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rtabmap::Parameters Class Reference

#include <Parameters.h>

Public Member Functions

virtual ~Parameters ()
 

Static Public Member Functions

static std::string createDefaultWorkingDirectory ()
 
static ParametersMap deserialize (const std::string &parameters)
 
static ParametersMap filterParameters (const ParametersMap &parameters, const std::string &group)
 
static const ParametersMapgetBackwardCompatibilityMap ()
 
static std::string getDefaultDatabaseName ()
 
static ParametersMap getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
 
static const ParametersMapgetDefaultParameters ()
 
static ParametersMap getDefaultParameters (const std::string &group)
 
static std::string getDescription (const std::string &paramKey)
 
static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters ()
 
static std::string getType (const std::string &paramKey)
 
static std::string getVersion ()
 
static bool isFeatureParameter (const std::string &param)
 
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 ParametersMap parseArguments (int argc, char *argv[], bool onlyParameters=false)
 
static void readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
 
static std::string serialize (const ParametersMap &parameters)
 
static const char * showUsage ()
 
static void writeINI (const std::string &configFile, const ParametersMap &parameters)
 

Private Member Functions

 Parameters ()
 
 RTABMAP_PARAM (Rtabmap, PublishStats, bool, true,"Publishing statistics.")
 
 RTABMAP_PARAM (Rtabmap, PublishLastSignature, bool, true,"Publishing last signature.")
 
 RTABMAP_PARAM (Rtabmap, PublishPdf, bool, true,"Publishing pdf.")
 
 RTABMAP_PARAM (Rtabmap, PublishLikelihood, bool, true,"Publishing likelihood.")
 
 RTABMAP_PARAM (Rtabmap, PublishRAMUsage, bool, false,"Publishing RAM usage in statistics (may add a small overhead to get info from the system).")
 
 RTABMAP_PARAM (Rtabmap, ComputeRMSE, bool, true,"Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.")
 
 RTABMAP_PARAM (Rtabmap, SaveWMState, bool, false,"Save working memory state after each update in statistics.")
 
 RTABMAP_PARAM (Rtabmap, TimeThr, float, 0,"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.")
 
 RTABMAP_PARAM (Rtabmap, MemoryThr, int, 0, 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()))
 
 RTABMAP_PARAM (Rtabmap, DetectionRate, float, 1,"Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.")
 
 RTABMAP_PARAM (Rtabmap, ImageBufferSize, unsigned int, 1,"Data buffer size (0 min inf).")
 
 RTABMAP_PARAM (Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()))
 
 RTABMAP_PARAM (Rtabmap, MaxRetrieved, unsigned int, 2,"Maximum locations retrieved at the same time from LTM.")
 
 RTABMAP_PARAM (Rtabmap, StatisticLogsBufferedInRAM, bool, true,"Statistic logs buffered in RAM instead of written to hard drive after each iteration.")
 
 RTABMAP_PARAM (Rtabmap, StatisticLogged, bool, false,"Logging enabled.")
 
 RTABMAP_PARAM (Rtabmap, StatisticLoggedHeaders, bool, true,"Add column header description to log files.")
 
 RTABMAP_PARAM (Rtabmap, StartNewMapOnLoopClosure, bool, false,"Start a new map only if there is a global loop closure with a previous map.")
 
 RTABMAP_PARAM (Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()))
 
 RTABMAP_PARAM (Rtabmap, ImagesAlreadyRectified, bool, true,"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.")
 
 RTABMAP_PARAM (Rtabmap, RectifyOnlyFeatures, bool, false, 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()))
 
 RTABMAP_PARAM (Rtabmap, LoopThr, float, 0.11,"Loop closing threshold.")
 
 RTABMAP_PARAM (Rtabmap, LoopRatio, float, 0,"The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.")
 
 RTABMAP_PARAM (Mem, RehearsalSimilarity, float, 0.6,"Rehearsal similarity.")
 
 RTABMAP_PARAM (Mem, ImageKept, bool, false,"Keep raw images in RAM.")
 
 RTABMAP_PARAM (Mem, BinDataKept, bool, true,"Keep binary data in db.")
 
 RTABMAP_PARAM (Mem, RawDescriptorsKept, bool, true,"Raw descriptors kept in memory.")
 
 RTABMAP_PARAM (Mem, MapLabelsAdded, bool, true,"Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID.")
 
 RTABMAP_PARAM (Mem, SaveDepth16Format, bool, false,"Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).")
 
 RTABMAP_PARAM (Mem, NotLinkedNodesKept, bool, true,"Keep not linked nodes in db (rehearsed nodes and deleted nodes).")
 
 RTABMAP_PARAM (Mem, IntermediateNodeDataKept, bool, false,"Keep intermediate node data in db.")
 
 RTABMAP_PARAM (Mem, STMSize, unsigned int, 10,"Short-term memory size.")
 
 RTABMAP_PARAM (Mem, IncrementalMemory, bool, true,"SLAM mode, otherwise it is Localization mode.")
 
 RTABMAP_PARAM (Mem, ReduceGraph, bool, false,"Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set).")
 
 RTABMAP_PARAM (Mem, RecentWmRatio, float, 0.2,"Ratio of locations after the last loop closure in WM that cannot be transferred.")
 
 RTABMAP_PARAM (Mem, TransferSortingByWeightId, bool, false,"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.")
 
 RTABMAP_PARAM (Mem, RehearsalIdUpdatedToNewOne, bool, false,"On merge, update to new id. When false, no copy.")
 
 RTABMAP_PARAM (Mem, RehearsalWeightIgnoredWhileMoving, bool, false,"When the robot is moving, weights are not updated on rehearsal.")
 
 RTABMAP_PARAM (Mem, GenerateIds, bool, true,"True=Generate location IDs, False=use input image IDs.")
 
 RTABMAP_PARAM (Mem, BadSignaturesIgnored, bool, false,"Bad signatures are ignored.")
 
 RTABMAP_PARAM (Mem, InitWMWithAllNodes, bool, false,"Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.")
 
 RTABMAP_PARAM (Mem, DepthAsMask, bool, true,"Use depth image as mask when extracting features for vocabulary.")
 
 RTABMAP_PARAM (Mem, ImagePreDecimation, int, 1,"Image decimation (>=1) before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).")
 
 RTABMAP_PARAM (Mem, ImagePostDecimation, int, 1,"Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).")
 
 RTABMAP_PARAM (Mem, CompressionParallelized, bool, true,"Compression of sensor data is multi-threaded.")
 
 RTABMAP_PARAM (Mem, LaserScanDownsampleStepSize, int, 1,"If > 1, downsample the laser scans when creating a signature.")
 
 RTABMAP_PARAM (Mem, LaserScanVoxelSize, float, 0.0, 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()).c_str())
 
 RTABMAP_PARAM (Mem, LaserScanNormalK, int, 0,"If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.")
 
 RTABMAP_PARAM (Mem, LaserScanNormalRadius, float, 0.0,"If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.")
 
 RTABMAP_PARAM (Mem, UseOdomFeatures, bool, true,"Use odometry features.")
 
 RTABMAP_PARAM (Mem, CovOffDiagIgnored, bool, true,"Ignore off diagonal values of the covariance matrix.")
 
 RTABMAP_PARAM (Kp, NNStrategy, int, 1,"kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4")
 
 RTABMAP_PARAM (Kp, IncrementalDictionary, bool, true,"")
 
 RTABMAP_PARAM (Kp, IncrementalFlann, bool, true, uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()))
 
 RTABMAP_PARAM (Kp, FlannRebalancingFactor, float, 2.0, uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()))
 
 RTABMAP_PARAM (Kp, MaxDepth, float, 0,"Filter extracted keypoints by depth (0=inf).")
 
 RTABMAP_PARAM (Kp, MinDepth, float, 0,"Filter extracted keypoints by depth.")
 
 RTABMAP_PARAM (Kp, MaxFeatures, int, 500,"Maximum features extracted from the images (0 means not bounded, <0 means no extraction).")
 
 RTABMAP_PARAM (Kp, BadSignRatio, float, 0.5,"Bad signature ratio (less than Ratio x AverageWordsPerImage = bad).")
 
 RTABMAP_PARAM (Kp, NndrRatio, float, 0.8,"NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)")
 
 RTABMAP_PARAM (Kp, DetectorStrategy, int, 6,"0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.")
 
 RTABMAP_PARAM (Kp, TfIdfLikelihoodUsed, bool, true,"Use of the td-idf strategy to compute the likelihood.")
 
 RTABMAP_PARAM (Kp, Parallelized, bool, true,"If the dictionary update and signature creation were parallelized.")
 
 RTABMAP_PARAM (Kp, NewWordsComparedTogether, bool, true,"When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).")
 
 RTABMAP_PARAM (Kp, SubPixWinSize, int, 3,"See cv::cornerSubPix().")
 
 RTABMAP_PARAM (Kp, SubPixIterations, int, 0,"See cv::cornerSubPix(). 0 disables sub pixel refining.")
 
 RTABMAP_PARAM (Kp, SubPixEps, double, 0.02,"See cv::cornerSubPix().")
 
 RTABMAP_PARAM (Kp, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()))
 
 RTABMAP_PARAM (Kp, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()))
 
 RTABMAP_PARAM (DbSqlite3, InMemory, bool, false,"Using database in the memory instead of a file on the hard disk.")
 
 RTABMAP_PARAM (DbSqlite3, CacheSize, unsigned int, 10000,"Sqlite cache size (default is 2000).")
 
 RTABMAP_PARAM (DbSqlite3, JournalMode, int, 3,"0=DELETE, 1=TRUNCATE, 2=PERSIST, 3=MEMORY, 4=OFF (see sqlite3 doc : \"PRAGMA journal_mode\")")
 
 RTABMAP_PARAM (DbSqlite3, Synchronous, int, 0,"0=OFF, 1=NORMAL, 2=FULL (see sqlite3 doc : \"PRAGMA synchronous\")")
 
 RTABMAP_PARAM (DbSqlite3, TempStore, int, 2,"0=DEFAULT, 1=FILE, 2=MEMORY (see sqlite3 doc : \"PRAGMA temp_store\")")
 
 RTABMAP_PARAM (SURF, Extended, bool, false,"Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).")
 
 RTABMAP_PARAM (SURF, HessianThreshold, float, 500,"Threshold for hessian keypoint detector used in SURF.")
 
 RTABMAP_PARAM (SURF, Octaves, int, 4,"Number of pyramid octaves the keypoint detector will use.")
 
 RTABMAP_PARAM (SURF, OctaveLayers, int, 2,"Number of octave layers within each octave.")
 
 RTABMAP_PARAM (SURF, Upright, bool, false,"Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).")
 
 RTABMAP_PARAM (SURF, GpuVersion, bool, false,"GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.")
 
 RTABMAP_PARAM (SURF, GpuKeypointsRatio, float, 0.01,"Used with SURF GPU.")
 
 RTABMAP_PARAM (SIFT, NFeatures, int, 0,"The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast).")
 
 RTABMAP_PARAM (SIFT, NOctaveLayers, int, 3,"The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution.")
 
 RTABMAP_PARAM (SIFT, ContrastThreshold, double, 0.04,"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.")
 
 RTABMAP_PARAM (SIFT, EdgeThreshold, double, 10,"The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).")
 
 RTABMAP_PARAM (SIFT, Sigma, double, 1.6,"The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.")
 
 RTABMAP_PARAM (BRIEF, Bytes, int, 32,"Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.")
 
 RTABMAP_PARAM (FAST, Threshold, int, 20,"Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.")
 
 RTABMAP_PARAM (FAST, NonmaxSuppression, bool, true,"If true, non-maximum suppression is applied to detected corners (keypoints).")
 
 RTABMAP_PARAM (FAST, Gpu, bool, false,"GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.")
 
 RTABMAP_PARAM (FAST, GpuKeypointsRatio, double, 0.05,"Used with FAST GPU.")
 
 RTABMAP_PARAM (FAST, MinThreshold, int, 7,"Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.")
 
 RTABMAP_PARAM (FAST, MaxThreshold, int, 200,"Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.")
 
 RTABMAP_PARAM (FAST, GridRows, int, 0,"Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.")
 
 RTABMAP_PARAM (FAST, GridCols, int, 0,"Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.")
 
 RTABMAP_PARAM (GFTT, QualityLevel, double, 0.001,"")
 
 RTABMAP_PARAM (GFTT, MinDistance, double, 3,"")
 
 RTABMAP_PARAM (GFTT, BlockSize, int, 3,"")
 
 RTABMAP_PARAM (GFTT, UseHarrisDetector, bool, false,"")
 
 RTABMAP_PARAM (GFTT, K, double, 0.04,"")
 
 RTABMAP_PARAM (ORB, ScaleFactor, float, 1.2,"Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.")
 
 RTABMAP_PARAM (ORB, NLevels, int, 8,"The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).")
 
 RTABMAP_PARAM (ORB, EdgeThreshold, int, 31,"This is size of the border where the features are not detected. It should roughly match the patchSize parameter.")
 
 RTABMAP_PARAM (ORB, FirstLevel, int, 0,"It should be 0 in the current implementation.")
 
 RTABMAP_PARAM (ORB, WTA_K, int, 2,"The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).")
 
 RTABMAP_PARAM (ORB, ScoreType, int, 0,"The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.")
 
 RTABMAP_PARAM (ORB, PatchSize, int, 31,"size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.")
 
 RTABMAP_PARAM (ORB, Gpu, bool, false,"GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.")
 
 RTABMAP_PARAM (FREAK, OrientationNormalized, bool, true,"Enable orientation normalization.")
 
 RTABMAP_PARAM (FREAK, ScaleNormalized, bool, true,"Enable scale normalization.")
 
 RTABMAP_PARAM (FREAK, PatternScale, float, 22,"Scaling of the description pattern.")
 
 RTABMAP_PARAM (FREAK, NOctaves, int, 4,"Number of octaves covered by the detected keypoints.")
 
 RTABMAP_PARAM (BRISK, Thresh, int, 30,"FAST/AGAST detection threshold score.")
 
 RTABMAP_PARAM (BRISK, Octaves, int, 3,"Detection octaves. Use 0 to do single scale.")
 
 RTABMAP_PARAM (BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.")
 
 RTABMAP_PARAM (KAZE, Extended, bool, false,"Set to enable extraction of extended (128-byte) descriptor.")
 
 RTABMAP_PARAM (KAZE, Upright, bool, false,"Set to enable use of upright descriptors (non rotation-invariant).")
 
 RTABMAP_PARAM (KAZE, Threshold, float, 0.001,"Detector response threshold to accept point.")
 
 RTABMAP_PARAM (KAZE, NOctaves, int, 4,"Maximum octave evolution of the image.")
 
 RTABMAP_PARAM (KAZE, NOctaveLayers, int, 4,"Default number of sublevels per scale level.")
 
 RTABMAP_PARAM (KAZE, Diffusivity, int, 1,"Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.")
 
 RTABMAP_PARAM (Bayes, VirtualPlacePriorThr, float, 0.9,"Virtual place prior")
 
 RTABMAP_PARAM (Bayes, FullPredictionUpdate, bool, false,"Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).")
 
 RTABMAP_PARAM (VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()))
 
 RTABMAP_PARAM (VhEp, MatchCountMin, int, 8,"Minimum of matching visual words pairs to accept the loop hypothesis.")
 
 RTABMAP_PARAM (VhEp, RansacParam1, float, 3,"Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.")
 
 RTABMAP_PARAM (VhEp, RansacParam2, float, 0.99,"Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.")
 
 RTABMAP_PARAM (RGBD, Enabled, bool, true,"")
 
 RTABMAP_PARAM (RGBD, LinearUpdate, float, 0.1,"Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated.")
 
 RTABMAP_PARAM (RGBD, AngularUpdate, float, 0.1,"Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated.")
 
 RTABMAP_PARAM (RGBD, LinearSpeedUpdate, float, 0.0,"Maximum linear speed (m/s) to update the map (0 means not limit).")
 
 RTABMAP_PARAM (RGBD, AngularSpeedUpdate, float, 0.0,"Maximum angular speed (rad/s) to update the map (0 means not limit).")
 
 RTABMAP_PARAM (RGBD, NewMapOdomChangeDistance, float, 0,"A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).")
 
 RTABMAP_PARAM (RGBD, OptimizeFromGraphEnd, bool, false,"Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).")
 
 RTABMAP_PARAM (RGBD, OptimizeMaxError, float, 1.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str()))
 
 RTABMAP_PARAM (RGBD, SavedLocalizationIgnored, bool, false,"Ignore last saved localization pose from previous session. If true, RTAB-Map won't assume it is restarting from the same place than where it shut down previously.")
 
 RTABMAP_PARAM (RGBD, GoalReachedRadius, float, 0.5,"Goal reached radius (m).")
 
 RTABMAP_PARAM (RGBD, PlanStuckIterations, int, 0,"Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.")
 
 RTABMAP_PARAM (RGBD, PlanLinearVelocity, float, 0,"Linear velocity (m/sec) used to compute path weights.")
 
 RTABMAP_PARAM (RGBD, PlanAngularVelocity, float, 0,"Angular velocity (rad/sec) used to compute path weights.")
 
 RTABMAP_PARAM (RGBD, GoalsSavedInUserData, bool, false,"When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".")
 
 RTABMAP_PARAM (RGBD, MaxLocalRetrieved, unsigned int, 2,"Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).")
 
 RTABMAP_PARAM (RGBD, LocalRadius, float, 10,"Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.")
 
 RTABMAP_PARAM (RGBD, LocalImmunizationRatio, float, 0.25,"Ratio of working memory for which local nodes are immunized from transfer.")
 
 RTABMAP_PARAM (RGBD, ScanMatchingIdsSavedInLinks, bool, true,"Save scan matching IDs in link's user data.")
 
 RTABMAP_PARAM (RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()))
 
 RTABMAP_PARAM (RGBD, LoopClosureReextractFeatures, bool, false,"Extract features even if there are some already in the nodes.")
 
 RTABMAP_PARAM (RGBD, LocalBundleOnLoopClosure, bool, false,"Do local bundle adjustment with neighborhood of the loop closure.")
 
 RTABMAP_PARAM (RGBD, CreateOccupancyGrid, bool, false,"Create local occupancy grid maps. See \"Grid\" group for parameters.")
 
 RTABMAP_PARAM (RGBD, ProximityByTime, bool, false,"Detection over all locations in STM.")
 
 RTABMAP_PARAM (RGBD, ProximityBySpace, bool, true,"Detection over locations (in Working Memory) near in space.")
 
 RTABMAP_PARAM (RGBD, ProximityMaxGraphDepth, int, 50,"Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.")
 
 RTABMAP_PARAM (RGBD, ProximityMaxPaths, int, 3,"Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit.")
 
 RTABMAP_PARAM (RGBD, ProximityPathFilteringRadius, float, 1,"Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection.")
 
 RTABMAP_PARAM (RGBD, ProximityPathMaxNeighbors, int, 0,"Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans.")
 
 RTABMAP_PARAM (RGBD, ProximityPathRawPosesUsed, bool, true,"When comparing to a local path, merge the scan using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.")
 
 RTABMAP_PARAM (RGBD, ProximityAngle, float, 45,"Maximum angle (degrees) for visual proximity detection.")
 
 RTABMAP_PARAM (Optimizer, Strategy, int, 0,"Graph optimization strategy: 0=TORO, 1=g2o and 2=GTSAM.")
 
 RTABMAP_PARAM (Optimizer, Iterations, int, 100,"Optimization iterations.")
 
 RTABMAP_PARAM (Optimizer, Epsilon, double, 0.00001,"Stop optimizing when the error improvement is less than this value.")
 
 RTABMAP_PARAM (Optimizer, VarianceIgnored, bool, false,"Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.")
 
 RTABMAP_PARAM (Optimizer, Robust, bool, false, uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str()))
 
 RTABMAP_PARAM (Optimizer, PriorsIgnored, bool, true,"Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.")
 
 RTABMAP_PARAM (g2o, Solver, int, 0,"0=csparse 1=pcg 2=cholmod 3=Eigen")
 
 RTABMAP_PARAM (g2o, Optimizer, int, 0,"0=Levenberg 1=GaussNewton")
 
 RTABMAP_PARAM (g2o, PixelVariance, double, 1.0,"Pixel variance used for bundle adjustment.")
 
 RTABMAP_PARAM (g2o, RobustKernelDelta, double, 8,"Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass.")
 
 RTABMAP_PARAM (g2o, Baseline, double, 0.075,"When doing bundle adjustment with RGB-D data, we can set a fake baseline (m) to do stereo bundle adjustment (if 0, mono bundle adjustment is done). For stereo data, the baseline in the calibration is used directly.")
 
 RTABMAP_PARAM (GTSAM, Optimizer, int, 1,"0=Levenberg 1=GaussNewton 2=Dogleg")
 
 RTABMAP_PARAM (Odom, Strategy, int, 0,"0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO")
 
 RTABMAP_PARAM (Odom, ResetCountdown, int, 0,"Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset).")
 
 RTABMAP_PARAM (Odom, Holonomic, bool, true,"If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).")
 
 RTABMAP_PARAM (Odom, FillInfoData, bool, true,"Fill info with data (inliers/outliers features).")
 
 RTABMAP_PARAM (Odom, ImageBufferSize, unsigned int, 1,"Data buffer size (0 min inf).")
 
 RTABMAP_PARAM (Odom, FilteringStrategy, int, 0,"0=No filtering 1=Kalman filtering 2=Particle filtering")
 
 RTABMAP_PARAM (Odom, ParticleSize, unsigned int, 400,"Number of particles of the filter.")
 
 RTABMAP_PARAM (Odom, ParticleNoiseT, float, 0.002,"Noise (m) of translation components (x,y,z).")
 
 RTABMAP_PARAM (Odom, ParticleLambdaT, float, 100,"Lambda of translation components (x,y,z).")
 
 RTABMAP_PARAM (Odom, ParticleNoiseR, float, 0.002,"Noise (rad) of rotational components (roll,pitch,yaw).")
 
 RTABMAP_PARAM (Odom, ParticleLambdaR, float, 100,"Lambda of rotational components (roll,pitch,yaw).")
 
 RTABMAP_PARAM (Odom, KalmanProcessNoise, float, 0.001,"Process noise covariance value.")
 
 RTABMAP_PARAM (Odom, KalmanMeasurementNoise, float, 0.01,"Process measurement covariance value.")
 
 RTABMAP_PARAM (Odom, GuessMotion, bool, true,"Guess next transformation from the last motion computed.")
 
 RTABMAP_PARAM (Odom, KeyFrameThr, float, 0.3,"[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.")
 
 RTABMAP_PARAM (Odom, VisKeyFrameThr, int, 150,"[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.")
 
 RTABMAP_PARAM (Odom, ScanKeyFrameThr, float, 0.9,"[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.")
 
 RTABMAP_PARAM (Odom, ImageDecimation, int, 1,"Decimation of the images before registration. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).")
 
 RTABMAP_PARAM (Odom, AlignWithGround, bool, false,"Align odometry with the ground on initialization.")
 
 RTABMAP_PARAM (OdomF2M, MaxSize, int, 2000,"[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.")
 
 RTABMAP_PARAM (OdomF2M, MaxNewFeatures, int, 0,"[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.")
 
 RTABMAP_PARAM (OdomF2M, ScanMaxSize, int, 2000,"[Geometry] Maximum local scan map size.")
 
 RTABMAP_PARAM (OdomF2M, ScanSubtractRadius, float, 0.05,"[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.")
 
 RTABMAP_PARAM (OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str())
 
 RTABMAP_PARAM (OdomF2M, BundleAdjustment, int, 0,"Local bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.")
 
 RTABMAP_PARAM (OdomF2M, BundleAdjustmentMaxFrames, int, 10,"Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).")
 
 RTABMAP_PARAM (OdomMono, InitMinFlow, float, 100,"Minimum optical flow required for the initialization step.")
 
 RTABMAP_PARAM (OdomMono, InitMinTranslation, float, 0.1,"Minimum translation required for the initialization step.")
 
 RTABMAP_PARAM (OdomMono, MinTranslation, float, 0.02,"Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.")
 
 RTABMAP_PARAM (OdomMono, MaxVariance, float, 0.01,"Maximum variance to add new points to local map.")
 
 RTABMAP_PARAM (OdomFovis, FeatureWindowSize, int, 9,"The size of the n x n image patch surrounding each feature, used for keypoint matching.")
 
 RTABMAP_PARAM (OdomFovis, MaxPyramidLevel, int, 3,"The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.")
 
 RTABMAP_PARAM (OdomFovis, MinPyramidLevel, int, 0,"The minimum pyramid level.")
 
 RTABMAP_PARAM (OdomFovis, TargetPixelsPerFeature, int, 250,"Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.")
 
 RTABMAP_PARAM (OdomFovis, FastThreshold, int, 20,"FAST threshold.")
 
 RTABMAP_PARAM (OdomFovis, UseAdaptiveThreshold, bool, true,"Use FAST adaptive threshold.")
 
 RTABMAP_PARAM (OdomFovis, FastThresholdAdaptiveGain, double, 0.005,"FAST threshold adaptive gain.")
 
 RTABMAP_PARAM (OdomFovis, UseHomographyInitialization, bool, true,"Use homography initialization.")
 
 RTABMAP_PARAM (OdomFovis, UseBucketing, bool, true,"")
 
 RTABMAP_PARAM (OdomFovis, BucketWidth, int, 80,"")
 
 RTABMAP_PARAM (OdomFovis, BucketHeight, int, 80,"")
 
 RTABMAP_PARAM (OdomFovis, MaxKeypointsPerBucket, int, 25,"")
 
 RTABMAP_PARAM (OdomFovis, UseImageNormalization, bool, false,"")
 
 RTABMAP_PARAM (OdomFovis, InlierMaxReprojectionError, double, 1.5,"The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.")
 
 RTABMAP_PARAM (OdomFovis, CliqueInlierThreshold, double, 0.1,"See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.")
 
 RTABMAP_PARAM (OdomFovis, MinFeaturesForEstimate, int, 20,"Minimum number of features in the inlier set for the motion estimate to be considered valid.")
 
 RTABMAP_PARAM (OdomFovis, MaxMeanReprojectionError, double, 10.0,"Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.")
 
 RTABMAP_PARAM (OdomFovis, UseSubpixelRefinement, bool, true,"Specifies whether or not to refine feature matches to subpixel resolution.")
 
 RTABMAP_PARAM (OdomFovis, FeatureSearchWindow, int, 25,"Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.")
 
 RTABMAP_PARAM (OdomFovis, UpdateTargetFeaturesWithRefined, bool, false,"When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.")
 
 RTABMAP_PARAM (OdomFovis, StereoRequireMutualMatch, bool, true,"")
 
 RTABMAP_PARAM (OdomFovis, StereoMaxDistEpipolarLine, double, 1.5,"")
 
 RTABMAP_PARAM (OdomFovis, StereoMaxRefinementDisplacement, double, 1.0,"")
 
 RTABMAP_PARAM (OdomFovis, StereoMaxDisparity, int, 128,"")
 
 RTABMAP_PARAM (OdomViso2, RansacIters, int, 200,"Number of RANSAC iterations.")
 
 RTABMAP_PARAM (OdomViso2, InlierThreshold, double, 2.0,"Fundamental matrix inlier threshold.")
 
 RTABMAP_PARAM (OdomViso2, Reweighting, bool, true,"Lower border weights (more robust to calibration errors).")
 
 RTABMAP_PARAM (OdomViso2, MatchNmsN, int, 3,"Non-max-suppression: min. distance between maxima (in pixels).")
 
 RTABMAP_PARAM (OdomViso2, MatchNmsTau, int, 50,"Non-max-suppression: interest point peakiness threshold.")
 
 RTABMAP_PARAM (OdomViso2, MatchBinsize, int, 50,"Matching bin width/height (affects efficiency only).")
 
 RTABMAP_PARAM (OdomViso2, MatchRadius, int, 200,"Matching radius (du/dv in pixels).")
 
 RTABMAP_PARAM (OdomViso2, MatchDispTolerance, int, 2,"Disparity tolerance for stereo matches (in pixels).")
 
 RTABMAP_PARAM (OdomViso2, MatchOutlierDispTolerance, int, 5,"Outlier removal: disparity tolerance (in pixels).")
 
 RTABMAP_PARAM (OdomViso2, MatchOutlierFlowTolerance, int, 5,"Outlier removal: flow tolerance (in pixels).")
 
 RTABMAP_PARAM (OdomViso2, MatchMultiStage, bool, true,"Multistage matching (denser and faster).")
 
 RTABMAP_PARAM (OdomViso2, MatchHalfResolution, bool, true,"Match at half resolution, refine at full resolution.")
 
 RTABMAP_PARAM (OdomViso2, MatchRefinement, int, 1,"Refinement (0=none,1=pixel,2=subpixel).")
 
 RTABMAP_PARAM (OdomViso2, BucketMaxFeatures, int, 2,"Maximal number of features per bucket.")
 
 RTABMAP_PARAM (OdomViso2, BucketWidth, double, 50,"Width of bucket.")
 
 RTABMAP_PARAM (OdomViso2, BucketHeight, double, 50,"Height of bucket.")
 
 RTABMAP_PARAM (OdomORBSLAM2, Bf, double, 0.076,"Fake IR projector baseline (m) used only when stereo is not used.")
 
 RTABMAP_PARAM (OdomORBSLAM2, ThDepth, double, 40.0,"Close/Far threshold. Baseline times.")
 
 RTABMAP_PARAM (OdomORBSLAM2, Fps, float, 0.0,"Camera FPS.")
 
 RTABMAP_PARAM (OdomORBSLAM2, MaxFeatures, int, 1000,"Maximum ORB features extracted per frame.")
 
 RTABMAP_PARAM (OdomORBSLAM2, MapSize, int, 3000,"Maximum size of the feature map (0 means infinite).")
 
 RTABMAP_PARAM (OdomLOAM, Sensor, int, 2,"Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E")
 
 RTABMAP_PARAM (OdomLOAM, ScanPeriod, float, 0.1,"Scan period (s)")
 
 RTABMAP_PARAM (OdomLOAM, LinVar, float, 0.01,"Linear output variance.")
 
 RTABMAP_PARAM (OdomLOAM, AngVar, float, 0.01,"Angular output variance.")
 
 RTABMAP_PARAM (OdomLOAM, LocalMapping, bool, true,"Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.")
 
 RTABMAP_PARAM (OdomMSCKF, GridRow, int, 4,"")
 
 RTABMAP_PARAM (OdomMSCKF, GridCol, int, 5,"")
 
 RTABMAP_PARAM (OdomMSCKF, GridMinFeatureNum, int, 3,"")
 
 RTABMAP_PARAM (OdomMSCKF, GridMaxFeatureNum, int, 4,"")
 
 RTABMAP_PARAM (OdomMSCKF, PyramidLevels, int, 3,"")
 
 RTABMAP_PARAM (OdomMSCKF, PatchSize, int, 15,"")
 
 RTABMAP_PARAM (OdomMSCKF, FastThreshold, int, 10,"")
 
 RTABMAP_PARAM (OdomMSCKF, MaxIteration, int, 30,"")
 
 RTABMAP_PARAM (OdomMSCKF, TrackPrecision, double, 0.01,"")
 
 RTABMAP_PARAM (OdomMSCKF, RansacThreshold, double, 3,"")
 
 RTABMAP_PARAM (OdomMSCKF, StereoThreshold, double, 5,"")
 
 RTABMAP_PARAM (OdomMSCKF, PositionStdThreshold, double, 8.0,"")
 
 RTABMAP_PARAM (OdomMSCKF, RotationThreshold, double, 0.2618,"")
 
 RTABMAP_PARAM (OdomMSCKF, TranslationThreshold, double, 0.4,"")
 
 RTABMAP_PARAM (OdomMSCKF, TrackingRateThreshold, double, 0.5,"")
 
 RTABMAP_PARAM (OdomMSCKF, OptTranslationThreshold, double, 0,"")
 
 RTABMAP_PARAM (OdomMSCKF, NoiseGyro, double, 0.005,"")
 
 RTABMAP_PARAM (OdomMSCKF, NoiseAcc, double, 0.05,"")
 
 RTABMAP_PARAM (OdomMSCKF, NoiseGyroBias, double, 0.001,"")
 
 RTABMAP_PARAM (OdomMSCKF, NoiseAccBias, double, 0.01,"")
 
 RTABMAP_PARAM (OdomMSCKF, NoiseFeature, double, 0.035,"")
 
 RTABMAP_PARAM (OdomMSCKF, InitCovVel, double, 0.25,"")
 
 RTABMAP_PARAM (OdomMSCKF, InitCovGyroBias, double, 0.01,"")
 
 RTABMAP_PARAM (OdomMSCKF, InitCovAccBias, double, 0.01,"")
 
 RTABMAP_PARAM (OdomMSCKF, InitCovExRot, double, 0.00030462,"")
 
 RTABMAP_PARAM (OdomMSCKF, InitCovExTrans, double, 0.000025,"")
 
 RTABMAP_PARAM (OdomMSCKF, MaxCamStateSize, int, 20,"")
 
 RTABMAP_PARAM (Reg, RepeatOnce, bool, true,"Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.")
 
 RTABMAP_PARAM (Reg, Strategy, int, 0,"0=Vis, 1=Icp, 2=VisIcp")
 
 RTABMAP_PARAM (Reg, Force3DoF, bool, false,"Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.")
 
 RTABMAP_PARAM (Vis, EstimationType, int, 1,"Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)")
 
 RTABMAP_PARAM (Vis, ForwardEstOnly, bool, true,"Forward estimation only (A->B). If false, a transformation is also computed in backward direction (B->A), then the two resulting transforms are merged (middle interpolation between the transforms).")
 
 RTABMAP_PARAM (Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()))
 
 RTABMAP_PARAM (Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()))
 
 RTABMAP_PARAM (Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()))
 
 RTABMAP_PARAM (Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()))
 
 RTABMAP_PARAM (Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()))
 
 RTABMAP_PARAM (Vis, EpipolarGeometryVar, float, 0.02, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()))
 
 RTABMAP_PARAM (Vis, MinInliers, int, 20,"Minimum feature correspondences to compute/accept the transformation.")
 
 RTABMAP_PARAM (Vis, Iterations, int, 300,"Maximum iterations to compute the transform.")
 
 RTABMAP_PARAM (Vis, FeatureType, int, 6,"0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE.")
 
 RTABMAP_PARAM (Vis, MaxFeatures, int, 1000,"0 no limits.")
 
 RTABMAP_PARAM (Vis, MaxDepth, float, 0,"Max depth of the features (0 means no limit).")
 
 RTABMAP_PARAM (Vis, MinDepth, float, 0,"Min depth of the features (0 means no limit).")
 
 RTABMAP_PARAM (Vis, DepthAsMask, bool, true,"Use depth image as mask when extracting features.")
 
 RTABMAP_PARAM (Vis, SubPixWinSize, int, 3,"See cv::cornerSubPix().")
 
 RTABMAP_PARAM (Vis, SubPixIterations, int, 0,"See cv::cornerSubPix(). 0 disables sub pixel refining.")
 
 RTABMAP_PARAM (Vis, SubPixEps, float, 0.02,"See cv::cornerSubPix().")
 
 RTABMAP_PARAM (Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()))
 
 RTABMAP_PARAM (Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()))
 
 RTABMAP_PARAM (Vis, CorType, int, 0,"Correspondences computation approach: 0=Features Matching, 1=Optical Flow")
 
 RTABMAP_PARAM (Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorNNDR, float, 0.6, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorGuessWinSize, int, 20, 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()))
 
 RTABMAP_PARAM (Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()))
 
 RTABMAP_PARAM (Vis, BundleAdjustment, int, 0,"Optimization with bundle adjustment: 0=disabled, 1=g2o, 2=cvsba.")
 
 RTABMAP_PARAM (Icp, MaxTranslation, float, 0.2,"Maximum ICP translation correction accepted (m).")
 
 RTABMAP_PARAM (Icp, MaxRotation, float, 0.78,"Maximum ICP rotation correction accepted (rad).")
 
 RTABMAP_PARAM (Icp, VoxelSize, float, 0.0,"Uniform sampling voxel size (0=disabled).")
 
 RTABMAP_PARAM (Icp, DownsamplingStep, int, 1,"Downsampling step size (1=no sampling). This is done before uniform sampling.")
 
 RTABMAP_PARAM (Icp, MaxCorrespondenceDistance, float, 0.05,"Max distance for point correspondences.")
 
 RTABMAP_PARAM (Icp, Iterations, int, 30,"Max iterations.")
 
 RTABMAP_PARAM (Icp, Epsilon, float, 0,"Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.")
 
 RTABMAP_PARAM (Icp, CorrespondenceRatio, float, 0.1,"Ratio of matching correspondences to accept the transform.")
 
 RTABMAP_PARAM (Icp, PointToPlane, bool, false,"Use point to plane ICP.")
 
 RTABMAP_PARAM (Icp, PointToPlaneK, int, 5,"Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.")
 
 RTABMAP_PARAM (Icp, PointToPlaneRadius, float, 1.0,"Search radius to compute normals for point to plane if the cloud doesn't have already normals.")
 
 RTABMAP_PARAM (Icp, PointToPlaneMinComplexity, float, 0.02,"Minimum structural complexity (0.0=low, 1.0=high) of the scan to do point to plane registration, otherwise point to point registration is done instead.")
 
 RTABMAP_PARAM (Icp, PM, bool, false,"Use libpointmatcher for ICP registration instead of PCL's implementation.")
 
 RTABMAP_PARAM (Icp, PMMatcherKnn, int, 1,"KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.")
 
 RTABMAP_PARAM (Icp, PMMatcherEpsilon, float, 0.0,"KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.")
 
 RTABMAP_PARAM (Icp, PMOutlierRatio, float, 0.95,"TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point cloud, use 0.65.")
 
 RTABMAP_PARAM (Stereo, WinWidth, int, 15,"Window width.")
 
 RTABMAP_PARAM (Stereo, WinHeight, int, 3,"Window height.")
 
 RTABMAP_PARAM (Stereo, Iterations, int, 30,"Maximum iterations.")
 
 RTABMAP_PARAM (Stereo, MaxLevel, int, 5,"Maximum pyramid level.")
 
 RTABMAP_PARAM (Stereo, MinDisparity, float, 0.5,"Minimum disparity.")
 
 RTABMAP_PARAM (Stereo, MaxDisparity, float, 128.0,"Maximum disparity.")
 
 RTABMAP_PARAM (Stereo, OpticalFlow, bool, true,"Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.")
 
 RTABMAP_PARAM (Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()))
 
 RTABMAP_PARAM (Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()))
 
 RTABMAP_PARAM (StereoBM, BlockSize, int, 15,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, MinDisparity, int, 0,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, NumDisparities, int, 128,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, PreFilterSize, int, 9,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, PreFilterCap, int, 31,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, UniquenessRatio, int, 15,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, TextureThreshold, int, 10,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, SpeckleWindowSize, int, 100,"See cv::StereoBM")
 
 RTABMAP_PARAM (StereoBM, SpeckleRange, int, 4,"See cv::StereoBM")
 
 RTABMAP_PARAM (Grid, FromDepth, bool, true,"Create occupancy grid from depth image(s), otherwise it is created from laser scan.")
 
 RTABMAP_PARAM (Grid, DepthDecimation, int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).", kGridDepthDecimation().c_str()))
 
 RTABMAP_PARAM (Grid, RangeMin, float, 0.0,"Minimum range from sensor.")
 
 RTABMAP_PARAM (Grid, RangeMax, float, 5.0,"Maximum range from sensor. 0=inf.")
 
 RTABMAP_PARAM (Grid, FootprintLength, float, 0.0,"Footprint length used to filter points over the footprint of the robot.")
 
 RTABMAP_PARAM (Grid, FootprintWidth, float, 0.0,"Footprint width used to filter points over the footprint of the robot. Footprint length should be set.")
 
 RTABMAP_PARAM (Grid, FootprintHeight, float, 0.0,"Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.")
 
 RTABMAP_PARAM (Grid, ScanDecimation, int, 1, uFormat("[%s=false] Decimation of the laser scan before creating cloud.", kGridFromDepth().c_str()))
 
 RTABMAP_PARAM (Grid, CellSize, float, 0.05,"Resolution of the occupancy grid.")
 
 RTABMAP_PARAM (Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()))
 
 RTABMAP_PARAM (Grid, MapFrameProjection, bool, false,"Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.")
 
 RTABMAP_PARAM (Grid, NormalsSegmentation, bool, true,"Segment ground from obstacles using point normals, otherwise a fast passthrough is used.")
 
 RTABMAP_PARAM (Grid, MaxObstacleHeight, float, 0.0,"Maximum obstacles height (0=disabled).")
 
 RTABMAP_PARAM (Grid, MinGroundHeight, float, 0.0,"Minimum ground height (0=disabled).")
 
 RTABMAP_PARAM (Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str()))
 
 RTABMAP_PARAM (Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()))
 
 RTABMAP_PARAM (Grid, NoiseFilteringRadius, float, 0.0,"Noise filtering radius (0=disabled). Done after segmentation.")
 
 RTABMAP_PARAM (Grid, NoiseFilteringMinNeighbors, int, 5,"Noise filtering minimum neighbors.")
 
 RTABMAP_PARAM (Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()))
 
 RTABMAP_PARAM (Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()))
 
 RTABMAP_PARAM (GridGlobal, FullUpdate, bool, true,"When the graph is changed, the whole map will be reconstructed instead of moving individually each cells of the map. Also, data added to cache won't be released after updating the map. This process is longer but more robust to drift that would erase some parts of the map when it should not.")
 
 RTABMAP_PARAM (GridGlobal, UpdateError, float, 0.01,"Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.")
 
 RTABMAP_PARAM (GridGlobal, FootprintRadius, float, 0.0,"Footprint radius (m) used to clear all obstacles under the graph.")
 
 RTABMAP_PARAM (GridGlobal, MinSize, float, 0.0,"Minimum map size (m).")
 
 RTABMAP_PARAM (GridGlobal, Eroded, bool, false,"Erode obstacle cells.")
 
 RTABMAP_PARAM (GridGlobal, MaxNodes, int, 0,"Maximum nodes assembled in the map starting from the last node (0=unlimited).")
 
 RTABMAP_PARAM (GridGlobal, OccupancyThr, float, 0.5,"Occupancy threshold (value between 0 and 1).")
 
 RTABMAP_PARAM (GridGlobal, ProbHit, float, 0.7,"Probability of a hit (value between 0.5 and 1).")
 
 RTABMAP_PARAM (GridGlobal, ProbMiss, float, 0.4,"Probability of a miss (value between 0 and 0.5).")
 
 RTABMAP_PARAM (GridGlobal, ProbClampingMin, float, 0.1192,"Probability clamping minimum (value between 0 and 1).")
 
 RTABMAP_PARAM (GridGlobal, ProbClampingMax, float, 0.971,"Probability clamping maximum (value between 0 and 1).")
 
 RTABMAP_PARAM_STR (Rtabmap, WorkingDirectory,"","Working directory.")
 
 RTABMAP_PARAM_STR (Kp, RoiRatios,"0.0 0.0 0.0 0.0","Region of interest ratios [left, right, top, bottom].")
 
 RTABMAP_PARAM_STR (Kp, DictionaryPath,"","Path of the pre-computed dictionary")
 
 RTABMAP_PARAM_STR (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","Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}.")
 
 RTABMAP_PARAM_STR (OdomORBSLAM2, VocPath,"","Path to ORB vocabulary (*.txt).")
 
 RTABMAP_PARAM_STR (OdomOKVIS, ConfigPath,"","Path of OKVIS config file.")
 
 RTABMAP_PARAM_STR (Vis, RoiRatios,"0.0 0.0 0.0 0.0","Region of interest ratios [left, right, top, bottom].")
 
 RTABMAP_PARAM_STR (Icp, PMConfig,"", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str())
 
 RTABMAP_PARAM_STR (Grid, DepthRoiRatios,"0.0 0.0 0.0 0.0", uFormat("[%s=true] Region of interest ratios [left, right, top, bottom].", kGridFromDepth().c_str()))
 

Static Private Attributes

static ParametersMap backwardCompatibilityMap_
 
static ParametersMap descriptions_
 
static Parameters instance_
 
static ParametersMap parameters_
 
static ParametersMap parametersType_
 
static std::map< std::string, std::pair< bool, std::string > > removedParameters_
 

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() TODO Add a detailed example with simple classes

Definition at line 168 of file Parameters.h.

Constructor & Destructor Documentation

rtabmap::Parameters::~Parameters ( )
virtual

Definition at line 54 of file Parameters.cpp.

rtabmap::Parameters::Parameters ( )
private

Definition at line 50 of file Parameters.cpp.

Member Function Documentation

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

Definition at line 58 of file Parameters.cpp.

ParametersMap rtabmap::Parameters::deserialize ( const std::string &  parameters)
static

Definition at line 101 of file Parameters.cpp.

ParametersMap rtabmap::Parameters::filterParameters ( const ParametersMap parameters,
const std::string &  group 
)
static

Definition at line 209 of file Parameters.cpp.

const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap ( )
static

<NewKeyName, OldKeyName>

Definition at line 396 of file Parameters.cpp.

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

Definition at line 80 of file Parameters.cpp.

rtabmap::ParametersMap rtabmap::Parameters::getDefaultOdometryParameters ( bool  stereo = false,
bool  vis = true,
bool  icp = false 
)
static

Definition at line 164 of file Parameters.cpp.

static const ParametersMap& rtabmap::Parameters::getDefaultParameters ( )
inlinestatic

Get default parameters

Definition at line 695 of file Parameters.h.

ParametersMap rtabmap::Parameters::getDefaultParameters ( const std::string &  group)
static

Definition at line 192 of file Parameters.cpp.

std::string rtabmap::Parameters::getDescription ( const std::string &  paramKey)
static

Get parameter description

Definition at line 431 of file Parameters.cpp.

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

Definition at line 224 of file Parameters.cpp.

std::string rtabmap::Parameters::getType ( const std::string &  paramKey)
static

Get parameter type

Definition at line 416 of file Parameters.cpp.

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

Definition at line 74 of file Parameters.cpp.

bool rtabmap::Parameters::isFeatureParameter ( const std::string &  param)
static

Definition at line 150 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
bool &  value 
)
static

Definition at line 446 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
int &  value 
)
static

Definition at line 456 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
unsigned int &  value 
)
static

Definition at line 466 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
float &  value 
)
static

Definition at line 476 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
double &  value 
)
static

Definition at line 486 of file Parameters.cpp.

bool rtabmap::Parameters::parse ( const ParametersMap parameters,
const std::string &  key,
std::string &  value 
)
static

Definition at line 496 of file Parameters.cpp.

void rtabmap::Parameters::parse ( const ParametersMap parameters,
ParametersMap parametersOut 
)
static

Definition at line 506 of file Parameters.cpp.

ParametersMap rtabmap::Parameters::parseArguments ( int  argc,
char *  argv[],
bool  onlyParameters = false 
)
static

Definition at line 543 of file Parameters.cpp.

void rtabmap::Parameters::readINI ( const std::string &  configFile,
ParametersMap parameters,
bool  modifiedOnly = false 
)
static

Definition at line 953 of file Parameters.cpp.

rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
PublishStats  ,
bool  ,
true  ,
"Publishing statistics."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
PublishLastSignature  ,
bool  ,
true  ,
"Publishing last signature."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
PublishPdf  ,
bool  ,
true  ,
"Publishing pdf."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
PublishLikelihood  ,
bool  ,
true  ,
"Publishing likelihood."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
PublishRAMUsage  ,
bool  ,
false  ,
"Publishing RAM usage in statistics (may add a small overhead to get info from the system)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
ComputeRMSE  ,
bool  ,
true  ,
"Compute root mean square error (RMSE) and publish it in  statistics,
if ground truth is provided."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
SaveWMState  ,
bool  ,
false  ,
"Save working memory state after each update in statistics."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
TimeThr  ,
float  ,
,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
MemoryThr  ,
int  ,
,
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())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
DetectionRate  ,
float  ,
,
"Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
ImageBufferSize  ,
unsigned  int,
,
"Data buffer size (0 min inf)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
CreateIntermediateNodes  ,
bool  ,
false  ,
uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
MaxRetrieved  ,
unsigned  int,
,
"Maximum locations retrieved at the same time from LTM."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
StatisticLogsBufferedInRAM  ,
bool  ,
true  ,
"Statistic logs buffered in RAM instead of written to hard drive after each iteration."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
StatisticLogged  ,
bool  ,
false  ,
"Logging enabled."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
StatisticLoggedHeaders  ,
bool  ,
true  ,
"Add column header description to log files."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
StartNewMapOnLoopClosure  ,
bool  ,
false  ,
"Start a new map only if there is a global loop closure with a previous map."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
StartNewMapOnGoodSignature  ,
bool  ,
false  ,
uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
ImagesAlreadyRectified  ,
bool  ,
true  ,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
RectifyOnlyFeatures  ,
bool  ,
false  ,
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())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
LoopThr  ,
float  ,
0.  11,
"Loop closing threshold."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Rtabmap  ,
LoopRatio  ,
float  ,
,
"The loop closure hypothesis must be over LoopRatio x lastHypothesisValue."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
RehearsalSimilarity  ,
float  ,
0.  6,
"Rehearsal similarity."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
ImageKept  ,
bool  ,
false  ,
"Keep raw images in RAM."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
BinDataKept  ,
bool  ,
true  ,
"Keep binary data in db."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
RawDescriptorsKept  ,
bool  ,
true  ,
"Raw descriptors kept in memory."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
MapLabelsAdded  ,
bool  ,
true  ,
"Create map labels. The first node of a map will be labelled as \"map#\" where # is the map ID."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
SaveDepth16Format  ,
bool  ,
false  ,
"Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
NotLinkedNodesKept  ,
bool  ,
true  ,
"Keep not linked nodes in db (rehearsed nodes and deleted nodes)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
IntermediateNodeDataKept  ,
bool  ,
false  ,
"Keep intermediate node data in db."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
STMSize  ,
unsigned  int,
10  ,
"Short-term memory size."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
IncrementalMemory  ,
bool  ,
true  ,
"SLAM  mode,
otherwise it is Localization mode."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
ReduceGraph  ,
bool  ,
false  ,
"Reduce graph. Merge nodes when loop closures are added (ignoring those with user data set)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
RecentWmRatio  ,
float  ,
0.  2,
"Ratio of locations after the last loop closure in WM that cannot be transferred."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
TransferSortingByWeightId  ,
bool  ,
false  ,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
RehearsalIdUpdatedToNewOne  ,
bool  ,
false  ,
"On  merge,
update to new id.When  false,
no copy."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
RehearsalWeightIgnoredWhileMoving  ,
bool  ,
false  ,
"When the robot is  moving,
weights are not updated on rehearsal."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
GenerateIds  ,
bool  ,
true  ,
True = Generate location IDs 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
BadSignaturesIgnored  ,
bool  ,
false  ,
"Bad signatures are ignored."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
InitWMWithAllNodes  ,
bool  ,
false  ,
"Initialize the Working Memory with all nodes in Long-Term Memory. When  false,
it is initialized with nodes of the previous session."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
DepthAsMask  ,
bool  ,
true  ,
"Use depth image as mask when extracting features for vocabulary."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
ImagePreDecimation  ,
int  ,
,
"Image decimation (>=1) before features extraction. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
ImagePostDecimation  ,
int  ,
,
"Image decimation (>=1) of saved data in created signatures (after features extraction). Decimation is done from the original image. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
CompressionParallelized  ,
bool  ,
true  ,
"Compression of sensor data is multi-threaded."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
LaserScanDownsampleStepSize  ,
int  ,
,
If,
,
downsample the laser scans when creating a signature."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
LaserScanVoxelSize  ,
float  ,
0.  0,
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()).c_str()   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
LaserScanNormalK  ,
int  ,
,
If,
0 and laser scans don't have  normals,
normals will be computed with K search neighbors when creating a signature."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
LaserScanNormalRadius  ,
float  ,
0.  0,
If,
0 m and laser scans don't have  normals,
normals will be computed with radius search neighbors when creating a signature."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
UseOdomFeatures  ,
bool  ,
true  ,
"Use odometry features."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Mem  ,
CovOffDiagIgnored  ,
bool  ,
true  ,
"Ignore off diagonal values of the covariance matrix."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
NNStrategy  ,
int  ,
,
kNNFlannNaive = 0,
kNNFlannKdTree  = 1,
kNNFlannLSH  = 2,
kNNBruteForce  = 3 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
IncrementalDictionary  ,
bool  ,
true  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
IncrementalFlann  ,
bool  ,
true  ,
uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
FlannRebalancingFactor  ,
float  ,
2.  0,
uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
MaxDepth  ,
float  ,
,
"Filter extracted keypoints by depth (0=inf)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
MinDepth  ,
float  ,
,
"Filter extracted keypoints by depth."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
MaxFeatures  ,
int  ,
500  ,
"Maximum features extracted from the images (0 means not bounded, <0 means no extraction)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
BadSignRatio  ,
float  ,
0.  5,
"Bad signature ratio (less than Ratio x AverageWordsPerImage = bad)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
NndrRatio  ,
float  ,
0.  8,
"NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
DetectorStrategy  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
TfIdfLikelihoodUsed  ,
bool  ,
true  ,
"Use of the td-idf strategy to compute the likelihood."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
Parallelized  ,
bool  ,
true  ,
"If the dictionary update and signature creation were parallelized."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
NewWordsComparedTogether  ,
bool  ,
true  ,
"When adding new words to  dictionary,
they are compared also with each other(to detect same words in the same signature)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
SubPixWinSize  ,
int  ,
,
"See cv::cornerSubPix()."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
SubPixIterations  ,
int  ,
,
"See cv::cornerSubPix(). 0 disables sub pixel refining."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
SubPixEps  ,
double  ,
0.  02,
"See cv::cornerSubPix()."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
GridRows  ,
int  ,
,
uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Kp  ,
GridCols  ,
int  ,
,
uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( DbSqlite3  ,
InMemory  ,
bool  ,
false  ,
"Using database in the memory instead of a file on the hard disk."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( DbSqlite3  ,
CacheSize  ,
unsigned  int,
10000  ,
"Sqlite cache size (default is 2000)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( DbSqlite3  ,
JournalMode  ,
int  ,
,
0 = DELETE,
= TRUNCATE,
= PERSIST,
= MEMORY 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( DbSqlite3  ,
Synchronous  ,
int  ,
,
0 = OFF,
= NORMAL 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( DbSqlite3  ,
TempStore  ,
int  ,
,
0 = DEFAULT,
= FILE 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
Extended  ,
bool  ,
false  ,
"Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
HessianThreshold  ,
float  ,
500  ,
"Threshold for hessian keypoint detector used in SURF."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
Octaves  ,
int  ,
,
"Number of pyramid octaves the keypoint detector will use."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
OctaveLayers  ,
int  ,
,
"Number of octave layers within each octave."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
Upright  ,
bool  ,
false  ,
"Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
GpuVersion  ,
bool  ,
false  ,
"GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SURF  ,
GpuKeypointsRatio  ,
float  ,
0.  01,
"Used with SURF GPU."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SIFT  ,
NFeatures  ,
int  ,
,
"The number of best features to retain. The features are ranked by their scores (measured in SIFT algorithm as the local contrast)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SIFT  ,
NOctaveLayers  ,
int  ,
,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SIFT  ,
ContrastThreshold  ,
double  ,
0.  04,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SIFT  ,
EdgeThreshold  ,
double  ,
10  ,
"The threshold used to filter out edge-like features. Note that the its meaning is different from the  contrastThreshold,
i.e.the larger the  edgeThreshold,
the less features are filtered out(more features are retained)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( SIFT  ,
Sigma  ,
double  ,
1.  6,
"The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft  lenses,
you might want to reduce the number."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( BRIEF  ,
Bytes  ,
int  ,
32  ,
"Bytes is a length of descriptor in bytes. It can be equal  16,
32 or 64 bytes."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
Threshold  ,
int  ,
20  ,
"Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
NonmaxSuppression  ,
bool  ,
true  ,
"If  true,
non-maximum suppression is applied to detected corners(keypoints)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
Gpu  ,
bool  ,
false  ,
"GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
GpuKeypointsRatio  ,
double  ,
0.  05,
"Used with FAST GPU."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
MinThreshold  ,
int  ,
,
"Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
MaxThreshold  ,
int  ,
200  ,
"Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
GridRows  ,
int  ,
,
"Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FAST  ,
GridCols  ,
int  ,
,
"Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GFTT  ,
QualityLevel  ,
double  ,
0.  001,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GFTT  ,
MinDistance  ,
double  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GFTT  ,
BlockSize  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GFTT  ,
UseHarrisDetector  ,
bool  ,
false  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GFTT  ,
,
double  ,
0.  04,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
ScaleFactor  ,
float  ,
1.  2,
"Pyramid decimation  ratio,
greater than 1.  scaleFactor = =2 means the classical pyramid,
where each next level has 4x less pixels than the  previous,
but such a big scale factor will degrade feature matching scores dramatically.On the other  hand,
too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
NLevels  ,
int  ,
,
"The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
EdgeThreshold  ,
int  ,
31  ,
"This is size of the border where the features are not detected. It should roughly match the patchSize parameter."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
FirstLevel  ,
int  ,
,
"It should be 0 in the current implementation."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
WTA_K  ,
int  ,
,
"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   pointsof 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)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
ScoreType  ,
int  ,
,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
PatchSize  ,
int  ,
31  ,
"size of the patch used by the oriented BRIEF descriptor. Of  course,
on smaller pyramid layers the perceived image area covered by a feature will be larger."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( ORB  ,
Gpu  ,
bool  ,
false  ,
"GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FREAK  ,
OrientationNormalized  ,
bool  ,
true  ,
"Enable orientation normalization."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FREAK  ,
ScaleNormalized  ,
bool  ,
true  ,
"Enable scale normalization."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FREAK  ,
PatternScale  ,
float  ,
22  ,
"Scaling of the description pattern."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( FREAK  ,
NOctaves  ,
int  ,
,
"Number of octaves covered by the detected keypoints."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( BRISK  ,
Thresh  ,
int  ,
30  ,
"FAST/AGAST detection threshold score."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( BRISK  ,
Octaves  ,
int  ,
,
"Detection octaves. Use 0 to do single scale."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( BRISK  ,
PatternScale  ,
float  ,
,
"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
Extended  ,
bool  ,
false  ,
"Set to enable extraction of extended (128-byte) descriptor."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
Upright  ,
bool  ,
false  ,
"Set to enable use of upright descriptors (non rotation-invariant)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
Threshold  ,
float  ,
0.  001,
"Detector response threshold to accept point."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
NOctaves  ,
int  ,
,
"Maximum octave evolution of the image."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
NOctaveLayers  ,
int  ,
,
"Default number of sublevels per scale level."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( KAZE  ,
Diffusivity  ,
int  ,
,
"Diffusivity type:  0 = DIFF_PM_G1,
= DIFF_PM_G2 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Bayes  ,
VirtualPlacePriorThr  ,
float  ,
0.  9,
"Virtual place prior"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Bayes  ,
FullPredictionUpdate  ,
bool  ,
false  ,
"Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( VhEp  ,
Enabled  ,
bool  ,
false  ,
uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( VhEp  ,
MatchCountMin  ,
int  ,
,
"Minimum of matching visual words pairs to accept the loop hypothesis."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( VhEp  ,
RansacParam1  ,
float  ,
,
"Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( VhEp  ,
RansacParam2  ,
float  ,
0.  99,
"Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
Enabled  ,
bool  ,
true  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LinearUpdate  ,
float  ,
0.  1,
"Minimum linear displacement (m) to update the map. Rehearsal is done prior to  this,
so weights are still updated."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
AngularUpdate  ,
float  ,
0.  1,
"Minimum angular displacement (rad) to update the map. Rehearsal is done prior to  this,
so weights are still updated."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LinearSpeedUpdate  ,
float  ,
0.  0,
"Maximum linear speed (m/s) to update the map (0 means not limit)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
AngularSpeedUpdate  ,
float  ,
0.  0,
"Maximum angular speed (rad/s) to update the map (0 means not limit)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
NewMapOdomChangeDistance  ,
float  ,
,
"A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
OptimizeFromGraphEnd  ,
bool  ,
false  ,
"Optimize graph from the newest node. If  false,
the graph is optimized from the oldest node of the current graph(this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node).Warning when set to false:when some nodes are  transferred,
the first referential of the local map may  change,
resulting in momentary changes in robot/map position(which are annoying in teleoperation)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
OptimizeMaxError  ,
float  ,
1.  0,
uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. Not compatible with \"%s\" if enabled.", kOptimizerRobust().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
SavedLocalizationIgnored  ,
bool  ,
false  ,
"Ignore last saved localization pose from previous session. If  true,
RTAB-Map won't assume it is restarting from the same place than where it shut down previously."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
GoalReachedRadius  ,
float  ,
0.  5,
"Goal reached radius (m)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
PlanStuckIterations  ,
int  ,
,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
PlanLinearVelocity  ,
float  ,
,
"Linear velocity (m/sec) used to compute path weights."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
PlanAngularVelocity  ,
float  ,
,
"Angular velocity (rad/sec) used to compute path weights."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
GoalsSavedInUserData  ,
bool  ,
false  ,
"When a goal is received and processed with  success,
it is saved in user data of the location with this format:\"GOAL:#\"."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
MaxLocalRetrieved  ,
unsigned  int,
,
"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)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LocalRadius  ,
float  ,
10  ,
"Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LocalImmunizationRatio  ,
float  ,
0.  25,
"Ratio of working memory for which local nodes are immunized from transfer."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ScanMatchingIdsSavedInLinks  ,
bool  ,
true  ,
"Save scan matching IDs in link's user data."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
NeighborLinkRefining  ,
bool  ,
false  ,
uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LoopClosureReextractFeatures  ,
bool  ,
false  ,
"Extract features even if there are some already in the nodes."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
LocalBundleOnLoopClosure  ,
bool  ,
false  ,
"Do local bundle adjustment with neighborhood of the loop closure."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
CreateOccupancyGrid  ,
bool  ,
false  ,
"Create local occupancy grid maps. See \"Grid\" group for parameters."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityByTime  ,
bool  ,
false  ,
"Detection over all locations in STM."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityBySpace  ,
bool  ,
true  ,
"Detection over locations (in Working Memory) near in space."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityMaxGraphDepth  ,
int  ,
50  ,
"Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityMaxPaths  ,
int  ,
,
"Maximum paths compared (from the most recent) for proximity detection by space. 0 means no limit."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityPathFilteringRadius  ,
float  ,
,
"Path filtering radius to reduce the number of nodes to compare in a path. A path should also be inside that radius to be considered for proximity detection."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityPathMaxNeighbors  ,
int  ,
,
"Maximum neighbor nodes compared on each path. Set to 0 to disable merging the laser scans."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityPathRawPosesUsed  ,
bool  ,
true  ,
"When comparing to a local  path,
merge the scan using the odometry poses(with neighbor link optimizations) instead of the ones in the optimized local graph."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( RGBD  ,
ProximityAngle  ,
float  ,
45  ,
"Maximum angle (degrees) for visual proximity detection."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
Strategy  ,
int  ,
,
"Graph optimization strategy:  0 = TORO 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
Iterations  ,
int  ,
100  ,
"Optimization iterations."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
Epsilon  ,
double  ,
0.  00001,
"Stop optimizing when the error improvement is less than this value."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
VarianceIgnored  ,
bool  ,
false  ,
"Ignore constraints' variance. If  checked,
identity information matrix is used for each constraint.  Otherwise,
an information matrix is generated from the variance saved in the links."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
Robust  ,
bool  ,
false  ,
uFormat("Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies). Not compatible with \"%s\" if enabled.", kRGBDOptimizeMaxError().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Optimizer  ,
PriorsIgnored  ,
bool  ,
true  ,
"Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( g2o  ,
Solver  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( g2o  ,
Optimizer  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( g2o  ,
PixelVariance  ,
double  ,
1.  0,
"Pixel variance used for bundle adjustment."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( g2o  ,
RobustKernelDelta  ,
double  ,
,
"Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Observations with chi2 over this threshold will be ignored in the second optimization pass."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( g2o  ,
Baseline  ,
double  ,
0.  075,
"When doing bundle adjustment with RGB-D  data,
we can set a fake baseline(m) to do stereo bundle adjustment(if 0, mono bundle adjustment is done).For stereo  data,
the baseline in the calibration is used directly."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GTSAM  ,
Optimizer  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
Strategy  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ResetCountdown  ,
int  ,
,
"Automatically reset odometry after X consecutive images on which odometry cannot be computed (value=0 disables auto-reset)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
Holonomic  ,
bool  ,
true  ,
"If the robot is holonomic (strafing commands can be issued). If  not,
y value will be estimated from x and yaw values(y=x *tan(yaw))."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
FillInfoData  ,
bool  ,
true  ,
"Fill info with data (inliers/outliers features)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ImageBufferSize  ,
unsigned  int,
,
"Data buffer size (0 min inf)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
FilteringStrategy  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ParticleSize  ,
unsigned  int,
400  ,
"Number of particles of the filter."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ParticleNoiseT  ,
float  ,
0.  002,
"Noise (m) of translation components (x,y,z)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ParticleLambdaT  ,
float  ,
100  ,
"Lambda of translation components (x,y,z)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ParticleNoiseR  ,
float  ,
0.  002,
"Noise (rad) of rotational components (roll,pitch,yaw)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ParticleLambdaR  ,
float  ,
100  ,
"Lambda of rotational components (roll,pitch,yaw)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
KalmanProcessNoise  ,
float  ,
0.  001,
"Process noise covariance value."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
KalmanMeasurementNoise  ,
float  ,
0.  01,
"Process measurement covariance value."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
GuessMotion  ,
bool  ,
true  ,
"Guess next transformation from the last motion computed."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
KeyFrameThr  ,
float  ,
0.  3,
" 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."  [Visual] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
VisKeyFrameThr  ,
int  ,
150  ,
" 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."  [Visual] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ScanKeyFrameThr  ,
float  ,
0.  9,
" 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."  [Geometry] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
ImageDecimation  ,
int  ,
,
"Decimation of the images before registration. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Odom  ,
AlignWithGround  ,
bool  ,
false  ,
"Align odometry with the ground on initialization."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
MaxSize  ,
int  ,
2000  ,
" Local map size:  If[Visual],
0(example 5000)  ,
the odometry will maintain a local map of X maximum words."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
MaxNewFeatures  ,
int  ,
,
" Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit."  [Visual] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
ScanMaxSize  ,
int  ,
2000  ,
" Maximum local scan map size."  [Geometry] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
ScanSubtractRadius  ,
float  ,
0.  05,
" Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans."  [Geometry] 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
ScanSubtractAngle  ,
float  ,
45  ,
uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str()   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
BundleAdjustment  ,
int  ,
,
"Local bundle adjustment:  0 = disabled,
= g2o 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomF2M  ,
BundleAdjustmentMaxFrames  ,
int  ,
10  ,
"Maximum frames used for bundle adjustment (0=inf or all current frames in the local map)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMono  ,
InitMinFlow  ,
float  ,
100  ,
"Minimum optical flow required for the initialization step."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMono  ,
InitMinTranslation  ,
float  ,
0.  1,
"Minimum translation required for the initialization step."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMono  ,
MinTranslation  ,
float  ,
0.  02,
"Minimum translation to add new points to local map. On  initialization,
translation x 5 is used as the minimum."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMono  ,
MaxVariance  ,
float  ,
0.  01,
"Maximum variance to add new points to local map."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
FeatureWindowSize  ,
int  ,
,
"The size of the n x n image patch surrounding each  feature,
used for keypoint matching."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
MaxPyramidLevel  ,
int  ,
,
"The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
MinPyramidLevel  ,
int  ,
,
"The minimum pyramid level."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
TargetPixelsPerFeature  ,
int  ,
250  ,
"Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
FastThreshold  ,
int  ,
20  ,
"FAST threshold."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UseAdaptiveThreshold  ,
bool  ,
true  ,
"Use FAST adaptive threshold."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
FastThresholdAdaptiveGain  ,
double  ,
0.  005,
"FAST threshold adaptive gain."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UseHomographyInitialization  ,
bool  ,
true  ,
"Use homography initialization."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UseBucketing  ,
bool  ,
true  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
BucketWidth  ,
int  ,
80  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
BucketHeight  ,
int  ,
80  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
MaxKeypointsPerBucket  ,
int  ,
25  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UseImageNormalization  ,
bool  ,
false  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
InlierMaxReprojectionError  ,
double  ,
1.  5,
"The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
CliqueInlierThreshold  ,
double  ,
0.  1,
"See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility  threshold,
in meters."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
MinFeaturesForEstimate  ,
int  ,
20  ,
"Minimum number of features in the inlier set for the motion estimate to be considered valid."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
MaxMeanReprojectionError  ,
double  ,
10.  0,
"Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UseSubpixelRefinement  ,
bool  ,
true  ,
"Specifies whether or not to refine feature matches to subpixel resolution."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
FeatureSearchWindow  ,
int  ,
25  ,
"Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
UpdateTargetFeaturesWithRefined  ,
bool  ,
false  ,
"When subpixel refinement is  enabled,
the refined feature locations can be saved over the original feature locations.This has a slightly negative impact on frame-to-frame visual  odometry,
but is likely better when using this library as part of a visual SLAM algorithm."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
StereoRequireMutualMatch  ,
bool  ,
true  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
StereoMaxDistEpipolarLine  ,
double  ,
1.  5,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
StereoMaxRefinementDisplacement  ,
double  ,
1.  0,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomFovis  ,
StereoMaxDisparity  ,
int  ,
128  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
RansacIters  ,
int  ,
200  ,
"Number of RANSAC iterations."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
InlierThreshold  ,
double  ,
2.  0,
"Fundamental matrix inlier threshold."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
Reweighting  ,
bool  ,
true  ,
"Lower border weights (more robust to calibration errors)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchNmsN  ,
int  ,
,
"Non-max-suppression: min. distance between maxima (in pixels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchNmsTau  ,
int  ,
50  ,
"Non-max-suppression: interest point peakiness threshold."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchBinsize  ,
int  ,
50  ,
"Matching bin width/height (affects efficiency only)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchRadius  ,
int  ,
200  ,
"Matching radius (du/dv in pixels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchDispTolerance  ,
int  ,
,
"Disparity tolerance for stereo matches (in pixels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchOutlierDispTolerance  ,
int  ,
,
"Outlier removal: disparity tolerance (in pixels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchOutlierFlowTolerance  ,
int  ,
,
"Outlier removal: flow tolerance (in pixels)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchMultiStage  ,
bool  ,
true  ,
"Multistage matching (denser and faster)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchHalfResolution  ,
bool  ,
true  ,
"Match at half  resolution,
refine at full resolution."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
MatchRefinement  ,
int  ,
,
"Refinement (0=none,1=pixel,2=subpixel)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
BucketMaxFeatures  ,
int  ,
,
"Maximal number of features per bucket."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
BucketWidth  ,
double  ,
50  ,
"Width of bucket."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomViso2  ,
BucketHeight  ,
double  ,
50  ,
"Height of bucket."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomORBSLAM2  ,
Bf  ,
double  ,
0.  076,
"Fake IR projector baseline (m) used only when stereo is not used."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomORBSLAM2  ,
ThDepth  ,
double  ,
40.  0,
"Close/Far threshold. Baseline times."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomORBSLAM2  ,
Fps  ,
float  ,
0.  0,
"Camera FPS."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomORBSLAM2  ,
MaxFeatures  ,
int  ,
1000  ,
"Maximum ORB features extracted per frame."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomORBSLAM2  ,
MapSize  ,
int  ,
3000  ,
"Maximum size of the feature map (0 means infinite)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomLOAM  ,
Sensor  ,
int  ,
,
"Velodyne sensor:  0 = VLP-16,
= HDL-32 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomLOAM  ,
ScanPeriod  ,
float  ,
0.  1,
"Scan period (s)"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomLOAM  ,
LinVar  ,
float  ,
0.  01,
"Linear output variance."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomLOAM  ,
AngVar  ,
float  ,
0.  01,
"Angular output variance."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomLOAM  ,
LocalMapping  ,
bool  ,
true  ,
"Local mapping. It adds more time to compute  odometry,
but accuracy is significantly improved."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
GridRow  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
GridCol  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
GridMinFeatureNum  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
GridMaxFeatureNum  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
PyramidLevels  ,
int  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
PatchSize  ,
int  ,
15  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
FastThreshold  ,
int  ,
10  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
MaxIteration  ,
int  ,
30  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
TrackPrecision  ,
double  ,
0.  01,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
RansacThreshold  ,
double  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
StereoThreshold  ,
double  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
PositionStdThreshold  ,
double  ,
8.  0,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
RotationThreshold  ,
double  ,
0.  2618,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
TranslationThreshold  ,
double  ,
0.  4,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
TrackingRateThreshold  ,
double  ,
0.  5,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
OptTranslationThreshold  ,
double  ,
,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
NoiseGyro  ,
double  ,
0.  005,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
NoiseAcc  ,
double  ,
0.  05,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
NoiseGyroBias  ,
double  ,
0.  001,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
NoiseAccBias  ,
double  ,
0.  01,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
NoiseFeature  ,
double  ,
0.  035,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
InitCovVel  ,
double  ,
0.  25,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
InitCovGyroBias  ,
double  ,
0.  01,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
InitCovAccBias  ,
double  ,
0.  01,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
InitCovExRot  ,
double  ,
0.  00030462,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
InitCovExTrans  ,
double  ,
0.  000025,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( OdomMSCKF  ,
MaxCamStateSize  ,
int  ,
20  ,
""   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Reg  ,
RepeatOnce  ,
bool  ,
true  ,
"Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Reg  ,
Strategy  ,
int  ,
,
0 = Vis,
= Icp 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Reg  ,
Force3DoF  ,
bool  ,
false  ,
"Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters  z,
roll and pitch will be set to 0."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
EstimationType  ,
int  ,
,
"Motion estimation approach: 0:3D->  3D,
1:3D->  2DPnP,
2:2D->2D(Epipolar Geometry)"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
ForwardEstOnly  ,
bool  ,
true  ,
"Forward estimation only (A->B). If  false,
a transformation is also computed in backward   directionB->A,
then the two resulting transforms are merged(middle interpolation between the transforms)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
InlierDistance  ,
float  ,
0.  1,
uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
RefineIterations  ,
int  ,
,
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())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
PnPReprojError  ,
float  ,
,
uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
PnPFlags  ,
int  ,
,
uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
PnPRefineIterations  ,
int  ,
,
uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
EpipolarGeometryVar  ,
float  ,
0.  02,
uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
MinInliers  ,
int  ,
20  ,
"Minimum feature correspondences to compute/accept the transformation."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
Iterations  ,
int  ,
300  ,
"Maximum iterations to compute the transform."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
FeatureType  ,
int  ,
 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
MaxFeatures  ,
int  ,
1000  ,
"0 no limits."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
MaxDepth  ,
float  ,
,
"Max depth of the features (0 means no limit)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
MinDepth  ,
float  ,
,
"Min depth of the features (0 means no limit)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
DepthAsMask  ,
bool  ,
true  ,
"Use depth image as mask when extracting features."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
SubPixWinSize  ,
int  ,
,
"See cv::cornerSubPix()."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
SubPixIterations  ,
int  ,
,
"See cv::cornerSubPix(). 0 disables sub pixel refining."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
SubPixEps  ,
float  ,
0.  02,
"See cv::cornerSubPix()."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
GridRows  ,
int  ,
,
uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
GridCols  ,
int  ,
,
uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorType  ,
int  ,
,
"Correspondences computation approach:  0 = Features Matching 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorNNType  ,
int  ,
,
uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4. Used for features matching approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorNNDR  ,
float  ,
0.  6,
uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for features matching approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorGuessWinSize  ,
int  ,
20  ,
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())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorGuessMatchToProjection  ,
bool  ,
false  ,
uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorFlowWinSize  ,
int  ,
16  ,
uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorFlowIterations  ,
int  ,
30  ,
uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorFlowEps  ,
float  ,
0.  01,
uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
CorFlowMaxLevel  ,
int  ,
,
uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Vis  ,
BundleAdjustment  ,
int  ,
,
"Optimization with bundle adjustment:  0 = disabled,
= g2o 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
MaxTranslation  ,
float  ,
0.  2,
"Maximum ICP translation correction accepted (m)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
MaxRotation  ,
float  ,
0.  78,
"Maximum ICP rotation correction accepted (rad)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
VoxelSize  ,
float  ,
0.  0,
"Uniform sampling voxel size (0=disabled)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
DownsamplingStep  ,
int  ,
,
"Downsampling step size (1=no sampling). This is done before uniform sampling."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
MaxCorrespondenceDistance  ,
float  ,
0.  05,
"Max distance for point correspondences."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
Iterations  ,
int  ,
30  ,
"Max iterations."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
Epsilon  ,
float  ,
,
"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."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
CorrespondenceRatio  ,
float  ,
0.  1,
"Ratio of matching correspondences to accept the transform."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PointToPlane  ,
bool  ,
false  ,
"Use point to plane ICP."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PointToPlaneK  ,
int  ,
,
"Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PointToPlaneRadius  ,
float  ,
1.  0,
"Search radius to compute normals for point to plane if the cloud doesn't have already normals."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PointToPlaneMinComplexity  ,
float  ,
0.  02,
"Minimum structural complexity (0.0=low, 1.0=high) of the scan to do point to plane  registration,
otherwise point to point registration is done instead."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PM  ,
bool  ,
false  ,
"Use libpointmatcher for ICP registration instead of PCL's implementation."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PMMatcherKnn  ,
int  ,
,
"KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PMMatcherEpsilon  ,
float  ,
0.  0,
"KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Icp  ,
PMOutlierRatio  ,
float  ,
0.  95,
"TrimmedDistOutlierFilter/ratio: For convenience when configuration file is not set. For kinect-like point  cloud,
use 0.65."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
WinWidth  ,
int  ,
15  ,
"Window width."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
WinHeight  ,
int  ,
,
"Window height."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
Iterations  ,
int  ,
30  ,
"Maximum iterations."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
MaxLevel  ,
int  ,
,
"Maximum pyramid level."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
MinDisparity  ,
float  ,
0.  5,
"Minimum disparity."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
MaxDisparity  ,
float  ,
128.  0,
"Maximum disparity."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
OpticalFlow  ,
bool  ,
true  ,
"Use optical flow to find stereo  correspondences,
otherwise a simple block matching approach is used."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
SSD  ,
bool  ,
true  ,
uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Stereo  ,
Eps  ,
double  ,
0.  01,
uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
BlockSize  ,
int  ,
15  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
MinDisparity  ,
int  ,
,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
NumDisparities  ,
int  ,
128  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
PreFilterSize  ,
int  ,
,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
PreFilterCap  ,
int  ,
31  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
UniquenessRatio  ,
int  ,
15  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
TextureThreshold  ,
int  ,
10  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
SpeckleWindowSize  ,
int  ,
100  ,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( StereoBM  ,
SpeckleRange  ,
int  ,
,
"See cv::StereoBM"   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
FromDepth  ,
bool  ,
true  ,
"Create occupancy grid from depth   images,
otherwise it is created from laser scan."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
DepthDecimation  ,
int  ,
,
uFormat("[%s=true] Decimation of the depth image before creating cloud. Negative decimation is done from RGB size instead of depth size (if depth is smaller than RGB, it may be interpolated depending of the decimation value).", kGridDepthDecimation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
RangeMin  ,
float  ,
0.  0,
"Minimum range from sensor."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
RangeMax  ,
float  ,
5.  0 
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
FootprintLength  ,
float  ,
0.  0,
"Footprint length used to filter points over the footprint of the robot."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
FootprintWidth  ,
float  ,
0.  0,
"Footprint width used to filter points over the footprint of the robot. Footprint length should be set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
FootprintHeight  ,
float  ,
0.  0,
"Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
ScanDecimation  ,
int  ,
,
uFormat("[%s=false] Decimation of the laser scan before creating cloud.", kGridFromDepth().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
CellSize  ,
float  ,
0.  05,
"Resolution of the occupancy grid."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
PreVoxelFiltering  ,
bool  ,
true  ,
uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MapFrameProjection  ,
bool  ,
false  ,
"Projection in map frame. On a 3D terrain and a fixed local camera transform   the cloud is created relative to ground,
you may want to disable this to do the projection in robot frame instead."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
NormalsSegmentation  ,
bool  ,
true  ,
"Segment ground from obstacles using point  normals,
otherwise a fast passthrough is used."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MaxObstacleHeight  ,
float  ,
0.  0,
"Maximum obstacles height (0=disabled)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MinGroundHeight  ,
float  ,
0.  0,
"Minimum ground height (0=disabled)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MaxGroundHeight  ,
float  ,
0.  0,
uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MaxGroundAngle  ,
float  ,
45  ,
uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
NormalK  ,
int  ,
20  ,
uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
ClusterRadius  ,
float  ,
0.  1,
uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
MinClusterSize  ,
int  ,
10  ,
uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
FlatObstacleDetected  ,
bool  ,
true  ,
uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
3D  ,
bool  ,
false  ,
uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is false.", kGridFromDepth().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
GroundIsObstacle  ,
bool  ,
false  ,
uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
NoiseFilteringRadius  ,
float  ,
0.  0,
"Noise filtering radius (0=disabled). Done after segmentation."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
NoiseFilteringMinNeighbors  ,
int  ,
,
"Noise filtering minimum neighbors."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
Scan2dUnknownSpaceFilled  ,
bool  ,
false  ,
uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( Grid  ,
RayTracing  ,
bool  ,
false  ,
uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str())   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
FullUpdate  ,
bool  ,
true  ,
"When the graph is  changed,
the whole map will be reconstructed instead of moving individually each cells of the map.  Also,
data added to cache won't be released after updating the map.This process is longer but more robust to drift that would erase some parts of the map when it should not."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
UpdateError  ,
float  ,
0.  01,
"Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
FootprintRadius  ,
float  ,
0.  0,
"Footprint radius (m) used to clear all obstacles under the graph."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
MinSize  ,
float  ,
0.  0,
"Minimum map size (m)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
Eroded  ,
bool  ,
false  ,
"Erode obstacle cells."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
MaxNodes  ,
int  ,
,
"Maximum nodes assembled in the map starting from the last node (0=unlimited)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
OccupancyThr  ,
float  ,
0.  5,
"Occupancy threshold (value between 0 and 1)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
ProbHit  ,
float  ,
0.  7,
"Probability of a hit (value between 0.5 and 1)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
ProbMiss  ,
float  ,
0.  4,
"Probability of a miss (value between 0 and 0.5)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
ProbClampingMin  ,
float  ,
0.  1192,
"Probability clamping minimum (value between 0 and 1)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM ( GridGlobal  ,
ProbClampingMax  ,
float  ,
0.  971,
"Probability clamping maximum (value between 0 and 1)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Rtabmap  ,
WorkingDirectory  ,
""  ,
"Working directory."   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Kp  ,
RoiRatios  ,
"0.0 0.0 0.0 0.0"  ,
"Region of interest ratios ."  [left, right, top, bottom] 
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Kp  ,
DictionaryPath  ,
""  ,
"Path of the pre-computed dictionary"   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( 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"  ,
"Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}."   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( OdomORBSLAM2  ,
VocPath  ,
""  ,
"Path to ORB vocabulary (*.txt)."   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( OdomOKVIS  ,
ConfigPath  ,
""  ,
"Path of OKVIS config file."   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Vis  ,
RoiRatios  ,
"0.0 0.0 0.0 0.0"  ,
"Region of interest ratios ."  [left, right, top, bottom] 
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Icp  ,
PMConfig  ,
""  ,
uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str()   
)
private
rtabmap::Parameters::RTABMAP_PARAM_STR ( Grid  ,
DepthRoiRatios  ,
"0.0 0.0 0.0 0.0"  ,
uFormat("[%s=true] Region of interest ratios [left, right, top, bottom].", kGridFromDepth().c_str())   
)
private
std::string rtabmap::Parameters::serialize ( const ParametersMap parameters)
static

Definition at line 85 of file Parameters.cpp.

const char * rtabmap::Parameters::showUsage ( )
static

Definition at line 518 of file Parameters.cpp.

void rtabmap::Parameters::writeINI ( const std::string &  configFile,
const ParametersMap parameters 
)
static

Definition at line 1040 of file Parameters.cpp.

Member Data Documentation

ParametersMap rtabmap::Parameters::backwardCompatibilityMap_
staticprivate

Definition at line 760 of file Parameters.h.

ParametersMap rtabmap::Parameters::descriptions_
staticprivate

Definition at line 756 of file Parameters.h.

Parameters rtabmap::Parameters::instance_
staticprivate

Definition at line 757 of file Parameters.h.

ParametersMap rtabmap::Parameters::parameters_
staticprivate

Definition at line 754 of file Parameters.h.

ParametersMap rtabmap::Parameters::parametersType_
staticprivate

Definition at line 755 of file Parameters.h.

std::map< std::string, std::pair< bool, std::string > > rtabmap::Parameters::removedParameters_
staticprivate

Definition at line 759 of file Parameters.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Wed Jun 5 2019 22:43:43