Index

A

accCov variable active variable add_non_keyframes_too variable addFactor function addKeyFrame function addPathModuleLibs function addPathModuleSources function age_to_unload_keyframes variable align function, [1] AlignKind enum allLayers variable allowMatchAlreadyMatchedGlobalPoints_ variable

allowMatchAlreadyMatchedPoints_ variable annotations_ variable annotations_data_t typedef apply_filter_pipeline function apply_generators function asString function, [1], [2], [3] at function, [1], [2], [3], [4], [5] attachToDataConsumer function AttachToParameterSource function, [1] attachToParameterSource function, [1] autoBoundingBoxOutliersPercentile variable

B

B variable base_footprint_frame variable base_footprint_to_base_link_tf variable base_id_ variable base_link_frame 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 boundingBox function, [1], [2], [3] bucket_entry function bucket_for_hash function

C

CACHE_MISS_VALUE variable Cauchy enumvalue center variable check_for_removal_every_n variable checkAllParametersAreRealized function class copy_only_test custom_allocator deserializer identity_hash mod_hash mola::BackEndBase mola::BridgeROS2 mola::Dataset_UI mola::EntityBase mola::EntityRelativeBase mola::EurocDataset mola::ExecutableBase mola::FactorAngularVelocityIntegration mola::FactorBase mola::FactorConstAngularVelocity mola::FactorConstVelKinematics mola::FactorRelativePose3 mola::FactorStereoProjectionPose mola::FactorTrapezoidalIntegrator mola::FilterBase mola::FixedDenseGrid3D mola::FrontEndBase mola::HashedSetSE3 mola::HashedVoxelPointCloud mola::IMUIntegrationParams mola::KeyFrameBase mola::Kitti360Dataset mola::KittiOdometryDataset mola::LandmarkPoint3 mola::LazyLoadResource mola::LidarOdometry mola::LocalizationSourceBase mola::MapServer mola::MapSourceBase mola::MolaLauncherApp mola::MolaViz mola::MulranDataset mola::NavStateFG mola::NavStateFGParams mola::NavStateFilter mola::NavStateFuse mola::NavStateFuseParams mola::NDT mola::OccGrid mola::OfflineDatasetSource mola::ParisLucoDataset mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::RefPose3 mola::RelDynPose3KF mola::Relocalization mola::RelPose3 mola::RelPose3KF mola::Rosbag2Dataset mola::RotationIntegrationParams mola::RotationIntegrator mola::SearchablePoseList mola::SmartFactorIMU mola::SmartFactorStereoProjectionPose mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::VizInterface mola::WorldModel mola::WorldModelData move_only_test mp2p_icp::ICP mp2p_icp::ICP_LibPointmatcher mp2p_icp::LogRecord mp2p_icp::Matcher mp2p_icp::Matcher_Adaptive 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::NearestPlaneCapable mp2p_icp::Parameterizable mp2p_icp::ParameterSource 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::FilterDecimateVoxelsQuadratic mp2p_icp_filters::FilterDeleteLayer mp2p_icp_filters::FilterDeskew mp2p_icp_filters::FilterEdgesPlanes mp2p_icp_filters::FilterMerge mp2p_icp_filters::FilterNormalizeIntensity 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] Cli struct clone function, [1], [2] ClosestToAverage enumvalue color variable, [1], [2], [3] colorMap variable colormap variable, [1], [2] colorMapMinCoord variable colorMode variable compiled 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] covariance function create_robust_kernel function create_subwindow function currentEstimateForRobust variable custom_allocator class custom_allocator::rebind struct

D

data variable datasetGetObservations function, [1], [2], [3], [4], [5], [6] datasetSize function, [1], [2], [3], [4], [5], [6] datasetUI_lastQueriedTimestep function, [1], [2], [3], [4], [5], [6], [7] datasetUI_size function, [1], [2], [3], [4], [5], [6], [7] datasetUI_teleport function, [1], [2], [3], [4], [5], [6], [7] 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_assert TSL_RH_CHECK_THROW YAML_LOAD_MEMBER_OPT YAML_LOAD_MEMBER_REQ YAML_LOAD_OPT3 YAML_LOAD_OPT_DEG3 YAML_LOAD_REQ3 YAML_LOAD_REQ_DEG3

deltaRij_ variable deltaTij_ variable deltaTime_ variable deserialize function, [1] deserializer class distance variable doCmdRuns variable doEnvVars variable doFilter function doIncludes variable

E

EarliestIsZero enumvalue edge_count function, [1], [2], [3], [4], [5] edge_indices function, [1], [2], [3], [4], [5] eigVals variable emplace function, [1] emplace_hint function, [1] empty function enabled variable, [1] enqueue_custom_nanogui_code function enqueue_request function entities_ variable EntitiesContainerDeque typedef EntitiesContainerFastMap typedef Entity typedef Entity handling utilities group entity_get_base function, [1] entity_neighbors function EntityOther typedef enum AlignKind Coordinate DecimateMethod InitLocalization IterTermReason NewState Robust RobustKernel TimestampAdjustMethod

enumvalue Cauchy ClosestToAverage EarliestIsZero FirstPoint GemanMcClure HUBER MiddleIsZero None Normalize 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] eraseGridsFartherThan function error_on_missing_input_layer variable, [1], [2] errors struct estimate_points_eigen function estimated_navstate function, [1], [2] estimatedTrajectory function eval_centroids_robust function evaluate function, [1], [2], [3] execution_rate variable

F

Factor typedef factor_get_base function, [1] FactorAngularVelocityIntegration function FactorConstAngularVelocity function FactorConstVelKinematics function FactorOther typedef FactorRelativePose3 function factors_ variable FactorTrapezoidalIntegrator function Factory function fid_t typedef filter function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] 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 flatten_to variable frame_id function function addFactor addKeyFrame addPathModuleLibs addPathModuleSources align, [1] apply_filter_pipeline apply_generators asString, [1], [2], [3] at, [1], [2], [3], [4], [5] attachToDataConsumer attachToParameterSource, [1] AttachToParameterSource, [1] 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] bucket_entry bucket_for_hash checkAllParametersAreRealized clear, [1], [2], [3] 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] datasetSize, [1], [2], [3], [4], [5], [6] datasetUI_lastQueriedTimestep, [1], [2], [3], [4], [5], [6], [7] datasetUI_size, [1], [2], [3], [4], [5], [6], [7] datasetUI_teleport, [1], [2], [3], [4], [5], [6], [7] deserialize, [1] doFilter edge_count, [1], [2], [3], [4], [5] edge_indices, [1], [2], [3], [4], [5] emplace, [1] emplace_hint, [1] empty enqueue_custom_nanogui_code enqueue_request entity_get_base, [1] entity_neighbors equal_range, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals, [1], [2] erase, [1], [2], [3], [4], [5], [6] eraseGridsFartherThan estimate_points_eigen estimated_navstate, [1], [2] estimatedTrajectory eval_centroids_robust evaluate, [1], [2], [3] factor_get_base, [1] FactorAngularVelocityIntegration FactorConstAngularVelocity FactorConstVelKinematics FactorRelativePose3 FactorTrapezoidalIntegrator Factory filter, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] filter_pipeline_from_yaml find, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 findModuleSharedDir findService frame_id fuse_gnss, [1], [2] fuse_imu, [1], [2] fuse_odometry, [1], [2] fuse_pose, [1], [2] fuse_twist, [1], [2] generators_from_yaml get_loaded_modules, [1] get_shared_from_this get_shared_from_this_or_clone get_visualization, [1] 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] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleSourcePaths getPointCloud, [1], [2] getVariableValues globalIdxToCoord, [1], [2], [3] gridByOuterIdxs hasGroundTruthTrajectory, [1], [2], [3], [4] HashedSetSE3 HashedVoxelPointCloud icp_pipeline_from_yaml incremental_rotation 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], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43], [44], [45] initialize_derived initialize_frontend initialize_matchers initialize_quality_evaluators initialize_solvers insertPoint, [1], [2], [3] insertPose integrate_measurement internal_load_lib_modules, [1] isEmpty, [1], [2], [3] known_frame_ids lastEstimatedState launchOrderPriority, [1] load load_from load_from_file, [1] load_xyz_file load_yaml_file loadFrom, [1], [2] LoadFromFile map_base_directory map_load map_load_from, [1] map_save map_save_to MapToNN MapToNP MapToPointsMap match max_bucket_count mean merge_with methodAvailable min_load_factor, [1] mutable_iterator, [1] NDT ndt ndt_is_plane next_bucket_count olae_build_linear_system onNewObservation, [1], [2], [3] onQuit operator(), [1], [2], [3], [4] optimal_pose optimal_tf_gauss_newton optimal_tf_horn optimal_tf_olae outerIdxToCoord overloaded parse_yaml point_layer pointcloud_sanity_check power_of_two_growth_policy print, [1], [2], [3] process, [1] pt2ln_pl_to_pt2pt push_back, [1] readFromStream, [1], [2], [3] reconstructedMap relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] reset, [1], [2], [3], [4] reset_integration resetLikelihoodCache resizeGrid robin_hash run_matchers run_solvers save_to_file, [1] saveMetricMapRepresentationToFile, [1], [2], [3] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories serialize, [1] set set_georeferencing_params setAsExternal setGridProperties setResolution, [1] 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] subwindow_update_visualization temp_createStereoCamera unload unrealizeParameters update_3d_object updateVariable updateVariables value, [1] vector_of_points_to_xyz visit_correspondences voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3] writeToStream, [1], [2], [3] 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 georeferencing variable get_loaded_modules function, [1] get_shared_from_this function get_shared_from_this_or_clone function get_visualization function, [1] 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] getGroundTruthTrajectory function, [1], [2], [3], [4] getLoadedModules function getModuleLibPaths function

getModuleSourcePaths function getPointCloud function, [1], [2] getVariableValues function global namespace global_plain_index_t typedef, [1], [2], [3] globalIdxToCoord function, [1], [2], [3] globalPairedBitField variable gnss_sensor_label variable gravityVector variable gridByOuterIdxs function group Entity handling utilities mola-input-kitti-dataset. mola-input-kitti360-dataset. mola-input-mulran-dataset. mola-input-paris-luco-dataset. mola-kernel: MOLA data types and interfaces 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_metric_maps mp2p_icp library mp2p_icp_filters library mp2p_icp_map library gtsam namespace gyroBias variable gyroCov variable

H

HandlersContainer struct hard_discard variable HARDLIMIT_MAX_POINTS_PER_VOXEL variable hasGroundTruthTrajectory function, [1], [2], [3], [4]

HashedSetSE3 function HashedVoxelPointCloud function HUBER enumvalue

I

icp_pipeline variable icp_pipeline_from_yaml function icpIteration variable id variable id_t typedef identity_hash class idxs variable imu_sensor_label variable includesBasePath variable incremental_rotation function 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], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42], [43], [44], [45] initialize_derived function initialize_frontend function initialize_matchers function initialize_quality_evaluators function initialize_solvers function

InitLocalization enum innerLoopVerbose variable input_layer_in_local_coordinates variable input_pointcloud_layer variable, [1] insertPoint function, [1], [2], [3] insertPose function inside_pointcloud_layer variable integrate_measurement function integrationCov 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] IterTermReason enum

K

kdtree_leaf_max_points_ variable keep_original_cloud_color variable

known_frame_ids function known_frames variable

L

label variable last_lidar_pose variable lastEstimatedState function launchOrderPriority function, [1] layers variable length variable lengths variable lidar_count variable lidar_sensor_labels variable lidarIdx variable linearizationPoint variable lines variable literals namespace ln2ln variable load function

load_existing_local_map variable load_existing_simple_map variable load_from function load_from_file function, [1] load_xyz_file function load_yaml_file function loaded_lib_handled variable LoadedModules struct loadFrom function, [1], [2] LoadFromFile function local_map_needs_viz_update variable local_map_point_size variable localmap_check_removal_counter variable localPairedBitField variable

M

map_base_directory function map_load function map_load_from function, [1] map_name variable map_name_ variable map_save function map_save_to function 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_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 method variable, [1], [2] methodAvailable function metric_map_definition variable metric_map_definition_ini_file variable MiddleIsZero enumvalue min_consecutive_distance variable min_distance_between_points variable, [1] min_icp_goodness variable min_load_factor function, [1] 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_points_clearance 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-kernel: MOLA data types and interfaces 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::BackEndBase class mola::BackEndBase::AddFactor_Output struct mola::BackEndBase::AdvertiseUpdatedLocalization_Input struct mola::BackEndBase::ProposeKF_Input struct mola::BackEndBase::ProposeKF_Output struct mola::BridgeROS2 class mola::BridgeROS2::MolaSubs struct mola::BridgeROS2::Params struct mola::BridgeROS2::RosPubs struct mola::ContainerDeque struct mola::ContainerFastMap struct mola::Dataset_UI class mola::EntityBase class mola::EntityRelativeBase class mola::EurocDataset class mola::ExecutableBase class mola::FactorAngularVelocityIntegration class mola::FactorBase class mola::FactorConstAngularVelocity class mola::FactorConstVelKinematics class mola::FactorRelativePose3 class mola::FactorStereoProjectionPose class mola::FactorTrapezoidalIntegrator class mola::FilterBase class mola::FixedDenseGrid3D class mola::FrontEndBase class 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::IMUIntegrationParams class mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::KeyFrameBase class mola::Kitti360Dataset class mola::KittiOdometryDataset class mola::LandmarkPoint3 class mola::LazyLoadResource 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::MolaLauncherApp class mola::MolaLauncherApp::InfoPerRunningThread struct mola::MolaLauncherApp::Parameters struct mola::MolaViz class mola::MolaViz::DataPerDatasetUI struct mola::MolaViz::PerWindowData struct mola::MulranDataset class mola::MulranDataset::Entry struct mola::NavState struct mola::NavStateFG class mola::NavStateFG::GtsamImpl struct mola::NavStateFG::OdomData struct mola::NavStateFG::PointData struct mola::NavStateFG::PoseData struct mola::NavStateFG::QueryPointData struct mola::NavStateFG::State struct mola::NavStateFG::TwistData struct mola::NavStateFGParams class mola::NavStateFilter class mola::NavStateFilter::GeoReferenceParams struct mola::NavStateFuse class mola::NavStateFuse::State struct mola::NavStateFuseParams 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::RefPose3 class mola::RelDynPose3KF 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::RelPose3 class mola::RelPose3KF class mola::Rosbag2Dataset class mola::Rosbag2Dataset::DatasetEntry struct mola::RotationIntegrationParams class mola::RotationIntegrator class mola::RotationIntegrator::IntegrationState struct mola::SearchablePoseList class mola::SensorCamera struct mola::SensorIMU struct mola::SmartFactorIMU class mola::SmartFactorStereoProjectionPose class mola::SmartFactorStereoProjectionPose::obs_tuple_t struct mola::SmartFactorStereoProjectionPose::StereoObservation 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::StereoObservation struct mola::VizInterface class mola::WorldModel class mola::WorldModel::Parameters struct mola::WorldModelData class mola::WorldModelData::EntitiesContainer struct mola::WorldModelData::FactorsContainer struct mola::YAMLParseOptions struct mola_bridge_ros2 group mola_input_euroc_dataset_grp. group mola_input_rawlog_grp. group mola_input_rosbag2_grp group mola_metric_maps group MOLA_VERSION_CHECK define 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::ICP_LibPointmatcher class mp2p_icp::ICP_LibPointmatcher::ParametersLibpointmatcher struct mp2p_icp::internal namespace mp2p_icp::internal::InfoPerParam struct 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_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::NearestPlaneCapable class mp2p_icp::NearestPlaneCapable::NearestPlaneResult struct 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::Parameterizable class mp2p_icp::Parameters struct mp2p_icp::ParameterSource class mp2p_icp::plane_patch_t struct mp2p_icp::point_line_pair_t struct mp2p_icp::point_plane_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_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::Parameters struct mp2p_icp_filters::FilterDecimateVoxels class mp2p_icp_filters::FilterDecimateVoxels::Parameters struct mp2p_icp_filters::FilterDecimateVoxelsQuadratic class mp2p_icp_filters::FilterDecimateVoxelsQuadratic::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::FilterMerge class mp2p_icp_filters::FilterMerge::Parameters struct mp2p_icp_filters::FilterNormalizeIntensity class mp2p_icp_filters::FilterNormalizeIntensity::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::maps namespace mrpt::obs namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace mutable_iterator function, [1] my_id_ variable, [1]

N

nameServer_ variable namespace global gtsam literals math mola mp2p_icp mp2p_icp::internal mp2p_icp_filters mrpt mrpt::config mrpt::maps mrpt::obs mrpt::rtti mrpt::serialization mrpt::system rosbag2_cpp rosbag2_cpp::readers rosbag2_storage std string_literals tf2 tsl tsl::detail_robin_hash tsl::rh tsl::rh::detail

nb_custom_allocs variable NDT function ndt function ndt_is_plane function NewState enum next_bucket_count function nIterations variable noise_model_ variable noise_model_diag_rot_ variable noise_model_diag_xyz_ variable None enumvalue Normalize enumvalue

O

observations variable odom_frame variable olae_build_linear_system function OLAE_LinearSystems struct onNewObservation function, [1], [2], [3] onQuit function operator() function, [1], [2], [3], [4] 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_non_selected variable output_layer_other variable output_layer_outside variable output_layer_selected variable output_layer_smaller_curvature variable output_pointcloud_layer variable, [1], [2] outside_pointcloud_layer variable overloaded function

P

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

pointSize variable pose 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 pub_poses variable pub_sensors variable publish_in_sim_time variable publish_map_updates_every_n variable push_back function, [1]

Q

quadratic_reference_radius variable quality variable, [1]

quality_checkpoints variable

R

RandomPoint enumvalue range_min variable rangeCamera variable readFromStream function, [1], [2], [3] recolorizeByCoordinate variable recolorizeByCoordinateIndex variable, [1], [2] reconstructedMap function reference_frame variable, [1], [2] reference_kf variable relocalize_from_gnss function, [1] relocalize_near_pose_pdf function, [1] relpose_value variable, [1], [2] remove_submaps_farther_than variable remove_voxels_farther_than variable, [1] reset function, [1], [2], [3], [4] reset_integration function resetLikelihoodCache function

resizeGrid function robin_hash function robin_pg_map typedef robin_pg_set typedef robot_pose variable Robust enum robust_param_ variable robust_type_ variable RobustKernel enum rosbag2_cpp namespace rosbag2_cpp::readers namespace rosbag2_storage namespace rotationParams variable run_matchers function run_solvers function runUpToIteration variable, [1]

S

save_final_map_to_file variable save_gnss_max_age variable save_to_file function, [1] saveIterationDetails variable saveMetricMapRepresentationToFile function, [1], [2], [3] saveToTextFile function, [1], [2], [3], [4] scale variable scale_outlier_threshold variable scanAndLoadLibraries function scanForModuleSharedDirectories function self_reference_member_test class sensorPose variable serialize function, [1] serializer class set function set_georeferencing_params function setAsExternal function setGridProperties function setResolution function, [1] setSize function setup function setVoxelProperties function, [1], [2], [3] show_mean_only variable shutdown function sigma_dist variable, [1], [2], [3] sigma_xleft_ variable, [1] silently_ignore_no_timestamps variable, [1] simplemap_to_metricmap function size function, [1], [2], [3] size_points_only function skip_deskew variable 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] 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 string_literals namespace struct Cli custom_allocator::rebind errors HandlersContainer is_pair is_pair<std::pair<T1, T2>> LoadedModules mola::BackEndBase::AddFactor_Output mola::BackEndBase::AdvertiseUpdatedLocalization_Input mola::BackEndBase::ProposeKF_Input mola::BackEndBase::ProposeKF_Output mola::BridgeROS2::MolaSubs mola::BridgeROS2::Params mola::BridgeROS2::RosPubs mola::ContainerDeque mola::ContainerFastMap mola::HashedSetSE3::VoxelData mola::HashedVoxelPointCloud::CachedData mola::HashedVoxelPointCloud::TInsertionOptions mola::HashedVoxelPointCloud::TLikelihoodOptions mola::HashedVoxelPointCloud::TRenderOptions mola::HashedVoxelPointCloud::VoxelData mola::HashedVoxelPointCloud::VoxelData::PointSpan mola::index3d_hash mola::index3d_t mola::index_se3_t mola::index_se3_t_hash 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::PerWindowData mola::MulranDataset::Entry mola::NavState mola::NavStateFG::GtsamImpl mola::NavStateFG::OdomData mola::NavStateFG::PointData mola::NavStateFG::PoseData mola::NavStateFG::QueryPointData mola::NavStateFG::State mola::NavStateFG::TwistData mola::NavStateFilter::GeoReferenceParams mola::NavStateFuse::State 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::RotationIntegrator::IntegrationState mola::SensorCamera mola::SensorIMU mola::SmartFactorStereoProjectionPose::obs_tuple_t mola::SmartFactorStereoProjectionPose::StereoObservation 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::StereoObservation mola::WorldModel::Parameters mola::WorldModelData::EntitiesContainer mola::WorldModelData::FactorsContainer 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::ICP_LibPointmatcher::ParametersLibpointmatcher mp2p_icp::internal::InfoPerParam 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::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_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::Parameters mp2p_icp_filters::FilterDecimateVoxels::Parameters mp2p_icp_filters::FilterDecimateVoxelsQuadratic::Parameters mp2p_icp_filters::FilterDeleteLayer::Parameters mp2p_icp_filters::FilterEdgesPlanes::Parameters mp2p_icp_filters::FilterMerge::Parameters mp2p_icp_filters::FilterNormalizeIntensity::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 supported sensors sync_obs variable

T

T_enu_to_map variable target_layer variable temp_createStereoCamera function test_types typedef, [1], [2] tf2 namespace time_between_frames_to_warning variable time_cost variable, [1] time_offset variable timestamp variable, [1], [2], [3], [4] timestamp_ variable TimestampAdjustMethod enum timestep_t typedef Todo List page TraitsTest class trajectory_t typedef 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_assert define TSL_RH_CHECK_THROW define twist variable, [1] twist_inv_cov variable typedef annotations_data_t EntitiesContainerDeque EntitiesContainerFastMap Entity EntityOther Factor FactorOther fid_t FilterPipeline GeneratorSet global_plain_index_t, [1], [2], [3] id_t robin_pg_map robin_pg_set slz_size_type test_types, [1], [2] timestep_t trajectory_t Yaml

U

unload function unrealizeParameters function update_3d_object function updateVariable function updateVariables function

use_closest_to_voxel_average variable use_random_point_within_voxel variable use_scale_outlier_detector variable use_voxel_average variable utils class

V

value function, [1] variable accCov active add_non_keyframes_too age_to_unload_keyframes allLayers allowMatchAlreadyMatchedGlobalPoints_ allowMatchAlreadyMatchedPoints_ annotations_ autoBoundingBoxOutliersPercentile B base_footprint_frame base_footprint_to_base_link_tf base_id_ base_link_frame bounding_box bounding_box_intersection_check_epsilon_ CACHE_MISS_VALUE center check_for_removal_every_n color, [1], [2], [3] colormap, [1], [2] colorMap colorMapMinCoord colorMode compiled considerInvalidRangesAsFreeSpace currentEstimateForRobust data debugFileNameFormat decimate_method decimation, [1], [2], [3], [4] decimationDebugFiles decimationIterationDetails deltaRij_ deltaTij_ deltaTime_ distance doCmdRuns doEnvVars doIncludes eigVals enabled, [1] entities_ error_on_missing_input_layer, [1], [2] execution_rate factors_ finalPairings flatten_to functor_before_logging_local generate_lazy_load_scan_files generateDebugFiles geo_coord georeferencing globalPairedBitField gnss_sensor_label gravityVector gyroBias gyroCov hard_discard HARDLIMIT_MAX_POINTS_PER_VOXEL icp_pipeline icpIteration id idxs imu_sensor_label includesBasePath innerLoopVerbose input_layer_in_local_coordinates input_pointcloud_layer, [1] inside_pointcloud_layer integrationCov INVALID_FID INVALID_ID kdtree_leaf_max_points_ keep_original_cloud_color known_frames label last_lidar_pose 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 local_map_point_size localmap_check_removal_counter localPairedBitField map_name map_name_ match_mean max_corr_distance, [1], [2], [3] max_distance_to_keep_keyframes max_points_per_voxel, [1], [2] max_time_offset max_time_to_use_velocity_model, [1] maxCost maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maxInnerLoopIterations maxIterations maxOccupancyUpdateCertainty measure_from_last_kf_only, [1] method, [1], [2] metric_map_definition metric_map_definition_ini_file min_consecutive_distance min_distance_between_points, [1] min_icp_goodness 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_points_clearance my_id_, [1] nameServer_ nb_custom_allocs nIterations noise_model_ noise_model_diag_rot_ noise_model_diag_xyz_ observations 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_non_selected output_layer_other output_layer_outside output_layer_selected output_layer_smaller_curvature output_pointcloud_layer, [1], [2] outside_pointcloud_layer pair_weights paired_pt2pt pairing pairingsWeightParameters, [1] parameter_source params_, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15] pcGlobal penalty_not_visible perLayer pl2pl planes planes_target_layer point_weights pointcloud_layer_to_remove pointCount pointSize pose potential_pairings prior, [1] process_class_names_regex process_sensor_labels_regex profiler_, [1] profiler_dtor_save_stats_, [1] pt2ln pt2pl pt2pt pub_poses pub_sensors publish_in_sim_time publish_map_updates_every_n quadratic_reference_radius quality, [1] quality_checkpoints range_min rangeCamera recolorizeByCoordinate recolorizeByCoordinateIndex, [1], [2] reference_frame, [1], [2] reference_kf relpose_value, [1], [2] remove_submaps_farther_than remove_voxels_farther_than, [1] robot_pose robust_param_ robust_type_ rotationParams runUpToIteration, [1] save_final_map_to_file save_gnss_max_age saveIterationDetails scale scale_outlier_threshold sensorPose show_mean_only sigma_dist, [1], [2], [3] sigma_xleft_, [1] silently_ignore_no_timestamps, [1] skip_deskew sliding_window_length SSO_MAX_POINTS_PER_VOXEL sync_obs T_enu_to_map target_layer time_between_frames_to_warning time_cost, [1] time_offset timestamp, [1], [2], [3], [4] timestamp_ twist, [1] twist_inv_cov use_closest_to_voxel_average use_random_point_within_voxel use_scale_outlier_detector use_voxel_average VERTICAL_ANGLE_OFFSET, [1] visible voxel_filter_resolution, [1], [2] voxel_layer_name weight_pt2pt_layers wheel_odometry_sensor_label wideningBeamsWithDistance win_pos x_locals

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

W

weight_pt2pt_layers variable wheel_odometry_sensor_label variable wideningBeamsWithDistance variable

win_pos variable writeToStream function, [1], [2], [3]

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