Index

A

active variable add function add_non_keyframes_too variable addPathModuleLibs function addPathModuleSources function align function AlignKind enum allLayers variable

allowMatchAlreadyMatchedGlobalPoints_ variable allowMatchAlreadyMatchedPoints_ variable apply_filter_pipeline function apply_generators function asString function, [1], [2], [3], [4], [5] at function, [1], [2], [3], [4], [5] attachToDataConsumer function autoBoundingBoxOutliersPercentile variable

B

B variable base_footprint_frame variable base_footprint_to_base_link_tf variable base_link_frame variable bias_acc variable bias_gyro variable Bibliography page BOOST_AUTO_TEST_CASE function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24] BOOST_AUTO_TEST_CASE_TEMPLATE function

BOOST_TEST_MODULE define bounding_box variable bounding_box_intersection_check_epsilon variable bounding_box_intersection_check_epsilon_ variable boundingBox function, [1], [2], [3], [4] bucket_entry function bucket_for_hash function buildCache function

C

CACHE_MISS_VALUE variable cachedPoints variable Cauchy enumvalue center variable check_for_removal_every_n variable child_frame variable class copy_only_test custom_allocator deserializer identity_hash ImuTransformerManager mod_hash mola::BinFileDataset mola::BridgeROS2 mola::Dataset_UI mola::EurocDataset mola::ExecutableBase mola::FactorConstVelKinematics mola::FactorTricycleKinematics mola::FilterBase mola::FixedDenseGrid3D mola::FrontEndBase mola::HashedSetSE3 mola::HashedVoxelPointCloud mola::KeyframePointCloudMap mola::KeyframePointCloudMap::KeyFrame mola::Kitti360Dataset mola::KittiOdometryDataset mola::LidarOdometry mola::LocalizationSourceBase mola::MapServer mola::MapSourceBase mola::MinimalModuleContainer mola::MolaLauncherApp mola::MolaViz mola::MulranDataset mola::NavStateFilter mola::NDT mola::OccGrid mola::OfflineDatasetSource mola::ParisLucoDataset mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::Relocalization mola::Rosbag2Dataset mola::SearchablePoseList mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::state_estimation_simple::Parameters mola::state_estimation_simple::StateEstimationSimple mola::state_estimation_smoother::FactorAngularVelocityIntegration mola::state_estimation_smoother::FactorConstLocalVelocity mola::state_estimation_smoother::FactorTrapezoidalIntegrator mola::state_estimation_smoother::Parameters mola::state_estimation_smoother::StateEstimationSmoother mola::Synchronizer mola::VideoDataset mola::VizInterface move_only_test mp2p_icp::ICP mp2p_icp::IcpPrepareCapable mp2p_icp::LogRecord mp2p_icp::Matcher mp2p_icp::Matcher_Adaptive mp2p_icp::Matcher_Cov2Cov mp2p_icp::Matcher_Point2Line mp2p_icp::Matcher_Point2Plane mp2p_icp::Matcher_Points_Base mp2p_icp::Matcher_Points_DistanceThreshold mp2p_icp::Matcher_Points_InlierRatio mp2p_icp::metric_map_t mp2p_icp::MetricMapMergeCapable mp2p_icp::NearestPlaneCapable mp2p_icp::NearestPointWithCovCapable mp2p_icp::QualityEvaluator mp2p_icp::QualityEvaluator_PairedRatio mp2p_icp::QualityEvaluator_RangeImageSimilarity mp2p_icp::QualityEvaluator_Voxels mp2p_icp::Solver mp2p_icp::Solver_GaussNewton mp2p_icp::Solver_Horn mp2p_icp::Solver_OLAE mp2p_icp_filters::FilterAdjustTimestamps mp2p_icp_filters::FilterBase mp2p_icp_filters::FilterBoundingBox mp2p_icp_filters::FilterByIntensity mp2p_icp_filters::FilterByRange mp2p_icp_filters::FilterByRing mp2p_icp_filters::FilterCurvature mp2p_icp_filters::FilterDecimateAdaptive mp2p_icp_filters::FilterDecimateVoxels mp2p_icp_filters::FilterDeleteLayer mp2p_icp_filters::FilterDeskew mp2p_icp_filters::FilterEdgesPlanes mp2p_icp_filters::FilterFartherPointSampling mp2p_icp_filters::FilterMerge mp2p_icp_filters::FilterNormalizeIntensity mp2p_icp_filters::FilterPoleDetector mp2p_icp_filters::FilterRemoveByVoxelOccupancy mp2p_icp_filters::FilterVoxelSlice mp2p_icp_filters::Generator mp2p_icp_filters::GeneratorEdgesFromCurvature mp2p_icp_filters::GeneratorEdgesFromRangeImage mp2p_icp_filters::PointCloudToVoxelGrid mp2p_icp_filters::PointCloudToVoxelGridSingle self_reference_member_test serializer TraitsTest tsl::detail_robin_hash::bucket_entry tsl::detail_robin_hash::bucket_entry_hash tsl::detail_robin_hash::bucket_entry_hash<true> tsl::detail_robin_hash::robin_hash tsl::detail_robin_hash::robin_hash::robin_iterator tsl::rh::mod_growth_policy tsl::rh::power_of_two_growth_policy tsl::rh::prime_growth_policy tsl::robin_map tsl::robin_map::KeySelect tsl::robin_map::ValueSelect tsl::robin_set tsl::robin_set::KeySelect utils

clear function, [1], [2], [3], [4] clear_all_point_clouds_with_decay function, [1] Cli struct clone function, [1], [2] ClosestToAverage enumvalue color variable, [1], [2], [3], [4] colorMap variable colormap variable, [1], [2], [3] colorMapMinCoord variable colorMode variable considerInvalidRangesAsFreeSpace variable contains function, [1], [2], [3], [4], [5] contents_summary function, [1] Coordinate enum copy_only_test class count function, [1], [2], [3], [4], [5] cov_inv variable covariance function create_robust_kernel function create_subwindow function current_observation_point_size variable currentEstimateForRobust variable custom_allocator class custom_allocator::rebind struct

D

data variable datasetGetObservations function, [1], [2], [3], [4], [5], [6], [7] datasetSize function, [1], [2], [3], [4], [5], [6], [7] datasetUI_lastQueriedTimestep function, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_size function, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_teleport function, [1], [2], [3], [4], [5], [6], [7], [8], [9] debugFileNameFormat variable decimate_method variable DecimateMethod enum decimation variable, [1], [2], [3], [4] decimationDebugFiles variable decimationIterationDetails variable define BOOST_TEST_MODULE MOLA_VERSION_CHECK TSL_RH_CHECK_THROW TSL_RH_VERSION_MAJOR YAML_LOAD_MEMBER_OPT YAML_LOAD_MEMBER_REQ YAML_LOAD_OPT3 YAML_LOAD_OPT_DEG3 YAML_LOAD_REQ3 YAML_LOAD_REQ_DEG3

deltaTime variable, [1] deserialize function, [1] deserializer class distance variable do_process_imu_labels_re variable, [1] do_process_odometry_labels_re variable, [1] doCmdRuns variable doEnvVars variable doFilter function doIncludes variable

E

EarliestIsZero enumvalue eigVals variable emplace function, [1] emplace_hint function, [1] empty function enabled variable, [1] enforce_planar_motion variable, [1] enqueue_custom_nanogui_code function enqueue_request function enum AlignKind Coordinate DecimateMethod InitLocalization InputMode IterTermReason MotionCompensationMethod RobustKernel TimestampAdjustMethod enumvalue Cauchy ClosestToAverage EarliestIsZero FirstPoint FixedPose FromStateEstimator GemanMcClure IMU IMUh IMUt Linear MiddleIsZero None, [1] Normalize PitchAndRollFromIMU RandomPoint VoxelAverage

equal_range function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals function, [1], [2] erase function, [1], [2], [3], [4], [5], [6] erase_fast function, [1] eraseGridsFartherThan function error_on_missing_input_layer variable, [1] errors struct estimate_points_eigen function estimated_navstate function, [1], [2] estimated_trajectory function estimatedTrajectory function eval_centroids_robust function evaluate function, [1], [2], [3] execute_custom_code_on_background_scene function, [1] execution_rate variable expected_observation_labels variable

F

FactorConstLocalVelocity function FactorConstVelKinematics function FactorTrapezoidalIntegrator function FactorTricycleKinematics function Factory function fid_t typedef filter function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] filter_pipeline_from_yaml function FilterPipeline typedef finalPairings variable find function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 function findModuleSharedDir function findService function FirstPoint enumvalue fixed_maximum_intensity variable fixed_minimum_intensity variable FixedPose enumvalue flatten_to variable force_alpha_channel variable forward_ros_tf_as_mola_odometry_observations variable frame_id function FromStateEstimator enumvalue FromYAML function function add addPathModuleLibs addPathModuleSources align apply_filter_pipeline apply_generators asString, [1], [2], [3], [4], [5] at, [1], [2], [3], [4], [5] attachToDataConsumer BOOST_AUTO_TEST_CASE, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24] BOOST_AUTO_TEST_CASE_TEMPLATE boundingBox, [1], [2], [3], [4] bucket_entry bucket_for_hash buildCache clear, [1], [2], [3], [4] clear_all_point_clouds_with_decay, [1] clone, [1], [2] contains, [1], [2], [3], [4], [5] contents_summary, [1] count, [1], [2], [3], [4], [5] covariance create_robust_kernel create_subwindow datasetGetObservations, [1], [2], [3], [4], [5], [6], [7] datasetSize, [1], [2], [3], [4], [5], [6], [7] datasetUI_lastQueriedTimestep, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_size, [1], [2], [3], [4], [5], [6], [7], [8], [9] datasetUI_teleport, [1], [2], [3], [4], [5], [6], [7], [8], [9] deserialize, [1] doFilter emplace, [1] emplace_hint, [1] empty enqueue_custom_nanogui_code enqueue_request equal_range, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals, [1], [2] erase, [1], [2], [3], [4], [5], [6] erase_fast, [1] eraseGridsFartherThan estimate_points_eigen estimated_navstate, [1], [2] estimated_trajectory estimatedTrajectory eval_centroids_robust evaluate, [1], [2], [3] execute_custom_code_on_background_scene, [1] FactorConstLocalVelocity FactorConstVelKinematics FactorTrapezoidalIntegrator FactorTricycleKinematics Factory filter, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] filter_pipeline_from_yaml find, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 findModuleSharedDir findService frame_id FromYAML fuse_gnss, [1], [2] fuse_imu, [1], [2] fuse_odometry, [1], [2] fuse_pose, [1], [2] fuse_twist, [1], [2] generators_from_yaml get_lidar_imu_sensor_rates get_loaded_modules, [1] get_shared_from_this get_shared_from_this_or_clone get_visualization, [1] get_visualization_cov2cov get_visualization_lines get_visualization_map_layer get_visualization_planes get_visualization_points get_visualization_pt2ln get_visualization_pt2pl get_visualization_pt2pt getAsPtr getAsSimplePointsMap, [1], [2] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleParameters getModuleSourcePaths getObservationGroup getPointCloud, [1], [2] getViz globalIdxToCoord, [1], [2], [3] gridByOuterIdxs hasGroundTruthTrajectory, [1], [2], [3], [4], [5] HashedSetSE3 HashedVoxelPointCloud icp_cleanup, [1] icp_get_prepared_as_global, [1] icp_pipeline_from_yaml initialize, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27] initialize_derived initialize_filter initialize_frontend initialize_matchers initialize_quality_evaluators initialize_rds initialize_solvers insert_point_cloud_with_decay, [1] insertPoint, [1], [2], [3] insertPose internal_load_lib_modules, [1] isEmpty, [1], [2], [3], [4] KeyframePointCloudMap known_frame_ids lastEstimatedState launchOrderPriority load_from_file, [1] load_xyz_file load_yaml_file loadFrom, [1] LoadFromFile map_load, [1] map_save, [1] MapToNN MapToNP MapToPointsMap match max_bucket_count mean merge_with, [1] min_load_factor, [1] mutable_iterator, [1] NDT ndt ndt_is_plane next_bucket_count nn_search_cov2cov olae_build_linear_system onNewObservation, [1], [2], [3] onQuit operator(), [1], [2], [3], [4] operator<< operator>> optimal_pose optimal_tf_gauss_newton optimal_tf_horn optimal_tf_olae outerIdxToCoord overloaded parse_yaml point_layer pointcloud pointcloud_sanity_check pose, [1] power_of_two_growth_policy print, [1], [2], [3] process, [1] pt2ln_pl_to_pt2pt push_back, [1] readFromStream, [1], [2], [3], [4] reconstructedMap relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] reset, [1], [2], [3] resetLikelihoodCache resizeGrid run_matchers run_solvers save_to_file, [1] saveMetricMapRepresentationToFile, [1], [2], [3], [4] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories serialize, [1] setConfiguration, [1] setGridProperties setSize setup setVoxelProperties, [1], [2], [3] shutdown simplemap_to_metricmap size, [1], [2], [3] size_points_only SparseTreesPointCloud SparseVoxelPointCloud spin spinOnce, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15] subwindow_update_visualization, [1] ToYAML transform_map_left_multiply update_3d_object, [1] vector_of_points_to_xyz visit_correspondences voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3] writeToStream, [1], [2], [3], [4] yaml_to_string

functor_before_logging_local variable fuse_gnss function, [1], [2] fuse_imu function, [1], [2] fuse_odometry function, [1], [2] fuse_pose function, [1], [2] fuse_twist function, [1], [2]

G

GemanMcClure enumvalue generate_lazy_load_scan_files variable generateDebugFiles variable generators_from_yaml function GeneratorSet typedef geo_coord variable, [1] georeferencing variable, [1] get_lidar_imu_sensor_rates function get_loaded_modules function, [1] get_shared_from_this function get_shared_from_this_or_clone function get_visualization function, [1] get_visualization_cov2cov function get_visualization_lines function get_visualization_map_layer function get_visualization_planes function get_visualization_points function get_visualization_pt2ln function get_visualization_pt2pl function get_visualization_pt2pt function getAsPtr function getAsSimplePointsMap function, [1], [2] getGroundTruthTrajectory function, [1], [2], [3], [4] getLoadedModules function

getModuleLibPaths function getModuleParameters function getModuleSourcePaths function getObservationGroup function getPointCloud function, [1], [2] getViz function global namespace global_plain_index_t typedef, [1], [2], [3] globalIdxToCoord function, [1], [2], [3] globalPairedBitField variable gnss_sensor_label variable gravity_vector variable gridByOuterIdxs function group mola-input-kitti-dataset. mola-input-kitti360-dataset. mola-input-mulran-dataset. mola-input-paris-luco-dataset. mola-launcher: Library to load and launch MOLA mola-relocalization mola-viz mola-yaml: YAML parsing helper functions mola_bridge_ros2 mola_input_euroc_dataset_grp. mola_input_rawlog_grp. mola_input_rosbag2_grp mola_input_video_grp. Mola_kernel_grp mola_metric_maps mp2p_icp library mp2p_icp_filters library mp2p_icp_map library gtsam namespace

H

HandlersContainer struct hard_discard variable HARDLIMIT_MAX_POINTS_PER_VOXEL variable

hasGroundTruthTrajectory function, [1], [2], [3], [4], [5] HashedSetSE3 function HashedVoxelPointCloud function

I

icp_cleanup function, [1] icp_get_prepared_as_global function, [1] icp_pipeline variable icp_pipeline_from_yaml function icpIteration variable id variable id_t typedef identity_hash class idxs variable IMU enumvalue imu_initial_calibration_max_age variable imu_initial_calibration_sample_count variable imu_initializer variable imu_sensor_label variable IMUh enumvalue IMUt enumvalue ImuTransformerManager class in_place variable includesBasePath variable initialize function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27] initialize_derived function initialize_filter function

initialize_frontend function initialize_matchers function initialize_quality_evaluators function initialize_rds function initialize_solvers function InitLocalization enum innerLoopVerbose variable input_layer_in_local_coordinates variable input_pointcloud_layer variable, [1] InputMode enum insert_point_cloud_with_decay function, [1] insertPoint function, [1], [2], [3] insertPose function inside_pointcloud_layer variable internal_load_lib_modules function, [1] INVALID_FID variable INVALID_ID variable is_pair struct is_pair<std::pair<T1, T2>> struct isEmpty function, [1], [2], [3], [4] isPipelinesUsingIMU variable IterTermReason enum

K

kdtree_leaf_max_points_ variable keep_original_cloud_color variable KeyFrameID typedef

KeyframePointCloudMap function known_frame_ids function known_frames variable

L

label variable last_lidar_pose variable lastEstimatedState function launchOrderPriority function layer_matches variable layers variable length variable lengths variable lidar_count variable lidar_sensor_labels variable lidarIdx variable Linear enumvalue linearizationPoint variable lines variable

literals namespace ln2ln variable load_existing_local_map variable load_existing_simple_map variable load_from_file function, [1] load_xyz_file function load_yaml_file function loaded_lib_handled variable LoadedModules struct loadFrom function, [1] LoadFromFile function local_map_needs_viz_update variable localmap_check_removal_counter variable localPairedBitField variable

M

map variable map_load function, [1] map_metadata variable map_name variable map_save function, [1] map_update_decimation variable MapToNN function MapToNP function MapToPointsMap function match function match_mean variable math namespace max_bucket_count function max_corr_distance variable, [1], [2], [3] max_distance_to_keep_keyframes variable max_points_per_voxel variable, [1], [2] max_search_keyframes variable max_time_offset variable max_time_to_use_velocity_model variable, [1] maxCost variable maxDistanceInsertion variable maxFreenessInvalidRanges variable maxFreenessUpdateCertainty variable maxInnerLoopIterations variable maxIterations variable maxOccupancyUpdateCertainty variable mean function measure_from_last_kf_only variable, [1] merge_with function, [1] metadata variable method variable, [1], [2], [3] metric_l_infinity variable metric_map_definition variable metric_map_definition_ini_file variable MiddleIsZero enumvalue min_distance_between_points variable, [1] min_icp_goodness variable min_load_factor function, [1] min_motion_model_xyz_cov_inv variable min_rotation_between_keyframes variable, [1] min_time_between_scans variable min_translation_between_keyframes variable, [1] minAbsStep_rot variable minAbsStep_trans variable minDelta variable minimum_input_points_per_voxel variable minimum_input_points_to_filter variable minimum_observation_count variable minimum_points_clearance variable minimum_points_per_voxel variable mod_hash class module mola-launcher mola namespace mola-cli mola-dir mola-input-kitti-dataset. group mola-input-kitti360-dataset. group mola-input-mulran-dataset. group mola-input-paris-luco-dataset. group mola-launcher module mola-launcher: Library to load and launch MOLA group mola-relocalization group mola-viz group mola-yaml-parser mola-yaml: YAML parsing helper functions group mola::BinFileDataset class mola::BridgeROS2 class mola::BridgeROS2::MolaSubs struct mola::BridgeROS2::Params struct mola::Dataset_UI class mola::detail namespace mola::EurocDataset class mola::ExecutableBase class mola::ExecutableBase::DiagnosticsOutput struct mola::FactorConstVelKinematics class mola::FactorTricycleKinematics class mola::FilterBase class mola::FixedDenseGrid3D class mola::FrontEndBase class mola::Georeferencing struct mola::HashedSetSE3 class mola::HashedSetSE3::VoxelData struct mola::HashedVoxelPointCloud class mola::HashedVoxelPointCloud::CachedData struct mola::HashedVoxelPointCloud::TInsertionOptions struct mola::HashedVoxelPointCloud::TLikelihoodOptions struct mola::HashedVoxelPointCloud::TRenderOptions struct mola::HashedVoxelPointCloud::VoxelData struct mola::HashedVoxelPointCloud::VoxelData::PointSpan struct mola::imu namespace mola::imu::Trajectory struct mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::KeyframePointCloudMap class mola::KeyframePointCloudMap::CachedData struct mola::KeyframePointCloudMap::KeyFrame class mola::KeyframePointCloudMap::TCreationOptions struct mola::KeyframePointCloudMap::TInsertionOptions struct mola::KeyframePointCloudMap::TLikelihoodOptions struct mola::KeyframePointCloudMap::TRenderOptions struct mola::Kitti360Dataset class mola::KittiOdometryDataset class mola::LidarOdometry class mola::LidarOdometry::ICP_Input struct mola::LidarOdometry::ICP_Output struct mola::LidarOdometry::MethodState struct mola::LidarOdometry::Parameters struct mola::LidarOdometry::Parameters::AdaptiveThreshold struct mola::LidarOdometry::Parameters::ICP_case struct mola::LidarOdometry::Parameters::InitialLocalizationOptions struct mola::LidarOdometry::Parameters::MapUpdateOptions struct mola::LidarOdometry::Parameters::MultipleLidarOptions struct mola::LidarOdometry::Parameters::ObservationValidityChecks struct mola::LidarOdometry::Parameters::SimpleMapOptions struct mola::LidarOdometry::Parameters::TraceOutputOptions struct mola::LidarOdometry::Parameters::TrajectoryOutputOptions struct mola::LidarOdometry::Parameters::Visualization struct mola::LidarOdometry::Parameters::Visualization::ModelPart struct mola::LidarOdometry::StateUI struct mola::LocalizationSourceBase class mola::LocalizationSourceBase::LocalizationUpdate struct mola::MapServer class mola::MapServer::ReturnStatus struct mola::MapSourceBase class mola::MapSourceBase::MapUpdate struct mola::MinimalModuleContainer class mola::MolaLauncherApp class mola::MolaLauncherApp::InfoPerRunningThread struct mola::MolaLauncherApp::Parameters struct mola::MolaViz class mola::MolaViz::DataPerDatasetUI struct mola::MolaViz::DecayingCloud struct mola::MolaViz::PerWindowData struct mola::MulranDataset class mola::MulranDataset::Entry struct mola::NavState struct mola::NavStateFilter class mola::NDT class mola::NDT::CachedData struct mola::NDT::point_vector_t struct mola::NDT::TInsertionOptions struct mola::NDT::TLikelihoodOptions struct mola::NDT::TRenderOptions struct mola::NDT::VoxelData struct mola::NDT::VoxelData::PointSpan struct mola::OccGrid class mola::OccGrid::InsertionParameters struct mola::OccGrid::LikelihoodParameters struct mola::OfflineDatasetSource class mola::overloaded struct mola::ParisLucoDataset class mola::RawDataConsumer class mola::RawDataSourceBase class mola::RawDataSourceBase::SensorViewerImpl struct mola::RawlogDataset class mola::Relocalization class mola::RelocalizationICP_SE2 struct mola::RelocalizationICP_SE2::Input struct mola::RelocalizationICP_SE2::Input::InputLattice struct mola::RelocalizationICP_SE2::Input::OutputLattice struct mola::RelocalizationICP_SE2::Output struct mola::RelocalizationICP_SE2::ProgressFeedback struct mola::RelocalizationLikelihood_SE2 struct mola::RelocalizationLikelihood_SE2::Input struct mola::RelocalizationLikelihood_SE2::Output struct mola::Rosbag2Dataset class mola::Rosbag2Dataset::DatasetEntry struct mola::SearchablePoseList class mola::SensorCamera struct mola::SensorIMU struct mola::SparseTreesPointCloud class mola::SparseTreesPointCloud::CachedData struct mola::SparseTreesPointCloud::GridData struct mola::SparseTreesPointCloud::TInsertionOptions struct

mola::SparseTreesPointCloud::TLikelihoodOptions struct mola::SparseTreesPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud class mola::SparseVoxelPointCloud::CachedData struct mola::SparseVoxelPointCloud::InnerGrid struct mola::SparseVoxelPointCloud::TInsertionOptions struct mola::SparseVoxelPointCloud::TLikelihoodOptions struct mola::SparseVoxelPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud::VoxelData struct mola::SparseVoxelPointCloud::VoxelData::PointSpan struct mola::state_estimation_simple namespace mola::state_estimation_simple::Parameters class mola::state_estimation_simple::StateEstimationSimple class mola::state_estimation_simple::StateEstimationSimple::State struct mola::state_estimation_smoother namespace mola::state_estimation_smoother::FactorAngularVelocityIntegration class mola::state_estimation_smoother::FactorConstLocalVelocity class mola::state_estimation_smoother::FactorTrapezoidalIntegrator class mola::state_estimation_smoother::Parameters class mola::state_estimation_smoother::StateEstimationSmoother class mola::state_estimation_smoother::StateEstimationSmoother::KinematicState struct mola::state_estimation_smoother::StateEstimationSmoother::OdomData struct mola::state_estimation_smoother::StateEstimationSmoother::PointData struct mola::state_estimation_smoother::StateEstimationSmoother::PoseData struct mola::state_estimation_smoother::StateEstimationSmoother::QueryPointData struct mola::state_estimation_smoother::StateEstimationSmoother::State struct mola::state_estimation_smoother::StateEstimationSmoother::TwistData struct mola::Synchronizer class mola::Synchronizer::Parameters struct mola::VideoDataset class mola::VizInterface class mola::YAMLParseOptions struct mola_bridge_ros2 group mola_input_euroc_dataset_grp. group mola_input_rawlog_grp. group mola_input_rosbag2_grp group mola_input_video_grp. group Mola_kernel_grp group mola_metric_maps group MOLA_VERSION_CHECK define MotionCompensationMethod enum move_only_test class mp2p_icp namespace mp2p_icp library group mp2p_icp::color_mode_t struct mp2p_icp::CovarianceParameters struct mp2p_icp::ICP class mp2p_icp::ICP::ICP_State struct mp2p_icp::ICP::IterationHook_Input struct mp2p_icp::ICP::IterationHook_Output struct mp2p_icp::ICP::QualityEvaluatorEntry struct mp2p_icp::IcpPrepareCapable class mp2p_icp::LogRecord class mp2p_icp::LogRecord::DebugInfoPerIteration struct mp2p_icp::MatchContext struct mp2p_icp::matched_line_t struct mp2p_icp::matched_plane_t struct mp2p_icp::Matcher class mp2p_icp::Matcher_Adaptive class mp2p_icp::Matcher_Cov2Cov class mp2p_icp::Matcher_Point2Line class mp2p_icp::Matcher_Point2Plane class mp2p_icp::Matcher_Points_Base class mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud struct mp2p_icp::Matcher_Points_DistanceThreshold class mp2p_icp::Matcher_Points_InlierRatio class mp2p_icp::MatchState struct mp2p_icp::metric_map_t class mp2p_icp::metric_map_t::Georeferencing struct mp2p_icp::MetricMapMergeCapable class mp2p_icp::NearestPlaneCapable class mp2p_icp::NearestPlaneCapable::NearestPlaneResult struct mp2p_icp::NearestPointWithCovCapable class mp2p_icp::OptimalTF_GN_Parameters struct mp2p_icp::OptimalTF_Result struct mp2p_icp::OutlierIndices struct mp2p_icp::Pairings struct mp2p_icp::pairings_render_params_t struct mp2p_icp::PairWeights struct mp2p_icp::Parameters struct mp2p_icp::plane_patch_t struct mp2p_icp::point_line_pair_t struct mp2p_icp::point_plane_pair_t struct mp2p_icp::point_with_cov_pair_t struct mp2p_icp::pointcloud_bitfield_t struct mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField struct mp2p_icp::PointCloudEigen struct mp2p_icp::QualityEvaluator class mp2p_icp::QualityEvaluator::Result struct mp2p_icp::QualityEvaluator_PairedRatio class mp2p_icp::QualityEvaluator_RangeImageSimilarity class mp2p_icp::QualityEvaluator_Voxels class mp2p_icp::render_params_lines_t struct mp2p_icp::render_params_pairings_cov2cov_t struct mp2p_icp::render_params_pairings_pt2ln_t struct mp2p_icp::render_params_pairings_pt2pl_t struct mp2p_icp::render_params_pairings_pt2pt_t struct mp2p_icp::render_params_planes_t struct mp2p_icp::render_params_point_layer_t struct mp2p_icp::render_params_points_t struct mp2p_icp::render_params_t struct mp2p_icp::Results struct mp2p_icp::Solver class mp2p_icp::Solver_GaussNewton class mp2p_icp::Solver_Horn class mp2p_icp::Solver_OLAE class mp2p_icp::SolverContext struct mp2p_icp::VisitCorrespondencesStats struct mp2p_icp::WeightParameters struct mp2p_icp_filters namespace mp2p_icp_filters library group mp2p_icp_filters::FilterAdjustTimestamps class mp2p_icp_filters::FilterAdjustTimestamps::Parameters struct mp2p_icp_filters::FilterBase class mp2p_icp_filters::FilterBoundingBox class mp2p_icp_filters::FilterBoundingBox::Parameters struct mp2p_icp_filters::FilterByIntensity class mp2p_icp_filters::FilterByIntensity::Parameters struct mp2p_icp_filters::FilterByRange class mp2p_icp_filters::FilterByRange::Parameters struct mp2p_icp_filters::FilterByRing class mp2p_icp_filters::FilterByRing::Parameters struct mp2p_icp_filters::FilterCurvature class mp2p_icp_filters::FilterCurvature::Parameters struct mp2p_icp_filters::FilterDecimateAdaptive class mp2p_icp_filters::FilterDecimateAdaptive::Impl struct mp2p_icp_filters::FilterDecimateAdaptive::Parameters struct mp2p_icp_filters::FilterDecimateVoxels class mp2p_icp_filters::FilterDecimateVoxels::Parameters struct mp2p_icp_filters::FilterDeleteLayer class mp2p_icp_filters::FilterDeleteLayer::Parameters struct mp2p_icp_filters::FilterDeskew class mp2p_icp_filters::FilterEdgesPlanes class mp2p_icp_filters::FilterEdgesPlanes::Parameters struct mp2p_icp_filters::FilterFartherPointSampling class mp2p_icp_filters::FilterFartherPointSampling::Parameters struct mp2p_icp_filters::FilterMerge class mp2p_icp_filters::FilterMerge::Parameters struct mp2p_icp_filters::FilterNormalizeIntensity class mp2p_icp_filters::FilterNormalizeIntensity::Parameters struct mp2p_icp_filters::FilterPoleDetector class mp2p_icp_filters::FilterPoleDetector::Parameters struct mp2p_icp_filters::FilterRemoveByVoxelOccupancy class mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters struct mp2p_icp_filters::FilterVoxelSlice class mp2p_icp_filters::FilterVoxelSlice::Parameters struct mp2p_icp_filters::Generator class mp2p_icp_filters::Generator::Parameters struct mp2p_icp_filters::GeneratorEdgesFromCurvature class mp2p_icp_filters::GeneratorEdgesFromCurvature::ParametersEdges struct mp2p_icp_filters::GeneratorEdgesFromRangeImage class mp2p_icp_filters::GeneratorEdgesFromRangeImage::ParametersEdges struct mp2p_icp_filters::NotImplementedError struct mp2p_icp_filters::PointCloudToVoxelGrid class mp2p_icp_filters::PointCloudToVoxelGrid::Impl struct mp2p_icp_filters::PointCloudToVoxelGrid::indices_t struct mp2p_icp_filters::PointCloudToVoxelGrid::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGrid::Parameters struct mp2p_icp_filters::PointCloudToVoxelGrid::voxel_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle class mp2p_icp_filters::PointCloudToVoxelGridSingle::Impl struct mp2p_icp_filters::PointCloudToVoxelGridSingle::indices_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGridSingle::voxel_t struct mp2p_icp_filters::sm2mm_options_t struct mp2p_icp_map library group mrpt namespace mrpt::config namespace mrpt::containers namespace mrpt::maps namespace mrpt::obs namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace mutable_iterator function, [1]

N

name variable, [1] nameServer_ variable namespace global gtsam literals math mola mola::detail mola::imu mola::state_estimation_simple mola::state_estimation_smoother mp2p_icp mp2p_icp_filters mrpt mrpt::config mrpt::containers mrpt::maps mrpt::obs mrpt::rtti mrpt::serialization mrpt::system nanogui rosbag2_cpp rosbag2_cpp::readers rosbag2_storage std string_literals tf2 tsl tsl::detail_robin_hash tsl::rh tsl::rh::detail

nanogui namespace nb_custom_allocs variable NDT function ndt function ndt_is_plane function next_bucket_count function nIterations variable nn_search_cov2cov function None enumvalue, [1] Normalize enumvalue

O

odom_frame variable olae_build_linear_system function OLAE_LinearSystems struct onNewObservation function, [1], [2], [3] onQuit function operator() function, [1], [2], [3], [4] operator<< function operator>> function optimal_pose function optimal_tf variable optimal_tf_gauss_newton function optimal_tf_horn function optimal_tf_olae function optimalPose variable optimalScale variable optimize_twist variable outerIdxToCoord function outliers variable

output_file variable, [1] output_layer_between variable output_layer_class variable output_layer_high_intensity variable output_layer_larger_curvature variable output_layer_low_intensity variable output_layer_mid_intensity variable output_layer_no_poles variable output_layer_non_selected variable output_layer_other variable output_layer_outside variable output_layer_poles variable output_layer_selected variable output_layer_smaller_curvature variable output_pointcloud_layer variable, [1] outside_pointcloud_layer variable overloaded function

P

page Bibliography Todo List pair_weights variable paired_pt2pt variable pairing variable pairingsWeightParameters variable, [1] parallelization_grain_size variable parameter_source variable params variable, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15] params_ variable parse_yaml function pcGlobal variable penalty_not_visible variable perLayer variable PitchAndRollFromIMU enumvalue pl2pl variable planes variable planes_target_layer variable point_layer function point_weights variable pointcloud function pointcloud_layer_to_remove variable pointcloud_sanity_check function pointCount variable points_already_global variable points_colormap variable

pointSize variable pose function, [1] variable potential_pairings variable power_of_two_growth_policy function print function, [1], [2], [3] prior variable, [1] process function, [1] process_class_names_regex variable process_sensor_labels_regex variable profiler_ variable, [1] profiler_dtor_save_stats_ variable, [1] pt2ln variable pt2ln_pl_to_pt2pt function pt2pl variable pt2pt variable publish_in_sim_time variable publish_localization_following_rep105 variable publish_map_updates_every_n variable publish_odometry_msgs_from_slam variable publish_reference_frame variable publish_tf_from_robot_pose_observations variable publish_tf_from_slam variable publish_vehicle_frame variable push_back function, [1]

Q

quality variable, [1], [2]

quality_checkpoints variable

R

RandomPoint enumvalue range_min variable rangeCamera variable readFromStream function, [1], [2], [3], [4] recent_imu_stamps variable recent_lidar_stamps variable recolorizeByCoordinate variable recolorizeByCoordinateIndex variable, [1], [2], [3], [4] reconstructedMap function reference_frame variable, [1], [2] reference_frame_name variable relocalize_from_gnss function, [1] relocalize_from_topic variable relocalize_near_pose_pdf function, [1] remove_frames_farther_than variable

remove_submaps_farther_than variable remove_voxels_farther_than variable, [1] reset function, [1], [2], [3] resetLikelihoodCache function resizeGrid function robin_pg_map typedef robin_pg_set typedef robot_pose variable, [1] RobustKernel enum rosbag2_cpp namespace rosbag2_cpp::readers namespace rosbag2_storage namespace run_matchers function run_solvers function runUpToIteration variable, [1]

S

save_deskewed_scans variable save_final_local_map variable save_final_map_to_file variable save_gnss_max_age variable save_to_file function, [1] saveIterationDetails variable saveMetricMapRepresentationToFile function, [1], [2], [3], [4] saveToTextFile function, [1], [2], [3], [4] scale variable scale_outlier_threshold variable scanAndLoadLibraries function scanForModuleSharedDirectories function self_reference_member_test class serialize function, [1] serializer class setConfiguration function, [1] setGridProperties function setSize function setup function setVoxelProperties function, [1], [2], [3] show_current_observation variable show_last_deskewed_observations_decay variable show_localmap variable show_mean_only variable shutdown function sigma_dist variable, [1], [2], [3] silently_ignore_no_timestamps variable, [1] simplemap_to_metricmap function size function, [1], [2], [3] size_points_only function sliding_window_length variable slz_size_type typedef SparseTreesPointCloud function SparseVoxelPointCloud function spin function spinOnce function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15] SSO_MAX_POINTS_PER_VOXEL variable std namespace std::hash<copy_only_test> struct std::hash<move_only_test> struct std::hash<self_reference_member_test> struct step_counter_post_relocalization variable string_literals namespace struct Cli custom_allocator::rebind errors HandlersContainer is_pair is_pair<std::pair<T1, T2>> LoadedModules mola::BridgeROS2::MolaSubs mola::BridgeROS2::Params mola::ExecutableBase::DiagnosticsOutput mola::Georeferencing mola::HashedSetSE3::VoxelData mola::HashedVoxelPointCloud::CachedData mola::HashedVoxelPointCloud::TInsertionOptions mola::HashedVoxelPointCloud::TLikelihoodOptions mola::HashedVoxelPointCloud::TRenderOptions mola::HashedVoxelPointCloud::VoxelData mola::HashedVoxelPointCloud::VoxelData::PointSpan mola::imu::Trajectory mola::index3d_hash mola::index3d_t mola::index_se3_t mola::index_se3_t_hash mola::KeyframePointCloudMap::CachedData mola::KeyframePointCloudMap::TCreationOptions mola::KeyframePointCloudMap::TInsertionOptions mola::KeyframePointCloudMap::TLikelihoodOptions mola::KeyframePointCloudMap::TRenderOptions mola::LidarOdometry::ICP_Input mola::LidarOdometry::ICP_Output mola::LidarOdometry::MethodState mola::LidarOdometry::Parameters mola::LidarOdometry::Parameters::AdaptiveThreshold mola::LidarOdometry::Parameters::ICP_case mola::LidarOdometry::Parameters::InitialLocalizationOptions mola::LidarOdometry::Parameters::MapUpdateOptions mola::LidarOdometry::Parameters::MultipleLidarOptions mola::LidarOdometry::Parameters::ObservationValidityChecks mola::LidarOdometry::Parameters::SimpleMapOptions mola::LidarOdometry::Parameters::TraceOutputOptions mola::LidarOdometry::Parameters::TrajectoryOutputOptions mola::LidarOdometry::Parameters::Visualization mola::LidarOdometry::Parameters::Visualization::ModelPart mola::LidarOdometry::StateUI mola::LocalizationSourceBase::LocalizationUpdate mola::MapServer::ReturnStatus mola::MapSourceBase::MapUpdate mola::MolaLauncherApp::InfoPerRunningThread mola::MolaLauncherApp::Parameters mola::MolaViz::DataPerDatasetUI mola::MolaViz::DecayingCloud mola::MolaViz::PerWindowData mola::MulranDataset::Entry mola::NavState mola::NDT::CachedData mola::NDT::point_vector_t mola::NDT::TInsertionOptions mola::NDT::TLikelihoodOptions mola::NDT::TRenderOptions mola::NDT::VoxelData mola::NDT::VoxelData::PointSpan mola::OccGrid::InsertionParameters mola::OccGrid::LikelihoodParameters mola::overloaded mola::RawDataSourceBase::SensorViewerImpl mola::RelocalizationICP_SE2 mola::RelocalizationICP_SE2::Input mola::RelocalizationICP_SE2::Input::InputLattice mola::RelocalizationICP_SE2::Input::OutputLattice mola::RelocalizationICP_SE2::Output mola::RelocalizationICP_SE2::ProgressFeedback mola::RelocalizationLikelihood_SE2 mola::RelocalizationLikelihood_SE2::Input mola::RelocalizationLikelihood_SE2::Output mola::Rosbag2Dataset::DatasetEntry mola::SensorCamera mola::SensorIMU mola::SparseTreesPointCloud::CachedData mola::SparseTreesPointCloud::GridData mola::SparseTreesPointCloud::TInsertionOptions mola::SparseTreesPointCloud::TLikelihoodOptions mola::SparseTreesPointCloud::TRenderOptions mola::SparseVoxelPointCloud::CachedData mola::SparseVoxelPointCloud::InnerGrid mola::SparseVoxelPointCloud::TInsertionOptions mola::SparseVoxelPointCloud::TLikelihoodOptions mola::SparseVoxelPointCloud::TRenderOptions mola::SparseVoxelPointCloud::VoxelData mola::SparseVoxelPointCloud::VoxelData::PointSpan mola::state_estimation_simple::StateEstimationSimple::State mola::state_estimation_smoother::StateEstimationSmoother::KinematicState mola::state_estimation_smoother::StateEstimationSmoother::OdomData mola::state_estimation_smoother::StateEstimationSmoother::PointData mola::state_estimation_smoother::StateEstimationSmoother::PoseData mola::state_estimation_smoother::StateEstimationSmoother::QueryPointData mola::state_estimation_smoother::StateEstimationSmoother::State mola::state_estimation_smoother::StateEstimationSmoother::TwistData mola::Synchronizer::Parameters mola::YAMLParseOptions mp2p_icp::color_mode_t mp2p_icp::CovarianceParameters mp2p_icp::ICP::ICP_State mp2p_icp::ICP::IterationHook_Input mp2p_icp::ICP::IterationHook_Output mp2p_icp::ICP::QualityEvaluatorEntry mp2p_icp::LogRecord::DebugInfoPerIteration mp2p_icp::MatchContext mp2p_icp::matched_line_t mp2p_icp::matched_plane_t mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud mp2p_icp::MatchState mp2p_icp::metric_map_t::Georeferencing mp2p_icp::NearestPlaneCapable::NearestPlaneResult mp2p_icp::OptimalTF_GN_Parameters mp2p_icp::OptimalTF_Result mp2p_icp::OutlierIndices mp2p_icp::Pairings mp2p_icp::pairings_render_params_t mp2p_icp::PairWeights mp2p_icp::Parameters mp2p_icp::plane_patch_t mp2p_icp::point_line_pair_t mp2p_icp::point_plane_pair_t mp2p_icp::point_with_cov_pair_t mp2p_icp::pointcloud_bitfield_t mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField mp2p_icp::PointCloudEigen mp2p_icp::QualityEvaluator::Result mp2p_icp::render_params_lines_t mp2p_icp::render_params_pairings_cov2cov_t mp2p_icp::render_params_pairings_pt2ln_t mp2p_icp::render_params_pairings_pt2pl_t mp2p_icp::render_params_pairings_pt2pt_t mp2p_icp::render_params_planes_t mp2p_icp::render_params_point_layer_t mp2p_icp::render_params_points_t mp2p_icp::render_params_t mp2p_icp::Results mp2p_icp::SolverContext mp2p_icp::VisitCorrespondencesStats mp2p_icp::WeightParameters mp2p_icp_filters::FilterAdjustTimestamps::Parameters mp2p_icp_filters::FilterBoundingBox::Parameters mp2p_icp_filters::FilterByIntensity::Parameters mp2p_icp_filters::FilterByRange::Parameters mp2p_icp_filters::FilterByRing::Parameters mp2p_icp_filters::FilterCurvature::Parameters mp2p_icp_filters::FilterDecimateAdaptive::Impl mp2p_icp_filters::FilterDecimateAdaptive::Parameters mp2p_icp_filters::FilterDecimateVoxels::Parameters mp2p_icp_filters::FilterDeleteLayer::Parameters mp2p_icp_filters::FilterEdgesPlanes::Parameters mp2p_icp_filters::FilterFartherPointSampling::Parameters mp2p_icp_filters::FilterMerge::Parameters mp2p_icp_filters::FilterNormalizeIntensity::Parameters mp2p_icp_filters::FilterPoleDetector::Parameters mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters mp2p_icp_filters::FilterVoxelSlice::Parameters mp2p_icp_filters::Generator::Parameters mp2p_icp_filters::GeneratorEdgesFromCurvature::ParametersEdges mp2p_icp_filters::GeneratorEdgesFromRangeImage::ParametersEdges mp2p_icp_filters::NotImplementedError mp2p_icp_filters::PointCloudToVoxelGrid::Impl mp2p_icp_filters::PointCloudToVoxelGrid::indices_t mp2p_icp_filters::PointCloudToVoxelGrid::IndicesHash mp2p_icp_filters::PointCloudToVoxelGrid::Parameters mp2p_icp_filters::PointCloudToVoxelGrid::voxel_t mp2p_icp_filters::PointCloudToVoxelGridSingle::Impl mp2p_icp_filters::PointCloudToVoxelGridSingle::indices_t mp2p_icp_filters::PointCloudToVoxelGridSingle::IndicesHash mp2p_icp_filters::PointCloudToVoxelGridSingle::voxel_t mp2p_icp_filters::sm2mm_options_t OLAE_LinearSystems std::hash<copy_only_test> std::hash<move_only_test> std::hash<self_reference_member_test> tsl::detail_robin_hash::has_is_transparent tsl::detail_robin_hash::has_is_transparent<T, typename make_void<typename T::is_transparent>::type> tsl::detail_robin_hash::is_power_of_two_policy tsl::detail_robin_hash::is_power_of_two_policy<tsl::rh::power_of_two_growth_policy<GrowthFactor>> tsl::detail_robin_hash::make_void

subwindow_update_visualization function, [1] supported sensors sync_obs variable synchronization_tolerance variable

T

T_enu_to_map variable, [1] target_layer variable test_types typedef, [1], [2] tf2 namespace threshold variable time_between_frames_to_warning variable time_cost variable, [1] time_offset variable timestamp variable, [1], [2], [3] TimestampAdjustMethod enum timestep_t typedef Todo List page ToYAML function TraitsTest class trajectory_t typedef transform_map_left_multiply function tsl namespace tsl::detail_robin_hash namespace tsl::detail_robin_hash::bucket_entry class tsl::detail_robin_hash::bucket_entry_hash class tsl::detail_robin_hash::bucket_entry_hash<true> class tsl::detail_robin_hash::has_is_transparent struct tsl::detail_robin_hash::has_is_transparent<T, typename make_void<typename T::is_transparent>::type> struct tsl::detail_robin_hash::is_power_of_two_policy struct tsl::detail_robin_hash::is_power_of_two_policy<tsl::rh::power_of_two_growth_policy<GrowthFactor>> struct

tsl::detail_robin_hash::make_void struct tsl::detail_robin_hash::robin_hash class tsl::detail_robin_hash::robin_hash::robin_iterator class tsl::rh namespace tsl::rh::detail namespace tsl::rh::mod_growth_policy class tsl::rh::power_of_two_growth_policy class tsl::rh::prime_growth_policy class tsl::robin_map class tsl::robin_map::KeySelect class tsl::robin_map::ValueSelect class tsl::robin_set class tsl::robin_set::KeySelect class TSL_RH_CHECK_THROW define TSL_RH_VERSION_MAJOR define twist variable, [1] twist_inv_cov variable typedef fid_t FilterPipeline GeneratorSet global_plain_index_t, [1], [2], [3] id_t KeyFrameID robin_pg_map robin_pg_set slz_size_type test_types, [1], [2] timestep_t trajectory_t Yaml

U

update_3d_object function, [1] use_scale_outlier_detector variable

use_tsl_robin_map variable utils class

V

variable active add_non_keyframes_too allLayers allowMatchAlreadyMatchedGlobalPoints_ allowMatchAlreadyMatchedPoints_ autoBoundingBoxOutliersPercentile B base_footprint_frame base_footprint_to_base_link_tf base_link_frame bias_acc bias_gyro bounding_box bounding_box_intersection_check_epsilon bounding_box_intersection_check_epsilon_ CACHE_MISS_VALUE cachedPoints center check_for_removal_every_n child_frame color, [1], [2], [3], [4] colormap, [1], [2], [3] colorMap colorMapMinCoord colorMode considerInvalidRangesAsFreeSpace cov_inv current_observation_point_size currentEstimateForRobust data debugFileNameFormat decimate_method decimation, [1], [2], [3], [4] decimationDebugFiles decimationIterationDetails deltaTime, [1] distance do_process_imu_labels_re, [1] do_process_odometry_labels_re, [1] doCmdRuns doEnvVars doIncludes eigVals enabled, [1] enforce_planar_motion, [1] error_on_missing_input_layer, [1] execution_rate expected_observation_labels finalPairings fixed_maximum_intensity fixed_minimum_intensity flatten_to force_alpha_channel forward_ros_tf_as_mola_odometry_observations functor_before_logging_local generate_lazy_load_scan_files generateDebugFiles geo_coord, [1] georeferencing, [1] globalPairedBitField gnss_sensor_label gravity_vector hard_discard HARDLIMIT_MAX_POINTS_PER_VOXEL icp_pipeline icpIteration id idxs imu_initial_calibration_max_age imu_initial_calibration_sample_count imu_initializer imu_sensor_label in_place includesBasePath innerLoopVerbose input_layer_in_local_coordinates input_pointcloud_layer, [1] inside_pointcloud_layer INVALID_FID INVALID_ID isPipelinesUsingIMU kdtree_leaf_max_points_ keep_original_cloud_color known_frames label last_lidar_pose layer_matches layers length lengths lidar_count lidar_sensor_labels lidarIdx linearizationPoint lines ln2ln load_existing_local_map load_existing_simple_map loaded_lib_handled local_map_needs_viz_update localmap_check_removal_counter localPairedBitField map map_metadata map_name map_update_decimation match_mean max_corr_distance, [1], [2], [3] max_distance_to_keep_keyframes max_points_per_voxel, [1], [2] max_search_keyframes max_time_offset max_time_to_use_velocity_model, [1] maxCost maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maxInnerLoopIterations maxIterations maxOccupancyUpdateCertainty measure_from_last_kf_only, [1] metadata method, [1], [2], [3] metric_l_infinity metric_map_definition metric_map_definition_ini_file min_distance_between_points, [1] min_icp_goodness min_motion_model_xyz_cov_inv min_rotation_between_keyframes, [1] min_time_between_scans min_translation_between_keyframes, [1] minAbsStep_rot minAbsStep_trans minDelta minimum_input_points_per_voxel minimum_input_points_to_filter minimum_observation_count minimum_points_clearance minimum_points_per_voxel name, [1] nameServer_ nb_custom_allocs nIterations odom_frame optimal_tf optimalPose optimalScale optimize_twist outliers output_file, [1] output_layer_between output_layer_class output_layer_high_intensity output_layer_larger_curvature output_layer_low_intensity output_layer_mid_intensity output_layer_no_poles output_layer_non_selected output_layer_other output_layer_outside output_layer_poles output_layer_selected output_layer_smaller_curvature output_pointcloud_layer, [1] outside_pointcloud_layer pair_weights paired_pt2pt pairing pairingsWeightParameters, [1] parallelization_grain_size parameter_source params, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15] params_ pcGlobal penalty_not_visible perLayer pl2pl planes planes_target_layer point_weights pointcloud_layer_to_remove pointCount points_already_global points_colormap pointSize pose potential_pairings prior, [1] process_class_names_regex process_sensor_labels_regex profiler_, [1] profiler_dtor_save_stats_, [1] pt2ln pt2pl pt2pt publish_in_sim_time publish_localization_following_rep105 publish_map_updates_every_n publish_odometry_msgs_from_slam publish_reference_frame publish_tf_from_robot_pose_observations publish_tf_from_slam publish_vehicle_frame quality, [1], [2] quality_checkpoints range_min rangeCamera recent_imu_stamps recent_lidar_stamps recolorizeByCoordinate recolorizeByCoordinateIndex, [1], [2], [3], [4] reference_frame, [1], [2] reference_frame_name relocalize_from_topic remove_frames_farther_than remove_submaps_farther_than remove_voxels_farther_than, [1] robot_pose, [1] runUpToIteration, [1] save_deskewed_scans save_final_local_map save_final_map_to_file save_gnss_max_age saveIterationDetails scale scale_outlier_threshold show_current_observation show_last_deskewed_observations_decay show_localmap show_mean_only sigma_dist, [1], [2], [3] silently_ignore_no_timestamps, [1] sliding_window_length SSO_MAX_POINTS_PER_VOXEL step_counter_post_relocalization sync_obs synchronization_tolerance T_enu_to_map, [1] target_layer threshold time_between_frames_to_warning time_cost, [1] time_offset timestamp, [1], [2], [3] twist, [1] twist_inv_cov use_scale_outlier_detector use_tsl_robin_map variables vehicle_frame_name VERTICAL_ANGLE_OFFSET, [1] visible voxel_filter_resolution, [1] voxel_layer_name weight_pt2pt_layers wideningBeamsWithDistance win_pos window_length x_locals

variables variable vector_of_points_to_xyz function vehicle_frame_name variable VERTICAL_ANGLE_OFFSET variable, [1] visible variable visit_correspondences function voxel_filter_resolution variable, [1] voxel_layer_name variable VoxelAverage enumvalue voxelByCoords function, [1], [2], [3] voxelByGlobalIdxs function, [1], [2], [3]

W

weight_pt2pt_layers variable wideningBeamsWithDistance variable win_pos variable

window_length variable writeToStream function, [1], [2], [3], [4]

X

x_locals variable

Y

Yaml typedef YAML_LOAD_MEMBER_OPT define YAML_LOAD_MEMBER_REQ define YAML_LOAD_OPT3 define

YAML_LOAD_OPT_DEG3 define YAML_LOAD_REQ3 define YAML_LOAD_REQ_DEG3 define yaml_to_string function