of parameter Icp/PointToPlaneComplexityCentered : false .

Definition at line 848 of file Parameters.h.

typeIcpPointToPlaneComplexityCentered()

static std::string rtabmap::Parameters::typeIcpPointToPlaneComplexityCentered ( )

inlinestatic

Type of parameter Icp/PointToPlaneComplexityCentered , as a string: bool .

Definition at line 848 of file Parameters.h.

kIcpPointToPlaneLowComplexityStrategy()

static std::string rtabmap::Parameters::kIcpPointToPlaneLowComplexityStrategy ( )

inlinestatic

Key of parameter Icp/PointToPlaneLowComplexityStrategy : uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()) Default value: 1 ( int ).

Definition at line 849 of file Parameters.h.

defaultIcpPointToPlaneLowComplexityStrategy()

static int rtabmap::Parameters::defaultIcpPointToPlaneLowComplexityStrategy ( )

inlinestatic

Default value of parameter Icp/PointToPlaneLowComplexityStrategy : 1 .

Definition at line 849 of file Parameters.h.

typeIcpPointToPlaneLowComplexityStrategy()

static std::string rtabmap::Parameters::typeIcpPointToPlaneLowComplexityStrategy ( )

inlinestatic

Type of parameter Icp/PointToPlaneLowComplexityStrategy , as a string: int .

Definition at line 849 of file Parameters.h.

kIcpOutlierRatio()

static std::string rtabmap::Parameters::kIcpOutlierRatio ( )

inlinestatic

Key of parameter Icp/OutlierRatio : uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()) Default value: 0.85 ( float ).

Definition at line 850 of file Parameters.h.

defaultIcpOutlierRatio()

static float rtabmap::Parameters::defaultIcpOutlierRatio ( )

inlinestatic

Default value of parameter Icp/OutlierRatio : 0.85 .

Definition at line 850 of file Parameters.h.

typeIcpOutlierRatio()

static std::string rtabmap::Parameters::typeIcpOutlierRatio ( )

inlinestatic

Type of parameter Icp/OutlierRatio , as a string: float .

Definition at line 850 of file Parameters.h.

kIcpDebugExportFormat()

static std::string rtabmap::Parameters::kIcpDebugExportFormat ( )

inlinestatic

Key of parameter Icp/DebugExportFormat : "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten." Default value: "" (string).

Definition at line 851 of file Parameters.h.

defaultIcpDebugExportFormat()

static std::string rtabmap::Parameters::defaultIcpDebugExportFormat ( )

inlinestatic

Default value of parameter Icp/DebugExportFormat : "" .

Definition at line 851 of file Parameters.h.

typeIcpDebugExportFormat()

static std::string rtabmap::Parameters::typeIcpDebugExportFormat ( )

inlinestatic

Type of parameter Icp/DebugExportFormat , as a string: string.

Definition at line 851 of file Parameters.h.

kIcpPMConfig()

static std::string rtabmap::Parameters::kIcpPMConfig ( )

inlinestatic

Key of parameter Icp/PMConfig : uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str() Default value: "" (string).

Definition at line 854 of file Parameters.h.

defaultIcpPMConfig()

static std::string rtabmap::Parameters::defaultIcpPMConfig ( )

inlinestatic

Default value of parameter Icp/PMConfig : "" .

Definition at line 854 of file Parameters.h.

typeIcpPMConfig()

static std::string rtabmap::Parameters::typeIcpPMConfig ( )

inlinestatic

Type of parameter Icp/PMConfig , as a string: string.

Definition at line 854 of file Parameters.h.

kIcpPMMatcherKnn()

static std::string rtabmap::Parameters::kIcpPMMatcherKnn ( )

inlinestatic

Key of parameter Icp/PMMatcherKnn : "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set." Default value: 1 ( int ).

Definition at line 855 of file Parameters.h.

defaultIcpPMMatcherKnn()

static int rtabmap::Parameters::defaultIcpPMMatcherKnn ( )

inlinestatic

Default value of parameter Icp/PMMatcherKnn : 1 .

Definition at line 855 of file Parameters.h.

typeIcpPMMatcherKnn()

static std::string rtabmap::Parameters::typeIcpPMMatcherKnn ( )

inlinestatic

Type of parameter Icp/PMMatcherKnn , as a string: int .

Definition at line 855 of file Parameters.h.

kIcpPMMatcherEpsilon()

static std::string rtabmap::Parameters::kIcpPMMatcherEpsilon ( )

inlinestatic

Key of parameter Icp/PMMatcherEpsilon : "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set." Default value: 0.0 ( float ).

Definition at line 856 of file Parameters.h.

defaultIcpPMMatcherEpsilon()

static float rtabmap::Parameters::defaultIcpPMMatcherEpsilon ( )

inlinestatic

Default value of parameter Icp/PMMatcherEpsilon : 0.0 .

Definition at line 856 of file Parameters.h.

typeIcpPMMatcherEpsilon()

static std::string rtabmap::Parameters::typeIcpPMMatcherEpsilon ( )

inlinestatic

Type of parameter Icp/PMMatcherEpsilon , as a string: float .

Definition at line 856 of file Parameters.h.

kIcpPMMatcherIntensity()

static std::string rtabmap::Parameters::kIcpPMMatcherIntensity ( )

inlinestatic

Key of parameter Icp/PMMatcherIntensity : uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()) Default value: false ( bool ).

Definition at line 857 of file Parameters.h.

defaultIcpPMMatcherIntensity()

static bool rtabmap::Parameters::defaultIcpPMMatcherIntensity ( )

inlinestatic

Default value of parameter Icp/PMMatcherIntensity : false .

Definition at line 857 of file Parameters.h.

typeIcpPMMatcherIntensity()

static std::string rtabmap::Parameters::typeIcpPMMatcherIntensity ( )

inlinestatic

Type of parameter Icp/PMMatcherIntensity , as a string: bool .

Definition at line 857 of file Parameters.h.

kIcpCCSamplingLimit()

static std::string rtabmap::Parameters::kIcpCCSamplingLimit ( )

inlinestatic

Key of parameter Icp/CCSamplingLimit : "Maximum number of points per cloud (they are randomly resampled below this limit otherwise)." Default value: 50000 ( unsigned int ).

Definition at line 859 of file Parameters.h.

defaultIcpCCSamplingLimit()

static unsigned int rtabmap::Parameters::defaultIcpCCSamplingLimit ( )

inlinestatic

Default value of parameter Icp/CCSamplingLimit : 50000 .

Definition at line 859 of file Parameters.h.

typeIcpCCSamplingLimit()

static std::string rtabmap::Parameters::typeIcpCCSamplingLimit ( )

inlinestatic

Type of parameter Icp/CCSamplingLimit , as a string: unsigned int .

Definition at line 859 of file Parameters.h.

kIcpCCFilterOutFarthestPoints()

static std::string rtabmap::Parameters::kIcpCCFilterOutFarthestPoints ( )

inlinestatic

Key of parameter Icp/CCFilterOutFarthestPoints : "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence." Default value: false ( bool ).

Definition at line 860 of file Parameters.h.

defaultIcpCCFilterOutFarthestPoints()

static bool rtabmap::Parameters::defaultIcpCCFilterOutFarthestPoints ( )

inlinestatic

Default value of parameter Icp/CCFilterOutFarthestPoints : false .

Definition at line 860 of file Parameters.h.

typeIcpCCFilterOutFarthestPoints()

static std::string rtabmap::Parameters::typeIcpCCFilterOutFarthestPoints ( )

inlinestatic

Type of parameter Icp/CCFilterOutFarthestPoints , as a string: bool .

Definition at line 860 of file Parameters.h.

kIcpCCMaxFinalRMS()

static std::string rtabmap::Parameters::kIcpCCMaxFinalRMS ( )

inlinestatic

Key of parameter Icp/CCMaxFinalRMS : "Maximum final RMS error." Default value: 0.2 ( float ).

Definition at line 861 of file Parameters.h.

defaultIcpCCMaxFinalRMS()

static float rtabmap::Parameters::defaultIcpCCMaxFinalRMS ( )

inlinestatic

Default value of parameter Icp/CCMaxFinalRMS : 0.2 .

Definition at line 861 of file Parameters.h.

typeIcpCCMaxFinalRMS()

static std::string rtabmap::Parameters::typeIcpCCMaxFinalRMS ( )

inlinestatic

Type of parameter Icp/CCMaxFinalRMS , as a string: float .

Definition at line 861 of file Parameters.h.

kStereoWinWidth()

static std::string rtabmap::Parameters::kStereoWinWidth ( )

inlinestatic

Key of parameter Stereo/WinWidth : "Window width." Default value: 15 ( int ).

Definition at line 864 of file Parameters.h.

defaultStereoWinWidth()

static int rtabmap::Parameters::defaultStereoWinWidth ( )

inlinestatic

Default value of parameter Stereo/WinWidth : 15 .

Definition at line 864 of file Parameters.h.

typeStereoWinWidth()

static std::string rtabmap::Parameters::typeStereoWinWidth ( )

inlinestatic

Type of parameter Stereo/WinWidth , as a string: int .

Definition at line 864 of file Parameters.h.

kStereoWinHeight()

static std::string rtabmap::Parameters::kStereoWinHeight ( )

inlinestatic

Key of parameter Stereo/WinHeight : "Window height." Default value: 3 ( int ).

Definition at line 865 of file Parameters.h.

defaultStereoWinHeight()

static int rtabmap::Parameters::defaultStereoWinHeight ( )

inlinestatic

Default value of parameter Stereo/WinHeight : 3 .

Definition at line 865 of file Parameters.h.

typeStereoWinHeight()

static std::string rtabmap::Parameters::typeStereoWinHeight ( )

inlinestatic

Type of parameter Stereo/WinHeight , as a string: int .

Definition at line 865 of file Parameters.h.

kStereoIterations()

static std::string rtabmap::Parameters::kStereoIterations ( )

inlinestatic

Key of parameter Stereo/Iterations : "Maximum iterations." Default value: 30 ( int ).

Definition at line 866 of file Parameters.h.

defaultStereoIterations()

static int rtabmap::Parameters::defaultStereoIterations ( )

inlinestatic

Default value of parameter Stereo/Iterations : 30 .

Definition at line 866 of file Parameters.h.

typeStereoIterations()

static std::string rtabmap::Parameters::typeStereoIterations ( )

inlinestatic

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

Definition at line 866 of file Parameters.h.

kStereoMaxLevel()

static std::string rtabmap::Parameters::kStereoMaxLevel ( )

inlinestatic

Key of parameter Stereo/MaxLevel : "Maximum pyramid level." Default value: 5 ( int ).

Definition at line 867 of file Parameters.h.

defaultStereoMaxLevel()

static int rtabmap::Parameters::defaultStereoMaxLevel ( )

inlinestatic

Default value of parameter Stereo/MaxLevel : 5 .

Definition at line 867 of file Parameters.h.

typeStereoMaxLevel()

static std::string rtabmap::Parameters::typeStereoMaxLevel ( )

inlinestatic

Type of parameter Stereo/MaxLevel , as a string: int .

Definition at line 867 of file Parameters.h.

kStereoMinDisparity()

static std::string rtabmap::Parameters::kStereoMinDisparity ( )

inlinestatic

Key of parameter Stereo/MinDisparity : "Minimum disparity." Default value: 0.5 ( float ).

Definition at line 868 of file Parameters.h.

defaultStereoMinDisparity()

static float rtabmap::Parameters::defaultStereoMinDisparity ( )

inlinestatic

Default value of parameter Stereo/MinDisparity : 0.5 .

Definition at line 868 of file Parameters.h.

typeStereoMinDisparity()

static std::string rtabmap::Parameters::typeStereoMinDisparity ( )

inlinestatic

Type of parameter Stereo/MinDisparity , as a string: float .

Definition at line 868 of file Parameters.h.

kStereoMaxDisparity()

static std::string rtabmap::Parameters::kStereoMaxDisparity ( )

inlinestatic

Key of parameter Stereo/MaxDisparity : "Maximum disparity." Default value: 128.0 ( float ).

Definition at line 869 of file Parameters.h.

defaultStereoMaxDisparity()

static float rtabmap::Parameters::defaultStereoMaxDisparity ( )

inlinestatic

Default value of parameter Stereo/MaxDisparity : 128.0 .

Definition at line 869 of file Parameters.h.

typeStereoMaxDisparity()

static std::string rtabmap::Parameters::typeStereoMaxDisparity ( )

inlinestatic

Type of parameter Stereo/MaxDisparity , as a string: float .

Definition at line 869 of file Parameters.h.

kStereoOpticalFlow()

static std::string rtabmap::Parameters::kStereoOpticalFlow ( )

inlinestatic

Key of parameter Stereo/OpticalFlow : "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used." Default value: true ( bool ).

Definition at line 870 of file Parameters.h.

defaultStereoOpticalFlow()

static bool rtabmap::Parameters::defaultStereoOpticalFlow ( )

inlinestatic

Default value of parameter Stereo/OpticalFlow : true .

Definition at line 870 of file Parameters.h.

typeStereoOpticalFlow()

static std::string rtabmap::Parameters::typeStereoOpticalFlow ( )

inlinestatic

Type of parameter Stereo/OpticalFlow , as a string: bool .

Definition at line 870 of file Parameters.h.

kStereoSSD()

static std::string rtabmap::Parameters::kStereoSSD ( )

inlinestatic

Key of parameter Stereo/SSD : uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

Definition at line 871 of file Parameters.h.

defaultStereoSSD()

static bool rtabmap::Parameters::defaultStereoSSD ( )

inlinestatic

Default value of parameter Stereo/SSD : true .

Definition at line 871 of file Parameters.h.

typeStereoSSD()

static std::string rtabmap::Parameters::typeStereoSSD ( )

inlinestatic

Type of parameter Stereo/SSD , as a string: bool .

Definition at line 871 of file Parameters.h.

kStereoEps()

static std::string rtabmap::Parameters::kStereoEps ( )

inlinestatic

Key of parameter Stereo/Eps : uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()) Default value: 0.01 ( double ).

Definition at line 872 of file Parameters.h.

defaultStereoEps()

static double rtabmap::Parameters::defaultStereoEps ( )

inlinestatic

Default value of parameter Stereo/Eps : 0.01 .

Definition at line 872 of file Parameters.h.

typeStereoEps()

static std::string rtabmap::Parameters::typeStereoEps ( )

inlinestatic

Type of parameter Stereo/Eps , as a string: double .

Definition at line 872 of file Parameters.h.

kStereoUseMinEigenVals()

static std::string rtabmap::Parameters::kStereoUseMinEigenVals ( )

inlinestatic

Key of parameter Stereo/UseMinEigenVals : uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()) Default value: true ( bool ).

Definition at line 873 of file Parameters.h.

defaultStereoUseMinEigenVals()

static bool rtabmap::Parameters::defaultStereoUseMinEigenVals ( )

inlinestatic

Default value of parameter Stereo/UseMinEigenVals : true .

Definition at line 873 of file Parameters.h.

typeStereoUseMinEigenVals()

static std::string rtabmap::Parameters::typeStereoUseMinEigenVals ( )

inlinestatic

Type of parameter Stereo/UseMinEigenVals , as a string: bool .

Definition at line 873 of file Parameters.h.

kStereoMinEigThreshold()

static std::string rtabmap::Parameters::kStereoMinEigThreshold ( )

inlinestatic

Key of parameter Stereo/MinEigThreshold : uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()) Default value: 1e-4 ( double ).

Definition at line 874 of file Parameters.h.

defaultStereoMinEigThreshold()

static double rtabmap::Parameters::defaultStereoMinEigThreshold ( )

inlinestatic

Default value of parameter Stereo/MinEigThreshold : 1e-4 .

Definition at line 874 of file Parameters.h.

typeStereoMinEigThreshold()

static std::string rtabmap::Parameters::typeStereoMinEigThreshold ( )

inlinestatic

Type of parameter Stereo/MinEigThreshold , as a string: double .

Definition at line 874 of file Parameters.h.

kStereoErrorThreshold()

static std::string rtabmap::Parameters::kStereoErrorThreshold ( )

inlinestatic

Key of parameter Stereo/ErrorThreshold : uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()) Default value: 50 ( double ).

Definition at line 875 of file Parameters.h.

defaultStereoErrorThreshold()

static double rtabmap::Parameters::defaultStereoErrorThreshold ( )

inlinestatic

Default value of parameter Stereo/ErrorThreshold : 50 .

Definition at line 875 of file Parameters.h.

typeStereoErrorThreshold()

static std::string rtabmap::Parameters::typeStereoErrorThreshold ( )

inlinestatic

Type of parameter Stereo/ErrorThreshold , as a string: double .

Definition at line 875 of file Parameters.h.

kStereoGpu()

static std::string rtabmap::Parameters::kStereoGpu ( )

inlinestatic

Key of parameter Stereo/Gpu : uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()) Default value: false ( bool ).

Definition at line 876 of file Parameters.h.

defaultStereoGpu()

static bool rtabmap::Parameters::defaultStereoGpu ( )

inlinestatic

Default value of parameter Stereo/Gpu : false .

Definition at line 876 of file Parameters.h.

typeStereoGpu()

static std::string rtabmap::Parameters::typeStereoGpu ( )

inlinestatic

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

Definition at line 876 of file Parameters.h.

kStereoDenseStrategy()

static std::string rtabmap::Parameters::kStereoDenseStrategy ( )

inlinestatic

Key of parameter Stereo/DenseStrategy : "0=cv::StereoBM, 1=cv::StereoSGBM" Default value: 0 ( int ).

Definition at line 878 of file Parameters.h.

defaultStereoDenseStrategy()

static int rtabmap::Parameters::defaultStereoDenseStrategy ( )

inlinestatic

Default value of parameter Stereo/DenseStrategy : 0 .

Definition at line 878 of file Parameters.h.

typeStereoDenseStrategy()

static std::string rtabmap::Parameters::typeStereoDenseStrategy ( )

inlinestatic

Type of parameter Stereo/DenseStrategy , as a string: int .

Definition at line 878 of file Parameters.h.

kStereoBMBlockSize()

static std::string rtabmap::Parameters::kStereoBMBlockSize ( )

inlinestatic

Key of parameter StereoBM/BlockSize : "See cv::StereoBM" Default value: 15 ( int ).

Definition at line 880 of file Parameters.h.

defaultStereoBMBlockSize()

static int rtabmap::Parameters::defaultStereoBMBlockSize ( )

inlinestatic

Default value of parameter StereoBM/BlockSize : 15 .

Definition at line 880 of file Parameters.h.

typeStereoBMBlockSize()

static std::string rtabmap::Parameters::typeStereoBMBlockSize ( )

inlinestatic

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

Definition at line 880 of file Parameters.h.

kStereoBMMinDisparity()

static std::string rtabmap::Parameters::kStereoBMMinDisparity ( )

inlinestatic

Key of parameter StereoBM/MinDisparity : "See cv::StereoBM" Default value: 0 ( int ).

Definition at line 881 of file Parameters.h.

defaultStereoBMMinDisparity()

static int rtabmap::Parameters::defaultStereoBMMinDisparity ( )

inlinestatic

Default value of parameter StereoBM/MinDisparity : 0 .

Definition at line 881 of file Parameters.h.

typeStereoBMMinDisparity()

static std::string rtabmap::Parameters::typeStereoBMMinDisparity ( )

inlinestatic

Type of parameter StereoBM/MinDisparity , as a string: int .

Definition at line 881 of file Parameters.h.

kStereoBMNumDisparities()

static std::string rtabmap::Parameters::kStereoBMNumDisparities ( )

inlinestatic

Key of parameter StereoBM/NumDisparities : "See cv::StereoBM" Default value: 128 ( int ).

Definition at line 882 of file Parameters.h.

defaultStereoBMNumDisparities()

static int rtabmap::Parameters::defaultStereoBMNumDisparities ( )

inlinestatic

Default value of parameter StereoBM/NumDisparities : 128 .

Definition at line 882 of file Parameters.h.

typeStereoBMNumDisparities()

static std::string rtabmap::Parameters::typeStereoBMNumDisparities ( )

inlinestatic

Type of parameter StereoBM/NumDisparities , as a string: int .

Definition at line 882 of file Parameters.h.

kStereoBMPreFilterSize()

static std::string rtabmap::Parameters::kStereoBMPreFilterSize ( )

inlinestatic

Key of parameter StereoBM/PreFilterSize : "See cv::StereoBM" Default value: 9 ( int ).

Definition at line 883 of file Parameters.h.

defaultStereoBMPreFilterSize()

static int rtabmap::Parameters::defaultStereoBMPreFilterSize ( )

inlinestatic

Default value of parameter StereoBM/PreFilterSize : 9 .

Definition at line 883 of file Parameters.h.

typeStereoBMPreFilterSize()

static std::string rtabmap::Parameters::typeStereoBMPreFilterSize ( )

inlinestatic

Type of parameter StereoBM/PreFilterSize , as a string: int .

Definition at line 883 of file Parameters.h.

kStereoBMPreFilterCap()

static std::string rtabmap::Parameters::kStereoBMPreFilterCap ( )

inlinestatic

Key of parameter StereoBM/PreFilterCap : "See cv::StereoBM" Default value: 31 ( int ).

Definition at line 884 of file Parameters.h.

defaultStereoBMPreFilterCap()

static int rtabmap::Parameters::defaultStereoBMPreFilterCap ( )

inlinestatic

Default value of parameter StereoBM/PreFilterCap : 31 .

Definition at line 884 of file Parameters.h.

typeStereoBMPreFilterCap()

static std::string rtabmap::Parameters::typeStereoBMPreFilterCap ( )

inlinestatic

Type of parameter StereoBM/PreFilterCap , as a string: int .

Definition at line 884 of file Parameters.h.

kStereoBMUniquenessRatio()

static std::string rtabmap::Parameters::kStereoBMUniquenessRatio ( )

inlinestatic

Key of parameter StereoBM/UniquenessRatio : "See cv::StereoBM" Default value: 15 ( int ).

Definition at line 885 of file Parameters.h.

defaultStereoBMUniquenessRatio()

static int rtabmap::Parameters::defaultStereoBMUniquenessRatio ( )

inlinestatic

Default value of parameter StereoBM/UniquenessRatio : 15 .

Definition at line 885 of file Parameters.h.

typeStereoBMUniquenessRatio()

static std::string rtabmap::Parameters::typeStereoBMUniquenessRatio ( )

inlinestatic

Type of parameter StereoBM/UniquenessRatio , as a string: int .

Definition at line 885 of file Parameters.h.

kStereoBMTextureThreshold()

static std::string rtabmap::Parameters::kStereoBMTextureThreshold ( )

inlinestatic

Key of parameter StereoBM/TextureThreshold : "See cv::StereoBM" Default value: 10 ( int ).

Definition at line 886 of file Parameters.h.

defaultStereoBMTextureThreshold()

static int rtabmap::Parameters::defaultStereoBMTextureThreshold ( )

inlinestatic

Default value of parameter StereoBM/TextureThreshold : 10 .

Definition at line 886 of file Parameters.h.

typeStereoBMTextureThreshold()

static std::string rtabmap::Parameters::typeStereoBMTextureThreshold ( )

inlinestatic

Type of parameter StereoBM/TextureThreshold , as a string: int .

Definition at line 886 of file Parameters.h.

kStereoBMSpeckleWindowSize()

static std::string rtabmap::Parameters::kStereoBMSpeckleWindowSize ( )

inlinestatic

Key of parameter StereoBM/SpeckleWindowSize : "See cv::StereoBM" Default value: 100 ( int ).

Definition at line 887 of file Parameters.h.

defaultStereoBMSpeckleWindowSize()

static int rtabmap::Parameters::defaultStereoBMSpeckleWindowSize ( )

inlinestatic

Default value of parameter StereoBM/SpeckleWindowSize : 100 .

Definition at line 887 of file Parameters.h.

typeStereoBMSpeckleWindowSize()

static std::string rtabmap::Parameters::typeStereoBMSpeckleWindowSize ( )

inlinestatic

Type of parameter StereoBM/SpeckleWindowSize , as a string: int .

Definition at line 887 of file Parameters.h.

kStereoBMSpeckleRange()

static std::string rtabmap::Parameters::kStereoBMSpeckleRange ( )

inlinestatic

Key of parameter StereoBM/SpeckleRange : "See cv::StereoBM" Default value: 4 ( int ).

Definition at line 888 of file Parameters.h.

defaultStereoBMSpeckleRange()

static int rtabmap::Parameters::defaultStereoBMSpeckleRange ( )

inlinestatic

Default value of parameter StereoBM/SpeckleRange : 4 .

Definition at line 888 of file Parameters.h.

typeStereoBMSpeckleRange()

static std::string rtabmap::Parameters::typeStereoBMSpeckleRange ( )

inlinestatic

Type of parameter StereoBM/SpeckleRange , as a string: int .

Definition at line 888 of file Parameters.h.

kStereoBMDisp12MaxDiff()

static std::string rtabmap::Parameters::kStereoBMDisp12MaxDiff ( )

inlinestatic

Key of parameter StereoBM/Disp12MaxDiff : "See cv::StereoBM" Default value: -1 ( int ).

Definition at line 889 of file Parameters.h.

defaultStereoBMDisp12MaxDiff()

static int rtabmap::Parameters::defaultStereoBMDisp12MaxDiff ( )

inlinestatic

Default value of parameter StereoBM/Disp12MaxDiff : -1 .

Definition at line 889 of file Parameters.h.

typeStereoBMDisp12MaxDiff()

static std::string rtabmap::Parameters::typeStereoBMDisp12MaxDiff ( )

inlinestatic

Type of parameter StereoBM/Disp12MaxDiff , as a string: int .

Definition at line 889 of file Parameters.h.

kStereoSGBMBlockSize()

static std::string rtabmap::Parameters::kStereoSGBMBlockSize ( )

inlinestatic

Key of parameter StereoSGBM/BlockSize : "See cv::StereoSGBM" Default value: 15 ( int ).

Definition at line 891 of file Parameters.h.

defaultStereoSGBMBlockSize()

static int rtabmap::Parameters::defaultStereoSGBMBlockSize ( )

inlinestatic

Default value of parameter StereoSGBM/BlockSize : 15 .

Definition at line 891 of file Parameters.h.

typeStereoSGBMBlockSize()

static std::string rtabmap::Parameters::typeStereoSGBMBlockSize ( )

inlinestatic

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

Definition at line 891 of file Parameters.h.

kStereoSGBMMinDisparity()

static std::string rtabmap::Parameters::kStereoSGBMMinDisparity ( )

inlinestatic

Key of parameter StereoSGBM/MinDisparity : "See cv::StereoSGBM" Default value: 0 ( int ).

Definition at line 892 of file Parameters.h.

defaultStereoSGBMMinDisparity()

static int rtabmap::Parameters::defaultStereoSGBMMinDisparity ( )

inlinestatic

Default value of parameter StereoSGBM/MinDisparity : 0 .

Definition at line 892 of file Parameters.h.

typeStereoSGBMMinDisparity()

static std::string rtabmap::Parameters::typeStereoSGBMMinDisparity ( )

inlinestatic

Type of parameter StereoSGBM/MinDisparity , as a string: int .

Definition at line 892 of file Parameters.h.

kStereoSGBMNumDisparities()

static std::string rtabmap::Parameters::kStereoSGBMNumDisparities ( )

inlinestatic

Key of parameter StereoSGBM/NumDisparities : "See cv::StereoSGBM" Default value: 128 ( int ).

Definition at line 893 of file Parameters.h.

defaultStereoSGBMNumDisparities()

static int rtabmap::Parameters::defaultStereoSGBMNumDisparities ( )

inlinestatic

Default value of parameter StereoSGBM/NumDisparities : 128 .

Definition at line 893 of file Parameters.h.

typeStereoSGBMNumDisparities()

static std::string rtabmap::Parameters::typeStereoSGBMNumDisparities ( )

inlinestatic

Type of parameter StereoSGBM/NumDisparities , as a string: int .

Definition at line 893 of file Parameters.h.

kStereoSGBMPreFilterCap()

static std::string rtabmap::Parameters::kStereoSGBMPreFilterCap ( )

inlinestatic

Key of parameter StereoSGBM/PreFilterCap : "See cv::StereoSGBM" Default value: 31 ( int ).

Definition at line 894 of file Parameters.h.

defaultStereoSGBMPreFilterCap()

static int rtabmap::Parameters::defaultStereoSGBMPreFilterCap ( )

inlinestatic

Default value of parameter StereoSGBM/PreFilterCap : 31 .

Definition at line 894 of file Parameters.h.

typeStereoSGBMPreFilterCap()

static std::string rtabmap::Parameters::typeStereoSGBMPreFilterCap ( )

inlinestatic

Type of parameter StereoSGBM/PreFilterCap , as a string: int .

Definition at line 894 of file Parameters.h.

kStereoSGBMUniquenessRatio()

static std::string rtabmap::Parameters::kStereoSGBMUniquenessRatio ( )

inlinestatic

Key of parameter StereoSGBM/UniquenessRatio : "See cv::StereoSGBM" Default value: 20 ( int ).

Definition at line 895 of file Parameters.h.

defaultStereoSGBMUniquenessRatio()

static int rtabmap::Parameters::defaultStereoSGBMUniquenessRatio ( )

inlinestatic

Default value of parameter StereoSGBM/UniquenessRatio : 20 .

Definition at line 895 of file Parameters.h.

typeStereoSGBMUniquenessRatio()

static std::string rtabmap::Parameters::typeStereoSGBMUniquenessRatio ( )

inlinestatic

Type of parameter StereoSGBM/UniquenessRatio , as a string: int .

Definition at line 895 of file Parameters.h.

kStereoSGBMSpeckleWindowSize()

static std::string rtabmap::Parameters::kStereoSGBMSpeckleWindowSize ( )

inlinestatic

Key of parameter StereoSGBM/SpeckleWindowSize : "See cv::StereoSGBM" Default value: 100 ( int ).

Definition at line 896 of file Parameters.h.

defaultStereoSGBMSpeckleWindowSize()

static int rtabmap::Parameters::defaultStereoSGBMSpeckleWindowSize ( )

inlinestatic

Default value of parameter StereoSGBM/SpeckleWindowSize : 100 .

Definition at line 896 of file Parameters.h.

typeStereoSGBMSpeckleWindowSize()

static std::string rtabmap::Parameters::typeStereoSGBMSpeckleWindowSize ( )

inlinestatic

Type of parameter StereoSGBM/SpeckleWindowSize , as a string: int .

Definition at line 896 of file Parameters.h.

kStereoSGBMSpeckleRange()

static std::string rtabmap::Parameters::kStereoSGBMSpeckleRange ( )

inlinestatic

Key of parameter StereoSGBM/SpeckleRange : "See cv::StereoSGBM" Default value: 4 ( int ).

Definition at line 897 of file Parameters.h.

defaultStereoSGBMSpeckleRange()

static int rtabmap::Parameters::defaultStereoSGBMSpeckleRange ( )

inlinestatic

Default value of parameter StereoSGBM/SpeckleRange : 4 .

Definition at line 897 of file Parameters.h.

typeStereoSGBMSpeckleRange()

static std::string rtabmap::Parameters::typeStereoSGBMSpeckleRange ( )

inlinestatic

Type of parameter StereoSGBM/SpeckleRange , as a string: int .

Definition at line 897 of file Parameters.h.

kStereoSGBMDisp12MaxDiff()

static std::string rtabmap::Parameters::kStereoSGBMDisp12MaxDiff ( )

inlinestatic

Key of parameter StereoSGBM/Disp12MaxDiff : "See cv::StereoSGBM" Default value: 1 ( int ).

Definition at line 898 of file Parameters.h.

defaultStereoSGBMDisp12MaxDiff()

static int rtabmap::Parameters::defaultStereoSGBMDisp12MaxDiff ( )

inlinestatic

Default value of parameter StereoSGBM/Disp12MaxDiff : 1 .

Definition at line 898 of file Parameters.h.

typeStereoSGBMDisp12MaxDiff()

static std::string rtabmap::Parameters::typeStereoSGBMDisp12MaxDiff ( )

inlinestatic

Type of parameter StereoSGBM/Disp12MaxDiff , as a string: int .

Definition at line 898 of file Parameters.h.

kStereoSGBMP1()

static std::string rtabmap::Parameters::kStereoSGBMP1 ( )

inlinestatic

Key of parameter StereoSGBM/P1 : "See cv::StereoSGBM" Default value: 2 ( int ).

Definition at line 899 of file Parameters.h.

defaultStereoSGBMP1()

static int rtabmap::Parameters::defaultStereoSGBMP1 ( )

inlinestatic

Default value of parameter StereoSGBM/P1 : 2 .

Definition at line 899 of file Parameters.h.

typeStereoSGBMP1()

static std::string rtabmap::Parameters::typeStereoSGBMP1 ( )

inlinestatic

Type of parameter StereoSGBM/P1 , as a string: int .

Definition at line 899 of file Parameters.h.

kStereoSGBMP2()

static std::string rtabmap::Parameters::kStereoSGBMP2 ( )

inlinestatic

Key of parameter StereoSGBM/P2 : "See cv::StereoSGBM" Default value: 5 ( int ).

Definition at line 900 of file Parameters.h.

defaultStereoSGBMP2()

static int rtabmap::Parameters::defaultStereoSGBMP2 ( )

inlinestatic

Default value of parameter StereoSGBM/P2 : 5 .

Definition at line 900 of file Parameters.h.

typeStereoSGBMP2()

static std::string rtabmap::Parameters::typeStereoSGBMP2 ( )

inlinestatic

Type of parameter StereoSGBM/P2 , as a string: int .

Definition at line 900 of file Parameters.h.

kStereoSGBMMode()

static std::string rtabmap::Parameters::kStereoSGBMMode ( )

inlinestatic

Key of parameter StereoSGBM/Mode : "See cv::StereoSGBM" Default value: 0 ( int ).

Definition at line 902 of file Parameters.h.

defaultStereoSGBMMode()

static int rtabmap::Parameters::defaultStereoSGBMMode ( )

inlinestatic

Default value of parameter StereoSGBM/Mode : 0 .

Definition at line 902 of file Parameters.h.

typeStereoSGBMMode()

static std::string rtabmap::Parameters::typeStereoSGBMMode ( )

inlinestatic

Type of parameter StereoSGBM/Mode , as a string: int .

Definition at line 902 of file Parameters.h.

kGridSensor()

static std::string rtabmap::Parameters::kGridSensor ( )

inlinestatic

Key of parameter Grid/Sensor : "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s)." Default value: 1 ( int ).

Definition at line 908 of file Parameters.h.

defaultGridSensor()

static int rtabmap::Parameters::defaultGridSensor ( )

inlinestatic

Default value of parameter Grid/Sensor : 1 .

Definition at line 908 of file Parameters.h.

typeGridSensor()

static std::string rtabmap::Parameters::typeGridSensor ( )

inlinestatic

Type of parameter Grid/Sensor , as a string: int .

Definition at line 908 of file Parameters.h.

kGridDepthDecimation()

static std::string rtabmap::Parameters::kGridDepthDecimation ( )

inlinestatic

Key of parameter Grid/DepthDecimation : uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()) Default value: 4 ( unsigned int ).

Definition at line 909 of file Parameters.h.

defaultGridDepthDecimation()

static unsigned int rtabmap::Parameters::defaultGridDepthDecimation ( )

inlinestatic

Default value of parameter Grid/DepthDecimation : 4 .

Definition at line 909 of file Parameters.h.

typeGridDepthDecimation()

static std::string rtabmap::Parameters::typeGridDepthDecimation ( )

inlinestatic

Type of parameter Grid/DepthDecimation , as a string: unsigned int .

Definition at line 909 of file Parameters.h.

kGridRangeMin()

static std::string rtabmap::Parameters::kGridRangeMin ( )

inlinestatic

Key of parameter Grid/RangeMin : "Minimum range from sensor." Default value: 0.0 ( float ).

Definition at line 910 of file Parameters.h.

defaultGridRangeMin()

static float rtabmap::Parameters::defaultGridRangeMin ( )

inlinestatic

Default value of parameter Grid/RangeMin : 0.0 .

Definition at line 910 of file Parameters.h.

typeGridRangeMin()

static std::string rtabmap::Parameters::typeGridRangeMin ( )

inlinestatic

Type of parameter Grid/RangeMin , as a string: float .

Definition at line 910 of file Parameters.h.

kGridRangeMax()

static std::string rtabmap::Parameters::kGridRangeMax ( )

inlinestatic

Key of parameter Grid/RangeMax : "Maximum range from sensor. 0=inf." Default value: 5.0 ( float ).

Definition at line 911 of file Parameters.h.

defaultGridRangeMax()

static float rtabmap::Parameters::defaultGridRangeMax ( )

inlinestatic

Default value of parameter Grid/RangeMax : 5.0 .

Definition at line 911 of file Parameters.h.

typeGridRangeMax()

static std::string rtabmap::Parameters::typeGridRangeMax ( )

inlinestatic

Type of parameter Grid/RangeMax , as a string: float .

Definition at line 911 of file Parameters.h.

kGridDepthRoiRatios()

static std::string rtabmap::Parameters::kGridDepthRoiRatios ( )

inlinestatic

Key of parameter Grid/DepthRoiRatios : uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()) Default value: "0.0 0.0 0.0 0.0" (string).

Definition at line 912 of file Parameters.h.

defaultGridDepthRoiRatios()

static std::string rtabmap::Parameters::defaultGridDepthRoiRatios ( )

inlinestatic

Default value of parameter Grid/DepthRoiRatios : "0.0 0.0 0.0 0.0" .

Definition at line 912 of file Parameters.h.

typeGridDepthRoiRatios()

static std::string rtabmap::Parameters::typeGridDepthRoiRatios ( )

inlinestatic

Type of parameter Grid/DepthRoiRatios , as a string: string.

Definition at line 912 of file Parameters.h.

kGridFootprintLength()

static std::string rtabmap::Parameters::kGridFootprintLength ( )

inlinestatic

Key of parameter Grid/FootprintLength : "Footprint length used to filter points over the footprint of the robot." Default value: 0.0 ( float ).

Definition at line 913 of file Parameters.h.

defaultGridFootprintLength()

static float rtabmap::Parameters::defaultGridFootprintLength ( )

inlinestatic

Default value of parameter Grid/FootprintLength : 0.0 .

Definition at line 913 of file Parameters.h.

typeGridFootprintLength()

static std::string rtabmap::Parameters::typeGridFootprintLength ( )

inlinestatic

Type of parameter Grid/FootprintLength , as a string: float .

Definition at line 913 of file Parameters.h.

kGridFootprintWidth()

static std::string rtabmap::Parameters::kGridFootprintWidth ( )

inlinestatic

Key of parameter Grid/FootprintWidth : "Footprint width used to filter points over the footprint of the robot. Footprint length should be set." Default value: 0.0 ( float ).

Definition at line 914 of file Parameters.h.

defaultGridFootprintWidth()

static float rtabmap::Parameters::defaultGridFootprintWidth ( )

inlinestatic

Default value of parameter Grid/FootprintWidth : 0.0 .

Definition at line 914 of file Parameters.h.

typeGridFootprintWidth()

static std::string rtabmap::Parameters::typeGridFootprintWidth ( )

inlinestatic

Type of parameter Grid/FootprintWidth , as a string: float .

Definition at line 914 of file Parameters.h.

kGridFootprintHeight()

static std::string rtabmap::Parameters::kGridFootprintHeight ( )

inlinestatic

Key of parameter Grid/FootprintHeight : "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set." Default value: 0.0 ( float ).

Definition at line 915 of file Parameters.h.

defaultGridFootprintHeight()

static float rtabmap::Parameters::defaultGridFootprintHeight ( )

inlinestatic

Default value of parameter Grid/FootprintHeight : 0.0 .

Definition at line 915 of file Parameters.h.

typeGridFootprintHeight()

static std::string rtabmap::Parameters::typeGridFootprintHeight ( )

inlinestatic

Type of parameter Grid/FootprintHeight , as a string: float .

Definition at line 915 of file Parameters.h.

kGridScanDecimation()

static std::string rtabmap::Parameters::kGridScanDecimation ( )

inlinestatic

Key of parameter Grid/ScanDecimation : uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()) Default value: 1 ( int ).

Definition at line 916 of file Parameters.h.

defaultGridScanDecimation()

static int rtabmap::Parameters::defaultGridScanDecimation ( )

inlinestatic

Default value of parameter Grid/ScanDecimation : 1 .

Definition at line 916 of file Parameters.h.

typeGridScanDecimation()

static std::string rtabmap::Parameters::typeGridScanDecimation ( )

inlinestatic

Type of parameter Grid/ScanDecimation , as a string: int .

Definition at line 916 of file Parameters.h.

kGridCellSize()

static std::string rtabmap::Parameters::kGridCellSize ( )

inlinestatic

Key of parameter Grid/CellSize : "Resolution of the occupancy grid." Default value: 0.05 ( float ).

Definition at line 917 of file Parameters.h.

defaultGridCellSize()

static float rtabmap::Parameters::defaultGridCellSize ( )

inlinestatic

Default value of parameter Grid/CellSize : 0.05 .

Definition at line 917 of file Parameters.h.

typeGridCellSize()

static std::string rtabmap::Parameters::typeGridCellSize ( )

inlinestatic

Type of parameter Grid/CellSize , as a string: float .

Definition at line 917 of file Parameters.h.

kGridPreVoxelFiltering()

static std::string rtabmap::Parameters::kGridPreVoxelFiltering ( )

inlinestatic

Key of parameter Grid/PreVoxelFiltering : uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()) Default value: true ( bool ).

Definition at line 918 of file Parameters.h.

defaultGridPreVoxelFiltering()

static bool rtabmap::Parameters::defaultGridPreVoxelFiltering ( )

inlinestatic

Default value of parameter Grid/PreVoxelFiltering : true .

Definition at line 918 of file Parameters.h.

typeGridPreVoxelFiltering()

static std::string rtabmap::Parameters::typeGridPreVoxelFiltering ( )

inlinestatic

Type of parameter Grid/PreVoxelFiltering , as a string: bool .

Definition at line 918 of file Parameters.h.

kGridMapFrameProjection()

static std::string rtabmap::Parameters::kGridMapFrameProjection ( )

inlinestatic

Key of parameter Grid/MapFrameProjection : "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead." Default value: false ( bool ).

Definition at line 919 of file Parameters.h.

defaultGridMapFrameProjection()

static bool rtabmap::Parameters::defaultGridMapFrameProjection ( )

inlinestatic

Default value of parameter Grid/MapFrameProjection : false .

Definition at line 919 of file Parameters.h.

typeGridMapFrameProjection()

static std::string rtabmap::Parameters::typeGridMapFrameProjection ( )

inlinestatic

Type of parameter Grid/MapFrameProjection , as a string: bool .

Definition at line 919 of file Parameters.h.

kGridNormalsSegmentation()

static std::string rtabmap::Parameters::kGridNormalsSegmentation ( )

inlinestatic

Key of parameter Grid/NormalsSegmentation : "Segment ground from obstacles using point normals, otherwise a fast passthrough is used." Default value: true ( bool ).

Definition at line 920 of file Parameters.h.

defaultGridNormalsSegmentation()

static bool rtabmap::Parameters::defaultGridNormalsSegmentation ( )

inlinestatic

Default value of parameter Grid/NormalsSegmentation : true .

Definition at line 920 of file Parameters.h.

typeGridNormalsSegmentation()

static std::string rtabmap::Parameters::typeGridNormalsSegmentation ( )

inlinestatic

Type of parameter Grid/NormalsSegmentation , as a string: bool .

Definition at line 920 of file Parameters.h.

kGridMaxObstacleHeight()

static std::string rtabmap::Parameters::kGridMaxObstacleHeight ( )

inlinestatic

Key of parameter Grid/MaxObstacleHeight : "Maximum obstacles height (0=disabled)." Default value: 0.0 ( float ).

Definition at line 921 of file Parameters.h.

defaultGridMaxObstacleHeight()

static float rtabmap::Parameters::defaultGridMaxObstacleHeight ( )

inlinestatic

Default value of parameter Grid/MaxObstacleHeight : 0.0 .

Definition at line 921 of file Parameters.h.

typeGridMaxObstacleHeight()

static std::string rtabmap::Parameters::typeGridMaxObstacleHeight ( )

inlinestatic

Type of parameter Grid/MaxObstacleHeight , as a string: float .

Definition at line 921 of file Parameters.h.

kGridMinGroundHeight()

static std::string rtabmap::Parameters::kGridMinGroundHeight ( )

inlinestatic

Key of parameter Grid/MinGroundHeight : "Minimum ground height (0=disabled)." Default value: 0.0 ( float ).

Definition at line 922 of file Parameters.h.

defaultGridMinGroundHeight()

static float rtabmap::Parameters::defaultGridMinGroundHeight ( )

inlinestatic

Default value of parameter Grid/MinGroundHeight : 0.0 .

Definition at line 922 of file Parameters.h.

typeGridMinGroundHeight()

static std::string rtabmap::Parameters::typeGridMinGroundHeight ( )

inlinestatic

Type of parameter Grid/MinGroundHeight , as a string: float .

Definition at line 922 of file Parameters.h.

kGridMaxGroundHeight()

static std::string rtabmap::Parameters::kGridMaxGroundHeight ( )

inlinestatic

Key of parameter Grid/MaxGroundHeight : uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()) Default value: 0.0 ( float ).

Definition at line 923 of file Parameters.h.

defaultGridMaxGroundHeight()

static float rtabmap::Parameters::defaultGridMaxGroundHeight ( )

inlinestatic

Default value of parameter Grid/MaxGroundHeight : 0.0 .

Definition at line 923 of file Parameters.h.

typeGridMaxGroundHeight()

static std::string rtabmap::Parameters::typeGridMaxGroundHeight ( )

inlinestatic

Type of parameter Grid/MaxGroundHeight , as a string: float .

Definition at line 923 of file Parameters.h.

kGridMaxGroundAngle()

static std::string rtabmap::Parameters::kGridMaxGroundAngle ( )

inlinestatic

Key of parameter Grid/MaxGroundAngle : uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()) Default value: 45 ( float ).

Definition at line 924 of file Parameters.h.

defaultGridMaxGroundAngle()

static float rtabmap::Parameters::defaultGridMaxGroundAngle ( )

inlinestatic

Default value of parameter Grid/MaxGroundAngle : 45 .

Definition at line 924 of file Parameters.h.

typeGridMaxGroundAngle()

static std::string rtabmap::Parameters::typeGridMaxGroundAngle ( )

inlinestatic

Type of parameter Grid/MaxGroundAngle , as a string: float .

Definition at line 924 of file Parameters.h.

kGridNormalK()

static std::string rtabmap::Parameters::kGridNormalK ( )

inlinestatic

Key of parameter Grid/NormalK : uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()) Default value: 20 ( int ).

Definition at line 925 of file Parameters.h.

defaultGridNormalK()

static int rtabmap::Parameters::defaultGridNormalK ( )

inlinestatic

Default value of parameter Grid/NormalK : 20 .

Definition at line 925 of file Parameters.h.

typeGridNormalK()

static std::string rtabmap::Parameters::typeGridNormalK ( )

inlinestatic

Type of parameter Grid/NormalK , as a string: int .

Definition at line 925 of file Parameters.h.

kGridClusterRadius()

static std::string rtabmap::Parameters::kGridClusterRadius ( )

inlinestatic

Key of parameter Grid/ClusterRadius : uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()) Default value: 0.1 ( float ).

Definition at line 926 of file Parameters.h.

defaultGridClusterRadius()

static float rtabmap::Parameters::defaultGridClusterRadius ( )

inlinestatic

Default value of parameter Grid/ClusterRadius : 0.1 .

Definition at line 926 of file Parameters.h.

typeGridClusterRadius()

static std::string rtabmap::Parameters::typeGridClusterRadius ( )

inlinestatic

Type of parameter Grid/ClusterRadius , as a string: float .

Definition at line 926 of file Parameters.h.

kGridMinClusterSize()

static std::string rtabmap::Parameters::kGridMinClusterSize ( )

inlinestatic

Key of parameter Grid/MinClusterSize : uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()) Default value: 10 ( int ).

Definition at line 927 of file Parameters.h.

defaultGridMinClusterSize()

static int rtabmap::Parameters::defaultGridMinClusterSize ( )

inlinestatic

Default value of parameter Grid/MinClusterSize : 10 .

Definition at line 927 of file Parameters.h.

typeGridMinClusterSize()

static std::string rtabmap::Parameters::typeGridMinClusterSize ( )

inlinestatic

Type of parameter Grid/MinClusterSize , as a string: int .

Definition at line 927 of file Parameters.h.

kGridFlatObstacleDetected()

static std::string rtabmap::Parameters::kGridFlatObstacleDetected ( )

inlinestatic

Key of parameter Grid/FlatObstacleDetected : uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()) Default value: true ( bool ).

Definition at line 928 of file Parameters.h.

defaultGridFlatObstacleDetected()

static bool rtabmap::Parameters::defaultGridFlatObstacleDetected ( )

inlinestatic

Default value of parameter Grid/FlatObstacleDetected : true .

Definition at line 928 of file Parameters.h.

typeGridFlatObstacleDetected()

static std::string rtabmap::Parameters::typeGridFlatObstacleDetected ( )

inlinestatic

Type of parameter Grid/FlatObstacleDetected , as a string: bool .

Definition at line 928 of file Parameters.h.

kGrid3D()

static std::string rtabmap::Parameters::kGrid3D ( )

inlinestatic

Key of parameter Grid/3D : uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()) Default value: false ( bool ).

Definition at line 932 of file Parameters.h.

defaultGrid3D()

static bool rtabmap::Parameters::defaultGrid3D ( )

inlinestatic

Default value of parameter Grid/3D : false .

Definition at line 932 of file Parameters.h.

typeGrid3D()

static std::string rtabmap::Parameters::typeGrid3D ( )

inlinestatic

Type of parameter Grid/3D , as a string: bool .

Definition at line 932 of file Parameters.h.

kGridGroundIsObstacle()

static std::string rtabmap::Parameters::kGridGroundIsObstacle ( )

inlinestatic

Key of parameter Grid/GroundIsObstacle : uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()) Default value: false ( bool ).

Definition at line 934 of file Parameters.h.

defaultGridGroundIsObstacle()

static bool rtabmap::Parameters::defaultGridGroundIsObstacle ( )

inlinestatic

Default value of parameter Grid/GroundIsObstacle : false .

Definition at line 934 of file Parameters.h.

typeGridGroundIsObstacle()

static std::string rtabmap::Parameters::typeGridGroundIsObstacle ( )

inlinestatic

Type of parameter Grid/GroundIsObstacle , as a string: bool .

Definition at line 934 of file Parameters.h.

kGridNoiseFilteringRadius()

static std::string rtabmap::Parameters::kGridNoiseFilteringRadius ( )

inlinestatic

Key of parameter Grid/NoiseFilteringRadius : "Noise filtering radius (0=disabled). Done after segmentation." Default value: 0.0 ( float ).

Definition at line 935 of file Parameters.h.

defaultGridNoiseFilteringRadius()

static float rtabmap::Parameters::defaultGridNoiseFilteringRadius ( )

inlinestatic

Default value of parameter Grid/NoiseFilteringRadius : 0.0 .

Definition at line 935 of file Parameters.h.

typeGridNoiseFilteringRadius()

static std::string rtabmap::Parameters::typeGridNoiseFilteringRadius ( )

inlinestatic

Type of parameter Grid/NoiseFilteringRadius , as a string: float .

Definition at line 935 of file Parameters.h.

kGridNoiseFilteringMinNeighbors()

static std::string rtabmap::Parameters::kGridNoiseFilteringMinNeighbors ( )

inlinestatic

Key of parameter Grid/NoiseFilteringMinNeighbors : "Noise filtering minimum neighbors." Default value: 5 ( int ).

Definition at line 936 of file Parameters.h.

defaultGridNoiseFilteringMinNeighbors()

static int rtabmap::Parameters::defaultGridNoiseFilteringMinNeighbors ( )

inlinestatic

Default value of parameter Grid/NoiseFilteringMinNeighbors : 5 .

Definition at line 936 of file Parameters.h.

typeGridNoiseFilteringMinNeighbors()

static std::string rtabmap::Parameters::typeGridNoiseFilteringMinNeighbors ( )

inlinestatic

Type of parameter Grid/NoiseFilteringMinNeighbors , as a string: int .

Definition at line 936 of file Parameters.h.

kGridScan2dUnknownSpaceFilled()

static std::string rtabmap::Parameters::kGridScan2dUnknownSpaceFilled ( )

inlinestatic

Key of parameter Grid/Scan2dUnknownSpaceFilled : uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()) Default value: false ( bool ).

Definition at line 937 of file Parameters.h.

defaultGridScan2dUnknownSpaceFilled()

static bool rtabmap::Parameters::defaultGridScan2dUnknownSpaceFilled ( )

inlinestatic

Default value of parameter Grid/Scan2dUnknownSpaceFilled : false .

Definition at line 937 of file Parameters.h.

typeGridScan2dUnknownSpaceFilled()

static std::string rtabmap::Parameters::typeGridScan2dUnknownSpaceFilled ( )

inlinestatic

Type of parameter Grid/Scan2dUnknownSpaceFilled , as a string: bool .

Definition at line 937 of file Parameters.h.

kGridRayTracing()

static std::string rtabmap::Parameters::kGridRayTracing ( )

inlinestatic

Key of parameter Grid/RayTracing : uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()) Default value: false ( bool ).

Definition at line 938 of file Parameters.h.

defaultGridRayTracing()

static bool rtabmap::Parameters::defaultGridRayTracing ( )

inlinestatic

Default value of parameter Grid/RayTracing : false .

Definition at line 938 of file Parameters.h.

typeGridRayTracing()

static std::string rtabmap::Parameters::typeGridRayTracing ( )

inlinestatic

Type of parameter Grid/RayTracing , as a string: bool .

Definition at line 938 of file Parameters.h.

kGridGlobalUpdateError()

static std::string rtabmap::Parameters::kGridGlobalUpdateError ( )

inlinestatic

Key of parameter GridGlobal/UpdateError : "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value." Default value: 0.01 ( float ).

Definition at line 939 of file Parameters.h.

defaultGridGlobalUpdateError()

static float rtabmap::Parameters::defaultGridGlobalUpdateError ( )

inlinestatic

Default value of parameter GridGlobal/UpdateError : 0.01 .

Definition at line 939 of file Parameters.h.

typeGridGlobalUpdateError()

static std::string rtabmap::Parameters::typeGridGlobalUpdateError ( )

inlinestatic

Type of parameter GridGlobal/UpdateError , as a string: float .

Definition at line 939 of file Parameters.h.

kGridGlobalFootprintRadius()

static std::string rtabmap::Parameters::kGridGlobalFootprintRadius ( )

inlinestatic

Key of parameter GridGlobal/FootprintRadius : "Footprint radius (m) used to clear all obstacles under the graph." Default value: 0.0 ( float ).

Definition at line 940 of file Parameters.h.

defaultGridGlobalFootprintRadius()

static float rtabmap::Parameters::defaultGridGlobalFootprintRadius ( )

inlinestatic

Default value of parameter GridGlobal/FootprintRadius : 0.0 .

Definition at line 940 of file Parameters.h.

typeGridGlobalFootprintRadius()

static std::string rtabmap::Parameters::typeGridGlobalFootprintRadius ( )

inlinestatic

Type of parameter GridGlobal/FootprintRadius , as a string: float .

Definition at line 940 of file Parameters.h.

kGridGlobalMinSize()

static std::string rtabmap::Parameters::kGridGlobalMinSize ( )

inlinestatic

Key of parameter GridGlobal/MinSize : "Minimum map size (m)." Default value: 0.0 ( float ).

Definition at line 941 of file Parameters.h.

defaultGridGlobalMinSize()

static float rtabmap::Parameters::defaultGridGlobalMinSize ( )

inlinestatic

Default value of parameter GridGlobal/MinSize : 0.0 .

Definition at line 941 of file Parameters.h.

typeGridGlobalMinSize()

static std::string rtabmap::Parameters::typeGridGlobalMinSize ( )

inlinestatic

Type of parameter GridGlobal/MinSize , as a string: float .

Definition at line 941 of file Parameters.h.

kGridGlobalEroded()

static std::string rtabmap::Parameters::kGridGlobalEroded ( )

inlinestatic

Key of parameter GridGlobal/Eroded : "Erode obstacle cells." Default value: false ( bool ).

Definition at line 942 of file Parameters.h.

defaultGridGlobalEroded()

static bool rtabmap::Parameters::defaultGridGlobalEroded ( )

inlinestatic

Default value of parameter GridGlobal/Eroded : false .

Definition at line 942 of file Parameters.h.

typeGridGlobalEroded()

static std::string rtabmap::Parameters::typeGridGlobalEroded ( )

inlinestatic

Type of parameter GridGlobal/Eroded , as a string: bool .

Definition at line 942 of file Parameters.h.

kGridGlobalMaxNodes()

static std::string rtabmap::Parameters::kGridGlobalMaxNodes ( )

inlinestatic

Key of parameter GridGlobal/MaxNodes : "Maximum nodes assembled in the map starting from the last node (0=unlimited)." Default value: 0 ( int ).

Definition at line 943 of file Parameters.h.

defaultGridGlobalMaxNodes()

static int rtabmap::Parameters::defaultGridGlobalMaxNodes ( )

inlinestatic

Default value of parameter GridGlobal/MaxNodes : 0 .

Definition at line 943 of file Parameters.h.

typeGridGlobalMaxNodes()

static std::string rtabmap::Parameters::typeGridGlobalMaxNodes ( )

inlinestatic

Type of parameter GridGlobal/MaxNodes , as a string: int .

Definition at line 943 of file Parameters.h.

kGridGlobalAltitudeDelta()

static std::string rtabmap::Parameters::kGridGlobalAltitudeDelta ( )

inlinestatic

Key of parameter GridGlobal/AltitudeDelta : "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building)." Default value: 0 ( float ).

Definition at line 944 of file Parameters.h.

defaultGridGlobalAltitudeDelta()

static float rtabmap::Parameters::defaultGridGlobalAltitudeDelta ( )

inlinestatic

Default value of parameter GridGlobal/AltitudeDelta : 0 .

Definition at line 944 of file Parameters.h.

typeGridGlobalAltitudeDelta()

static std::string rtabmap::Parameters::typeGridGlobalAltitudeDelta ( )

inlinestatic

Type of parameter GridGlobal/AltitudeDelta , as a string: float .

Definition at line 944 of file Parameters.h.

kGridGlobalOccupancyThr()

static std::string rtabmap::Parameters::kGridGlobalOccupancyThr ( )

inlinestatic

Key of parameter GridGlobal/OccupancyThr : "Occupancy threshold (value between 0 and 1)." Default value: 0.5 ( float ).

Definition at line 945 of file Parameters.h.

defaultGridGlobalOccupancyThr()

static float rtabmap::Parameters::defaultGridGlobalOccupancyThr ( )

inlinestatic

Default value of parameter GridGlobal/OccupancyThr : 0.5 .

Definition at line 945 of file Parameters.h.

typeGridGlobalOccupancyThr()

static std::string rtabmap::Parameters::typeGridGlobalOccupancyThr ( )

inlinestatic

Type of parameter GridGlobal/OccupancyThr , as a string: float .

Definition at line 945 of file Parameters.h.

kGridGlobalProbHit()

static std::string rtabmap::Parameters::kGridGlobalProbHit ( )

inlinestatic

Key of parameter GridGlobal/ProbHit : "Probability of a hit (value between 0.5 and 1)." Default value: 0.7 ( float ).

Definition at line 946 of file Parameters.h.

defaultGridGlobalProbHit()

static float rtabmap::Parameters::defaultGridGlobalProbHit ( )

inlinestatic

Default value of parameter GridGlobal/ProbHit : 0.7 .

Definition at line 946 of file Parameters.h.

typeGridGlobalProbHit()

static std::string rtabmap::Parameters::typeGridGlobalProbHit ( )

inlinestatic

Type of parameter GridGlobal/ProbHit , as a string: float .

Definition at line 946 of file Parameters.h.

kGridGlobalProbMiss()

static std::string rtabmap::Parameters::kGridGlobalProbMiss ( )

inlinestatic

Key of parameter GridGlobal/ProbMiss : "Probability of a miss (value between 0 and 0.5)." Default value: 0.4 ( float ).

Definition at line 947 of file Parameters.h.

defaultGridGlobalProbMiss()

static float rtabmap::Parameters::defaultGridGlobalProbMiss ( )

inlinestatic

Default value of parameter GridGlobal/ProbMiss : 0.4 .

Definition at line 947 of file Parameters.h.

typeGridGlobalProbMiss()

static std::string rtabmap::Parameters::typeGridGlobalProbMiss ( )

inlinestatic

Type of parameter GridGlobal/ProbMiss , as a string: float .

Definition at line 947 of file Parameters.h.

kGridGlobalProbClampingMin()

static std::string rtabmap::Parameters::kGridGlobalProbClampingMin ( )

inlinestatic

Key of parameter GridGlobal/ProbClampingMin : "Probability clamping minimum (value between 0 and 1)." Default value: 0.1192 ( float ).

Definition at line 948 of file Parameters.h.

defaultGridGlobalProbClampingMin()

static float rtabmap::Parameters::defaultGridGlobalProbClampingMin ( )

inlinestatic

Default value of parameter GridGlobal/ProbClampingMin : 0.1192 .

Definition at line 948 of file Parameters.h.

typeGridGlobalProbClampingMin()

static std::string rtabmap::Parameters::typeGridGlobalProbClampingMin ( )

inlinestatic

Type of parameter GridGlobal/ProbClampingMin , as a string: float .

Definition at line 948 of file Parameters.h.

kGridGlobalProbClampingMax()

static std::string rtabmap::Parameters::kGridGlobalProbClampingMax ( )

inlinestatic

Key of parameter GridGlobal/ProbClampingMax : "Probability clamping maximum (value between 0 and 1)." Default value: 0.971 ( float ).

Definition at line 949 of file Parameters.h.

defaultGridGlobalProbClampingMax()

static float rtabmap::Parameters::defaultGridGlobalProbClampingMax ( )

inlinestatic

Default value of parameter GridGlobal/ProbClampingMax : 0.971 .

Definition at line 949 of file Parameters.h.

typeGridGlobalProbClampingMax()

static std::string rtabmap::Parameters::typeGridGlobalProbClampingMax ( )

inlinestatic

Type of parameter GridGlobal/ProbClampingMax , as a string: float .

Definition at line 949 of file Parameters.h.

kGridGlobalFloodFillDepth()

static std::string rtabmap::Parameters::kGridGlobalFloodFillDepth ( )

inlinestatic

Key of parameter GridGlobal/FloodFillDepth : "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap." Default value: 0 ( unsigned int ).

Definition at line 950 of file Parameters.h.

defaultGridGlobalFloodFillDepth()

static unsigned int rtabmap::Parameters::defaultGridGlobalFloodFillDepth ( )

inlinestatic

Default value of parameter GridGlobal/FloodFillDepth : 0 .

Definition at line 950 of file Parameters.h.

typeGridGlobalFloodFillDepth()

static std::string rtabmap::Parameters::typeGridGlobalFloodFillDepth ( )

inlinestatic

Type of parameter GridGlobal/FloodFillDepth , as a string: unsigned int .

Definition at line 950 of file Parameters.h.

kMarkerStrategy()

static std::string rtabmap::Parameters::kMarkerStrategy ( )

inlinestatic

Key of parameter Marker/Strategy : "Marker detection implementation: 0=OpenCV, 1=AprilTag" Default value: 0 ( int ).

Definition at line 952 of file Parameters.h.

defaultMarkerStrategy()

static int rtabmap::Parameters::defaultMarkerStrategy ( )

inlinestatic

Default value of parameter Marker/Strategy : 0 .

Definition at line 952 of file Parameters.h.

typeMarkerStrategy()

static std::string rtabmap::Parameters::typeMarkerStrategy ( )

inlinestatic

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

Definition at line 952 of file Parameters.h.

kMarkerDictionary()

static std::string rtabmap::Parameters::kMarkerDictionary ( )

inlinestatic

Key of parameter Marker/Dictionary : "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21" Default value: 0 ( int ).

Definition at line 953 of file Parameters.h.

defaultMarkerDictionary()

static int rtabmap::Parameters::defaultMarkerDictionary ( )

inlinestatic

Default value of parameter Marker/Dictionary : 0 .

Definition at line 953 of file Parameters.h.

typeMarkerDictionary()

static std::string rtabmap::Parameters::typeMarkerDictionary ( )

inlinestatic

Type of parameter Marker/Dictionary , as a string: int .

Definition at line 953 of file Parameters.h.

kMarkerLength()

static std::string rtabmap::Parameters::kMarkerLength ( )

inlinestatic

Key of parameter Marker/Length : "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID." Default value: 0 ( float ).

Definition at line 954 of file Parameters.h.

defaultMarkerLength()

static float rtabmap::Parameters::defaultMarkerLength ( )

inlinestatic

Default value of parameter Marker/Length : 0 .

Definition at line 954 of file Parameters.h.

typeMarkerLength()

static std::string rtabmap::Parameters::typeMarkerLength ( )

inlinestatic

Type of parameter Marker/Length , as a string: float .

Definition at line 954 of file Parameters.h.

kMarkerLengths()

static std::string rtabmap::Parameters::kMarkerLengths ( )

inlinestatic

Key of parameter Marker/Lengths : uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str() Default value: "" (string).

Definition at line 955 of file Parameters.h.

defaultMarkerLengths()

static std::string rtabmap::Parameters::defaultMarkerLengths ( )

inlinestatic

Default value of parameter Marker/Lengths : "" .

Definition at line 955 of file Parameters.h.

typeMarkerLengths()

static std::string rtabmap::Parameters::typeMarkerLengths ( )

inlinestatic

Type of parameter Marker/Lengths , as a string: string.

Definition at line 955 of file Parameters.h.

kMarkerMaxDepthError()

static std::string rtabmap::Parameters::kMarkerMaxDepthError ( )

inlinestatic

Key of parameter Marker/MaxDepthError : uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()) Default value: 0.01 ( float ).

Definition at line 956 of file Parameters.h.

defaultMarkerMaxDepthError()

static float rtabmap::Parameters::defaultMarkerMaxDepthError ( )

inlinestatic

Default value of parameter Marker/MaxDepthError : 0.01 .

Definition at line 956 of file Parameters.h.

typeMarkerMaxDepthError()

static std::string rtabmap::Parameters::typeMarkerMaxDepthError ( )

inlinestatic

Type of parameter Marker/MaxDepthError , as a string: float .

Definition at line 956 of file Parameters.h.

kMarkerVarianceLinear()

static std::string rtabmap::Parameters::kMarkerVarianceLinear ( )

inlinestatic

Key of parameter Marker/VarianceLinear : uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()) Default value: 0.001 ( float ).

Definition at line 957 of file Parameters.h.

defaultMarkerVarianceLinear()

static float rtabmap::Parameters::defaultMarkerVarianceLinear ( )

inlinestatic

Default value of parameter Marker/VarianceLinear : 0.001 .

Definition at line 957 of file Parameters.h.

typeMarkerVarianceLinear()

static std::string rtabmap::Parameters::typeMarkerVarianceLinear ( )

inlinestatic

Type of parameter Marker/VarianceLinear , as a string: float .

Definition at line 957 of file Parameters.h.

kMarkerVarianceAngular()

static std::string rtabmap::Parameters::kMarkerVarianceAngular ( )

inlinestatic

Key of parameter Marker/VarianceAngular : uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()) Default value: 0.01 ( float ).

Definition at line 958 of file Parameters.h.

defaultMarkerVarianceAngular()

static float rtabmap::Parameters::defaultMarkerVarianceAngular ( )

inlinestatic

Default value of parameter Marker/VarianceAngular : 0.01 .

Definition at line 958 of file Parameters.h.

typeMarkerVarianceAngular()

static std::string rtabmap::Parameters::typeMarkerVarianceAngular ( )

inlinestatic

Type of parameter Marker/VarianceAngular , as a string: float .

Definition at line 958 of file Parameters.h.

kMarkerVarianceOrientationIgnored()

static std::string rtabmap::Parameters::kMarkerVarianceOrientationIgnored ( )

inlinestatic

Key of parameter Marker/VarianceOrientationIgnored : uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()) Default value: false ( bool ).

Definition at line 959 of file Parameters.h.

defaultMarkerVarianceOrientationIgnored()

static bool rtabmap::Parameters::defaultMarkerVarianceOrientationIgnored ( )

inlinestatic

Default value of parameter Marker/VarianceOrientationIgnored : false .

Definition at line 959 of file Parameters.h.

typeMarkerVarianceOrientationIgnored()

static std::string rtabmap::Parameters::typeMarkerVarianceOrientationIgnored ( )

inlinestatic

Type of parameter Marker/VarianceOrientationIgnored , as a string: bool .

Definition at line 959 of file Parameters.h.

kMarkerMaxRange()

static std::string rtabmap::Parameters::kMarkerMaxRange ( )

inlinestatic

Key of parameter Marker/MaxRange : "Maximum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

Definition at line 960 of file Parameters.h.

defaultMarkerMaxRange()

static float rtabmap::Parameters::defaultMarkerMaxRange ( )

inlinestatic

Default value of parameter Marker/MaxRange : 0.0 .

Definition at line 960 of file Parameters.h.

typeMarkerMaxRange()

static std::string rtabmap::Parameters::typeMarkerMaxRange ( )

inlinestatic

Type of parameter Marker/MaxRange , as a string: float .

Definition at line 960 of file Parameters.h.

kMarkerMinRange()

static std::string rtabmap::Parameters::kMarkerMinRange ( )

inlinestatic

Key of parameter Marker/MinRange : "Miniminum range in which markers will be detected. <=0 for unlimited range." Default value: 0.0 ( float ).

Definition at line 961 of file Parameters.h.

defaultMarkerMinRange()

static float rtabmap::Parameters::defaultMarkerMinRange ( )

inlinestatic

Default value of parameter Marker/MinRange : 0.0 .

Definition at line 961 of file Parameters.h.

typeMarkerMinRange()

static std::string rtabmap::Parameters::typeMarkerMinRange ( )

inlinestatic

Type of parameter Marker/MinRange , as a string: float .

Definition at line 961 of file Parameters.h.

kMarkerPriors()

static std::string rtabmap::Parameters::kMarkerPriors ( )

inlinestatic

Key of parameter Marker/Priors : "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation)." Default value: "" (string).

Definition at line 962 of file Parameters.h.

defaultMarkerPriors()

static std::string rtabmap::Parameters::defaultMarkerPriors ( )

inlinestatic

Default value of parameter Marker/Priors : "" .

Definition at line 962 of file Parameters.h.

typeMarkerPriors()

static std::string rtabmap::Parameters::typeMarkerPriors ( )

inlinestatic

Type of parameter Marker/Priors , as a string: string.

Definition at line 962 of file Parameters.h.

kMarkerPriorsVarianceLinear()

static std::string rtabmap::Parameters::kMarkerPriorsVarianceLinear ( )

inlinestatic

Key of parameter Marker/PriorsVarianceLinear : "Linear variance to set on marker priors." Default value: 0.001 ( float ).

Definition at line 963 of file Parameters.h.

defaultMarkerPriorsVarianceLinear()

static float rtabmap::Parameters::defaultMarkerPriorsVarianceLinear ( )

inlinestatic

Default value of parameter Marker/PriorsVarianceLinear : 0.001 .

Definition at line 963 of file Parameters.h.

typeMarkerPriorsVarianceLinear()

static std::string rtabmap::Parameters::typeMarkerPriorsVarianceLinear ( )

inlinestatic

Type of parameter Marker/PriorsVarianceLinear , as a string: float .

Definition at line 963 of file Parameters.h.

kMarkerPriorsVarianceAngular()

static std::string rtabmap::Parameters::kMarkerPriorsVarianceAngular ( )

inlinestatic

Key of parameter Marker/PriorsVarianceAngular : "Angular variance to set on marker priors." Default value: 0.001 ( float ).

Definition at line 964 of file Parameters.h.

defaultMarkerPriorsVarianceAngular()

static float rtabmap::Parameters::defaultMarkerPriorsVarianceAngular ( )

inlinestatic

Default value of parameter Marker/PriorsVarianceAngular : 0.001 .

Definition at line 964 of file Parameters.h.

typeMarkerPriorsVarianceAngular()

static std::string rtabmap::Parameters::typeMarkerPriorsVarianceAngular ( )

inlinestatic

Type of parameter Marker/PriorsVarianceAngular , as a string: float .

Definition at line 964 of file Parameters.h.

kMarkerAprilTagNThreads()

static std::string rtabmap::Parameters::kMarkerAprilTagNThreads ( )

inlinestatic

Key of parameter MarkerAprilTag/NThreads : "How many threads should be used?" Default value: 1 ( int ).

Definition at line 966 of file Parameters.h.

defaultMarkerAprilTagNThreads()

static int rtabmap::Parameters::defaultMarkerAprilTagNThreads ( )

inlinestatic

Default value of parameter MarkerAprilTag/NThreads : 1 .

Definition at line 966 of file Parameters.h.

typeMarkerAprilTagNThreads()

static std::string rtabmap::Parameters::typeMarkerAprilTagNThreads ( )

inlinestatic

Type of parameter MarkerAprilTag/NThreads , as a string: int .

Definition at line 966 of file Parameters.h.

kMarkerAprilTagQuadDecimate()

static std::string rtabmap::Parameters::kMarkerAprilTagQuadDecimate ( )

inlinestatic

Key of parameter MarkerAprilTag/QuadDecimate : "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution." Default value: 1.0 ( float ).

Definition at line 967 of file Parameters.h.

defaultMarkerAprilTagQuadDecimate()

static float rtabmap::Parameters::defaultMarkerAprilTagQuadDecimate ( )

inlinestatic

Default value of parameter MarkerAprilTag/QuadDecimate : 1.0 .

Definition at line 967 of file Parameters.h.

typeMarkerAprilTagQuadDecimate()

static std::string rtabmap::Parameters::typeMarkerAprilTagQuadDecimate ( )

inlinestatic

Type of parameter MarkerAprilTag/QuadDecimate , as a string: float .

Definition at line 967 of file Parameters.h.

kMarkerAprilTagQuadSigma()

static std::string rtabmap::Parameters::kMarkerAprilTagQuadSigma ( )

inlinestatic

Key of parameter MarkerAprilTag/QuadSigma : "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8)." Default value: 0.0 ( float ).

Definition at line 968 of file Parameters.h.

defaultMarkerAprilTagQuadSigma()

static float rtabmap::Parameters::defaultMarkerAprilTagQuadSigma ( )

inlinestatic

Default value of parameter MarkerAprilTag/QuadSigma : 0.0 .

Definition at line 968 of file Parameters.h.

typeMarkerAprilTagQuadSigma()

static std::string rtabmap::Parameters::typeMarkerAprilTagQuadSigma ( )

inlinestatic

Type of parameter MarkerAprilTag/QuadSigma , as a string: float .

Definition at line 968 of file Parameters.h.

kMarkerAprilTagRefineEdges()

static std::string rtabmap::Parameters::kMarkerAprilTagRefineEdges ( )

inlinestatic

Key of parameter MarkerAprilTag/RefineEdges : uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()) Default value: true ( bool ).

Definition at line 969 of file Parameters.h.

defaultMarkerAprilTagRefineEdges()

static bool rtabmap::Parameters::defaultMarkerAprilTagRefineEdges ( )

inlinestatic

Default value of parameter MarkerAprilTag/RefineEdges : true .

Definition at line 969 of file Parameters.h.

typeMarkerAprilTagRefineEdges()

static std::string rtabmap::Parameters::typeMarkerAprilTagRefineEdges ( )

inlinestatic

Type of parameter MarkerAprilTag/RefineEdges , as a string: bool .

Definition at line 969 of file Parameters.h.

kMarkerAprilTagDecodeSharpening()

static std::string rtabmap::Parameters::kMarkerAprilTagDecodeSharpening ( )

inlinestatic

Key of parameter MarkerAprilTag/DecodeSharpening : "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions." Default value: 0.25 ( double ).

Definition at line 970 of file Parameters.h.

defaultMarkerAprilTagDecodeSharpening()

static double rtabmap::Parameters::defaultMarkerAprilTagDecodeSharpening ( )

inlinestatic

Default value of parameter MarkerAprilTag/DecodeSharpening : 0.25 .

Definition at line 970 of file Parameters.h.

typeMarkerAprilTagDecodeSharpening()

static std::string rtabmap::Parameters::typeMarkerAprilTagDecodeSharpening ( )

inlinestatic

Type of parameter MarkerAprilTag/DecodeSharpening , as a string: double .

Definition at line 970 of file Parameters.h.

kMarkerAprilTagDebug()

static std::string rtabmap::Parameters::kMarkerAprilTagDebug ( )

inlinestatic

Key of parameter MarkerAprilTag/Debug : uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()) Default value: false ( bool ).

Definition at line 971 of file Parameters.h.

defaultMarkerAprilTagDebug()

static bool rtabmap::Parameters::defaultMarkerAprilTagDebug ( )

inlinestatic

Default value of parameter MarkerAprilTag/Debug : false .

Definition at line 971 of file Parameters.h.

typeMarkerAprilTagDebug()

static std::string rtabmap::Parameters::typeMarkerAprilTagDebug ( )

inlinestatic

Type of parameter MarkerAprilTag/Debug , as a string: bool .

Definition at line 971 of file Parameters.h.

kMarkerOpenCVCornerRefinementMethod()

static std::string rtabmap::Parameters::kMarkerOpenCVCornerRefinementMethod ( )

inlinestatic

Key of parameter MarkerOpenCV/CornerRefinementMethod : "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true." Default value: 0 ( int ).

Definition at line 973 of file Parameters.h.

defaultMarkerOpenCVCornerRefinementMethod()

static int rtabmap::Parameters::defaultMarkerOpenCVCornerRefinementMethod ( )

inlinestatic

Default value of parameter MarkerOpenCV/CornerRefinementMethod : 0 .

Definition at line 973 of file Parameters.h.

typeMarkerOpenCVCornerRefinementMethod()

static std::string rtabmap::Parameters::typeMarkerOpenCVCornerRefinementMethod ( )

inlinestatic

Type of parameter MarkerOpenCV/CornerRefinementMethod , as a string: int .

Definition at line 973 of file Parameters.h.

kImuFilterMadgwickGain()

static std::string rtabmap::Parameters::kImuFilterMadgwickGain ( )

inlinestatic

Key of parameter ImuFilter/MadgwickGain : "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1]." Default value: 0.1 ( double ).

Definition at line 975 of file Parameters.h.

defaultImuFilterMadgwickGain()

static double rtabmap::Parameters::defaultImuFilterMadgwickGain ( )

inlinestatic

Default value of parameter ImuFilter/MadgwickGain : 0.1 .

Definition at line 975 of file Parameters.h.

typeImuFilterMadgwickGain()

static std::string rtabmap::Parameters::typeImuFilterMadgwickGain ( )

inlinestatic

Type of parameter ImuFilter/MadgwickGain , as a string: double .

Definition at line 975 of file Parameters.h.

kImuFilterMadgwickZeta()

static std::string rtabmap::Parameters::kImuFilterMadgwickZeta ( )

inlinestatic

Key of parameter ImuFilter/MadgwickZeta : "Gyro drift gain (approx. rad/s), belongs in [-1, 1]." Default value: 0.0 ( double ).

Definition at line 976 of file Parameters.h.

defaultImuFilterMadgwickZeta()

static double rtabmap::Parameters::defaultImuFilterMadgwickZeta ( )

inlinestatic

Default value of parameter ImuFilter/MadgwickZeta : 0.0 .

Definition at line 976 of file Parameters.h.

typeImuFilterMadgwickZeta()

static std::string rtabmap::Parameters::typeImuFilterMadgwickZeta ( )

inlinestatic

Type of parameter ImuFilter/MadgwickZeta , as a string: double .

Definition at line 976 of file Parameters.h.

kImuFilterComplementaryGainAcc()

static std::string rtabmap::Parameters::kImuFilterComplementaryGainAcc ( )

inlinestatic

Key of parameter ImuFilter/ComplementaryGainAcc : "Gain parameter for the complementary filter, belongs in [0, 1]." Default value: 0.01 ( double ).

Definition at line 978 of file Parameters.h.

defaultImuFilterComplementaryGainAcc()

static double rtabmap::Parameters::defaultImuFilterComplementaryGainAcc ( )

inlinestatic

Default value of parameter ImuFilter/ComplementaryGainAcc : 0.01 .

Definition at line 978 of file Parameters.h.

typeImuFilterComplementaryGainAcc()

static std::string rtabmap::Parameters::typeImuFilterComplementaryGainAcc ( )

inlinestatic

Type of parameter ImuFilter/ComplementaryGainAcc , as a string: double .

Definition at line 978 of file Parameters.h.

kImuFilterComplementaryBiasAlpha()

static std::string rtabmap::Parameters::kImuFilterComplementaryBiasAlpha ( )

inlinestatic

Key of parameter ImuFilter/ComplementaryBiasAlpha : "Bias estimation gain parameter, belongs in [0, 1]." Default value: 0.01 ( double ).

Definition at line 979 of file Parameters.h.

defaultImuFilterComplementaryBiasAlpha()

static double rtabmap::Parameters::defaultImuFilterComplementaryBiasAlpha ( )

inlinestatic

Default value of parameter ImuFilter/ComplementaryBiasAlpha : 0.01 .

Definition at line 979 of file Parameters.h.

typeImuFilterComplementaryBiasAlpha()

static std::string rtabmap::Parameters::typeImuFilterComplementaryBiasAlpha ( )

inlinestatic

Type of parameter ImuFilter/ComplementaryBiasAlpha , as a string: double .

Definition at line 979 of file Parameters.h.

kImuFilterComplementaryDoBiasEstimation()

static std::string rtabmap::Parameters::kImuFilterComplementaryDoBiasEstimation ( )

inlinestatic

Key of parameter ImuFilter/ComplementaryDoBiasEstimation : "Parameter whether to do bias estimation or not." Default value: true ( bool ).

Definition at line 980 of file Parameters.h.

defaultImuFilterComplementaryDoBiasEstimation()

static bool rtabmap::Parameters::defaultImuFilterComplementaryDoBiasEstimation ( )

inlinestatic

Default value of parameter ImuFilter/ComplementaryDoBiasEstimation : true .

Definition at line 980 of file Parameters.h.

typeImuFilterComplementaryDoBiasEstimation()

static std::string rtabmap::Parameters::typeImuFilterComplementaryDoBiasEstimation ( )

inlinestatic

Type of parameter ImuFilter/ComplementaryDoBiasEstimation , as a string: bool .

Definition at line 980 of file Parameters.h.

kImuFilterComplementaryDoAdpativeGain()

static std::string rtabmap::Parameters::kImuFilterComplementaryDoAdpativeGain ( )

inlinestatic

Key of parameter ImuFilter/ComplementaryDoAdpativeGain : "Parameter whether to do adaptive gain or not." Default value: true ( bool ).

Definition at line 981 of file Parameters.h.

defaultImuFilterComplementaryDoAdpativeGain()

static bool rtabmap::Parameters::defaultImuFilterComplementaryDoAdpativeGain ( )

inlinestatic

Default value of parameter ImuFilter/ComplementaryDoAdpativeGain : true .

Definition at line 981 of file Parameters.h.

typeImuFilterComplementaryDoAdpativeGain()

static std::string rtabmap::Parameters::typeImuFilterComplementaryDoAdpativeGain ( )

inlinestatic

Type of parameter ImuFilter/ComplementaryDoAdpativeGain , as a string: bool .

Definition at line 981 of file Parameters.h.

getDefaultParameters()

static const ParametersMap & rtabmap::Parameters::getDefaultParameters ( )

inlinestatic

Get default parameters

Definition at line 990 of file Parameters.h.

getType()

static std::string rtabmap::Parameters::getType ( const std::string &  paramKey )

static

Get parameter type

getDescription()

static std::string rtabmap::Parameters::getDescription ( const std::string &  paramKey )

static

Get parameter description

filterParameters()

static ParametersMap rtabmap::Parameters::filterParameters ( const ParametersMap &  parameters, const std::string &  group, bool  remove = false  )

static

If remove=false: keep only parameters of the specified group. If remove=true: remove parameters of the specified group.

getRemovedParameters()

static const std::map< std::string, std::pair< bool, std::string > > & rtabmap::Parameters::getRemovedParameters ( )

static

Get removed parameters (backward compatibility) <OldKeyName, <isEqual, NewKeyName> >, when isEqual=true, the old value can be safely copied to new parameter

getBackwardCompatibilityMap()

static const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap ( )

static

<NewKeyName, OldKeyName>

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/Parameters.h