Index

A

a_body variable a_body_std variable AbsFactorConstVelKinematics function AbsFactorTricycleKinematics function active variable add function add_imu_attitude_factors function add_imu_gravity_factors function add_non_keyframes_too variable addHorizontalityConstraints variable additional_isam2_update_steps variable addPathModuleLibs function addPathModuleSources function

AlignKind enum anchor_id variable any_window_open function applyPivotTransform function, [1] approximate_cov variable asString function, [1], [2], [3], [4] assumed_sensor_rate_hz_ variable at function, [1], [2], [3], [4], [5] attachToDataConsumer function averaging_samples variable axis_eps variable azimuthOffsetDeg variable

B

BACKEND_IMGUI variable BACKEND_NANOGUI variable background_scene_view variable base_footprint_frame variable base_footprint_to_base_link_tf 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 boundingBox function, [1], [2], [3], [4] bucket_entry function bucket_for_hash function buildCache function

C

CACHE_MISS_VALUE variable cachedPoints variable channel_names function check_for_removal_every_n variable child_frame variable class copy_only_test custom_allocator deserializer identity_hash mod_hash mola::BinFileDataset mola::BridgeROS2 mola::ConsoleLogSink mola::Dataset_UI mola::DiagnosticsProvider mola::EurocDataset mola::ExecutableBase mola::factors::FactorAngularVelocityIntegration mola::factors::FactorAngularVelocityIntegrationPose mola::factors::FactorConstLocalVelocity mola::factors::FactorConstLocalVelocityPose mola::factors::FactorGnssEnu mola::factors::FactorGnssMapEnu mola::factors::FactorTrapezoidalIntegrator mola::factors::FactorTrapezoidalIntegratorPose mola::factors::FactorTricycleKinematic mola::factors::MapGravityFactor mola::factors::MeasuredGravityFactor mola::factors::Pose3RotationFactor mola::FilterBase mola::FixedDenseGrid3D mola::FrontEndBase mola::GravityMapAligner mola::HashedSetSE3 mola::HashedVoxelPointCloud mola::KeyframeMapCapable mola::KeyframePointCloudMap mola::KeyframePointCloudMap::KeyFrame mola::Kitti360Dataset mola::KittiOdometryDataset mola::LidarOdometry mola::LocalizationSourceBase mola::MapServer mola::MapSourceBase mola::MetricChannel mola::MetricChannelImpl mola::MetricsRegistry mola::MinimalModuleContainer mola::MockDiagModule mola::MolaLauncherApp mola::MolaViz mola::MolaVizImGui mola::MolaVizImGuiCore mola::MulranDataset mola::NavStateFilter mola::NDT mola::OccGrid mola::OfflineDatasetSource mola::OptionsCapable mola::ParisLucoDataset mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::RegexCache mola::Relocalization mola::Rosbag2Dataset mola::SearchablePoseList mola::SharedKeyframeMap mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::state_estimation_simple::Parameters mola::state_estimation_simple::StateEstimationSimple mola::state_estimation_smoother::Parameters mola::state_estimation_smoother::StateEstimationSmoother mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorConstVelKinematics mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorTricycleKinematics mola::Synchronizer mola::TrajectoryRebaker mola::VideoDataset mola::VizInterface move_only_test 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] clear_all_point_clouds_with_decay function, [1], [2], [3] clear_background_scene function Cli struct clone function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] cloneKFPoses function color variable, [1], [2], [3] colormap variable, [1], [2], [3] computePublishResidual function considerInvalidRangesAsFreeSpace variable console_capture_level_ variable console_dock_defaulted variable console_enabled_ variable console_max_entries_ variable console_open variable console_sink_ variable console_window_seconds_ variable contains function, [1], [2], [3], [4], [5] convergence_max_orientation_sigma_deg variable convergence_max_position_sigma variable copy_only_test class copy_span function core_fraction variable corrected_poses variable count function, [1], [2], [3], [4], [5] countNearby function covariancesLocal function create_subwindow_from_description function, [1], [2], [3] current_georeferencing function current_observation_color_by_field variable custom_allocator class custom_allocator::rebind struct

D

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] decimation variable, [1], [2], [3], [4] default_dock_top_id variable define BOOST_TEST_MODULE ENSURE_YAML_ENTRY_EXISTS MOLA_ARG_N MOLA_KERNEL_VIZ_HAS_METRICS MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES MOLA_POSE_LIST_HAS_ID_KEYED_API MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING MOLA_RSEQ_N MOLA_VERSION_CHECK MOLA_VFUNC MOLA_VFUNC_ TSL_RH_CHECK_THROW TSL_RH_VERSION_MAJOR VFUNC YAML_LOAD_MEMBER_OPT YAML_LOAD_MEMBER_REQ YAML_LOAD_OPT YAML_LOAD_OPT2 YAML_LOAD_OPT3 YAML_LOAD_OPT_DEG YAML_LOAD_OPT_DEG2 YAML_LOAD_OPT_DEG3 YAML_LOAD_REQ YAML_LOAD_REQ2 YAML_LOAD_REQ3 YAML_LOAD_REQ_DEG YAML_LOAD_REQ_DEG2 YAML_LOAD_REQ_DEG3

deltaTime variable, [1] density_penalty_max_m variable density_penalty_min_points variable Deprecated List page deserialize function, [1] deserializer class DiagnosticLevel enum display variable do_process_gnss_labels_re variable, [1] do_process_imu_labels_re variable, [1] do_process_odometry_labels_re variable, [1] dock_central_id variable dock_top_by_default variable doCmdRuns variable doEnvVars variable doFilter function doIncludes variable drainEvictedKeyFrameIDs function dropped_ratio_warn variable

E

edge_overlap variable emplace function, [1] emplace_hint function, [1] enabled variable, [1] enqueue_custom_gui_code function, [1], [2], [3] enqueue_request function ENSURE_YAML_ENTRY_EXISTS define enu_frame_name variable enum AlignKind DiagnosticLevel InitLocalization InputMode KinematicModel enumvalue FixedPose FromStateEstimator PitchAndRollFromIMU equal_range function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] erase function, [1], [2], [3], [4], [5], [6] erase_fast function, [1] eraseGridsFartherThan function errors struct estimate_geo_reference variable estimated_georef_published variable estimated_navstate function, [1], [2]

estimated_T_enu_to_map function estimated_T_map_to_odometry_frame function estimated_trajectory function estimatedPitchRoll function estimatedTrajectory function estimateGlobalCorrection function estimateGravityVector function estimateGravityVectorOverWindow function estimatePerKFCorrection function evaluateError function execute_custom_code_on_background_scene function, [1], [2], [3] execution_rate variable expected_g_mps2 variable expected_observation_labels variable exportLoadableOptionsToIni function exportMapLayerOptionsToIni function expression function, [1], [2], [3], [4] extent_factor variable external_georef variable extract_imu_acc_frames_from_sm function extract_imu_frames_from_sm function

F

FactorAngularVelocityIntegration function, [1] FactorAngularVelocityIntegrationPose function, [1] FactorConstLocalVelocity function FactorConstLocalVelocityPose function FactorGnssEnu function, [1] FactorGnssMapEnu function, [1] FactorTrapezoidalIntegrator function, [1] FactorTrapezoidalIntegratorPose function, [1] FactorTricycleKinematic function, [1] Factory function fid_t typedef find function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 function findModuleSharedDir function findModulesOfType function findService function fixed_geo_reference variable fixed_width variable, [1], [2] FixedPose enumvalue forEachKeyframeMapLayer function forward_ros_tf_as_mola_odometry_observations variable from_state_estimator_max_orientation_sigma_deg variable from_state_estimator_max_position_sigma variable from_state_estimator_timeout variable FromStateEstimator enumvalue function AbsFactorConstVelKinematics AbsFactorTricycleKinematics add add_imu_attitude_factors add_imu_gravity_factors addPathModuleLibs addPathModuleSources any_window_open applyPivotTransform, [1] asString, [1], [2], [3], [4] 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 channel_names clear, [1], [2] clear_all_point_clouds_with_decay, [1], [2], [3] clear_background_scene clone, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] cloneKFPoses computePublishResidual contains, [1], [2], [3], [4], [5] copy_span count, [1], [2], [3], [4], [5] countNearby covariancesLocal create_subwindow_from_description, [1], [2], [3] current_georeferencing 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 drainEvictedKeyFrameIDs emplace, [1] emplace_hint, [1] enqueue_custom_gui_code, [1], [2], [3] enqueue_request equal_range, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] equals, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] erase, [1], [2], [3], [4], [5], [6] erase_fast, [1] eraseGridsFartherThan estimated_navstate, [1], [2] estimated_T_enu_to_map estimated_T_map_to_odometry_frame estimated_trajectory estimatedPitchRoll estimatedTrajectory estimateGlobalCorrection estimateGravityVector estimateGravityVectorOverWindow estimatePerKFCorrection evaluateError execute_custom_code_on_background_scene, [1], [2], [3] exportLoadableOptionsToIni exportMapLayerOptionsToIni expression, [1], [2], [3], [4] extract_imu_acc_frames_from_sm extract_imu_frames_from_sm FactorAngularVelocityIntegration, [1] FactorAngularVelocityIntegrationPose, [1] FactorConstLocalVelocity FactorConstLocalVelocityPose FactorGnssEnu, [1] FactorGnssMapEnu, [1] FactorTrapezoidalIntegrator, [1] FactorTrapezoidalIntegratorPose, [1] FactorTricycleKinematic, [1] Factory find, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 findModuleSharedDir findModulesOfType findService forEachKeyframeMapLayer fuse_gnss, [1], [2] fuse_imu, [1], [2] fuse_odometry, [1], [2] fuse_pose, [1], [2] fuse_twist, [1], [2] get_background_scene get_background_scene_mutex get_current_extrapolated_stamp get_geo_reference get_loaded_modules, [1] get_or_create get_sensor_rates get_subwindow_handle, [1], [2], [3] getAsPtr getAsSimplePointsMap, [1], [2] getDiagnostics, [1] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleParameters getModuleSourcePaths getObservationGroup getPointCloud, [1], [2] getViz globalIdxToCoord, [1], [2], [3] gridByOuterIdxs gui_backend, [1], [2], [3] has_converged_localization, [1] hasGroundTruthTrajectory, [1], [2], [3], [4], [5] HashedSetSE3 HashedVoxelPointCloud icp_cleanup icp_get_prepared_as_global id importLoadableOptionsFromIni importMapLayerOptionsFromIni imu_accel_looks_like_gravity imu_apply_enu_azimuth_correction imu_quaternion_looks_valid init_for_embed initialize, [1], [2], [3], [4], [5], [6], [7], [8] initialize_frontend initialize_rds insert insert_point_cloud_with_decay, [1], [2], [3] insertPoint, [1], [2], [3] insertPose install_embed_core installCovariancesLocal internal_load_lib_modules, [1] isEmpty, [1], [2], [3], [4] KeyframePointCloudMap keyframePoses, [1] known_odometry_frame_ids lastEstimatedState lastIcpQuality lastInsertedKeyFrameID launchOrderPriority load_yaml_file loadFrom, [1] loadMap loadPlugins make_for_embed map_load, [1] map_save, [1] MapGravityFactor markWindowForReLayout max_bucket_count mean MeasuredGravityFactor min_load_factor, [1] mutable_iterator, [1] NDT ndt ndt_is_plane next_bucket_count nextFreeKeyFrameID_public oldestActiveKeyframeID, [1] onKeyframeDropped onNewKeyframe onNewKeyframeRaw onNewObservation, [1], [2], [3], [4], [5] onQuit, [1] open_file_dialog, [1], [2], [3] operator(), [1], [2] optionsByName, [1], [2], [3], [4], [5] outerIdxToCoord output_console_message, [1], [2], [3] overloaded parameters parse_yaml, [1] pointcloud poll, [1] pollIntoDisplay pose, [1] Pose3RotationFactor pose_pdf_to_string_with_sigmas power_of_two_growth_policy print, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] push, [1], [2] push_metric, [1], [2], [3] readFromStream, [1], [2], [3], [4] rebake, [1] recenter_georeference reconstructedMap register_gui_cleanup register_metric, [1], [2], [3] regroupKeyframes relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] render_frame requestInsertKeyframe reset, [1], [2], [3] resetLikelihoodCache resizeGrid rotationFromGravity run_registered_cleanups saveMetricMapRepresentationToFile, [1], [2], [3], [4] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories serialize, [1] set, [1] set_geo_reference set_menu_bar, [1], [2], [3] setDeskewedColoring setGridProperties setKeyframePose, [1] setLocalMapColoring setPoseById setSize setTrajectoryVisualization setup setVoxelProperties, [1], [2], [3] shutdown shutdown_for_embed shutdownCleanup simplemap_georeference SparseTreesPointCloud SparseVoxelPointCloud spin spin_one_frame spinOnce, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] subscribeToMapUpdates subwindow_update_visualization, [1], [2], [3] transform_map_left_multiply tricycleKinematicModel trySetCreationOptions update_3d_object, [1], [2], [3] update_3d_object_frame, [1], [2], [3] update_viewport_camera_azimuth, [1], [2], [3] update_viewport_camera_orthographic, [1], [2], [3] update_viewport_look_at, [1], [2], [3] updateCovarianceParams version, [1] voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3] writeToStream, [1], [2], [3], [4] yaml_to_string

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

generate_lazy_load_scan_files variable geo_coord variable geo_ref variable geo_reference variable geodeticReference variable georeferencing variable get_background_scene function get_background_scene_mutex function get_current_extrapolated_stamp function get_geo_reference function get_loaded_modules function, [1] get_or_create function get_sensor_rates function get_subwindow_handle function, [1], [2], [3] getAsPtr function getAsSimplePointsMap function, [1], [2] getDiagnostics function, [1] 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] gnss_enabled variable gnss_fuse_z variable gnss_huber_threshold variable gnss_max_horizontal_sigma variable gnss_min_sigma_floor_xy variable gnss_min_sigma_floor_z variable gnss_nearby_keyframe_stamp_tolerance variable gnss_sensor_label variable gravity_calib_pitch_roll 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-viz-imgui 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_kernel_interfaces_grp mola_metric_maps gtsam namespace gui_backend function, [1], [2], [3]

H

HandlersContainer struct HARDLIMIT_MAX_POINTS_PER_VOXEL variable hardware_id variable has_converged_localization function, [1] has_geodetic_datum variable

hasGroundTruthTrajectory function, [1], [2], [3], [4], [5] HashedSetSE3 function HashedVoxelPointCloud function huber_threshold_mps2 variable

I

icon_entypo variable icon_imgui variable icp_cleanup function icp_get_prepared_as_global function icp_pipeline variable icp_search_built_approximate variable id function id_t typedef identity_hash class imgui_app_name_ variable importLoadableOptionsFromIni function importMapLayerOptionsFromIni function imu_accel_looks_like_gravity function imu_apply_enu_azimuth_correction function imu_attitude_azimuth_offset_deg variable imu_attitude_sigma_deg variable imu_initial_calibration_max_age variable imu_initial_calibration_sample_count variable imu_initializer variable imu_nearby_keyframe_stamp_tolerance variable imu_normalized_gravity_alignment_sigma variable imu_quaternion_looks_valid function imu_sensor_label variable imu_sensor_pose variable imu_sensor_pose_timestamp variable imuAttitudeSigmaDeg variable

imuAttitudeYawSigmaDeg variable includesBasePath variable init_for_embed function initialize function, [1], [2], [3], [4], [5], [6], [7], [8] initialize_frontend function initialize_rds function InitLocalization enum input_error_sec variable input_stale_sec variable InputMode enum insert function insert_point_cloud_with_decay function, [1], [2], [3] insertPoint function, [1], [2], [3] insertPose function install_embed_core function installCovariancesLocal function internal_load_lib_modules function, [1] INVALID_FID variable INVALID_ID variable irls_iterations variable is_pair struct is_pair<std::pair<T1, T2>> struct isEmpty function, [1], [2], [3], [4] island_merge_fraction variable isPipelinesUsingIMU variable item_spacing variable

K

kDefaultAxisEps variable keep_last_one_only variable KeyFrameID typedef KeyframePointCloudMap function keyframePoses function, [1] keyframes_axes_length variable

kf_index variable, [1], [2] kinematic_model variable KinematicModel enum known_odom_frames variable known_odometry_frame_ids function

L

label variable, [1], [2], [3] last_deskewed_observations_color_by_field variable last_deskewed_scan_for_publishing variable last_estimated_frames variable last_estimated_states variable last_lidar_pose variable last_lidar_sensor_poses variable last_obs_reception_time variable last_observed_scan_period_sec variable lastEstimatedState function lastIcpQuality function lastInsertedKeyFrameID function launchOrderPriority function lbPlaybackPosition variable lidar_count variable lidar_sensor_labels variable lidarIdx variable

link_first_pose_to_reference_origin_sigma variable literals namespace live_text variable live_value variable load_existing_local_map variable load_existing_simple_map variable load_map_after_gui_init variable load_yaml_file function loaded_lib_handled variable LoadedModules struct loadFrom function, [1] loadMap function loadPlugins function local_map_colormap_color_by_field variable local_map_needs_viz_update variable localmap_check_removal_counter variable

M

make_for_embed function map variable map_has_been_loaded variable map_load function, [1] map_metadata variable map_name variable map_save function, [1] map_update_decimation variable MapGravityFactor function markWindowForReLayout function match_mean variable max_age_seconds variable max_bucket_count function max_corr_distance variable, [1], [2], [3] max_distance_for_cov variable max_distance_to_keep_keyframes variable max_kf_acc_std_mps2 variable max_lidar_queue_before_drop variable max_overall_points variable max_points_per_kf variable max_points_per_voxel variable, [1], [2] max_search_keyframes variable max_time_offset variable max_time_to_use_velocity_model variable, [1] max_view_angle_deg variable maxDistanceInsertion variable maxFreenessInvalidRanges variable maxFreenessUpdateCertainty variable maxOccupancyUpdateCertainty variable mean function measure_from_last_kf_only variable, [1] MeasuredGravityFactor function menu_bar_enabled_ variable merge_decimate_voxel variable message variable method variable, [1] metrics_ variable min_correspondences_for_cov variable min_distance_between_points variable, [1] min_icp_goodness variable min_keyframes variable min_load_factor function, [1] min_motion_model_xyz_cov_inv variable min_nearby_poses_occupied variable, [1] min_rotation_between_keyframes variable, [1] min_time_between_scans variable min_translation_between_keyframes variable, [1] minimum_observation_count variable minimum_points_clearance variable minimumGNSSFixQuality 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-viz-imgui group mola-yaml-parser mola-yaml: YAML parsing helper functions group mola::AddGNSSFactorParams struct mola::AddIMUAttitudeFactorParams struct mola::AddIMUGravityFactorParams struct mola::BinFileDataset class mola::BridgeROS2 class mola::BridgeROS2::CachedLocalizationTf struct mola::BridgeROS2::MolaSubs struct mola::BridgeROS2::Params struct mola::ConsoleLogEntry struct mola::ConsoleLogSink class mola::Dataset_UI class mola::detail namespace mola::DiagnosticKeyValue struct mola::DiagnosticsProvider class mola::DiagnosticStatusMsg struct mola::EurocDataset class mola::ExecutableBase class mola::ExecutableBase::DiagnosticsOutput struct mola::factors namespace mola::factors::FactorAngularVelocityIntegration class mola::factors::FactorAngularVelocityIntegrationPose class mola::factors::FactorConstLocalVelocity class mola::factors::FactorConstLocalVelocityPose class mola::factors::FactorGnssEnu class mola::factors::FactorGnssMapEnu class mola::factors::FactorTrapezoidalIntegrator class mola::factors::FactorTrapezoidalIntegratorPose class mola::factors::FactorTricycleKinematic class mola::factors::MapGravityFactor class mola::factors::MeasuredGravityFactor class mola::factors::Pose3RotationFactor class mola::FilterBase class mola::FixedDenseGrid3D class mola::FrameGNSS struct mola::FrameIMU struct mola::FrameIMUAcc struct mola::FrontEndBase class mola::Georeferencing struct mola::GNSSFrames struct mola::GravityMapAligner class mola::GravityMapAligner::KFAccSample struct mola::GravityMapAligner::Params struct mola::gui namespace mola::gui::Button struct mola::gui::CheckBox struct mola::gui::ComboBox struct mola::gui::Label struct mola::gui::LiveFloat struct mola::gui::LiveString struct mola::gui::Menu struct mola::gui::MenuBar struct mola::gui::MenuItem struct mola::gui::Row struct mola::gui::Separator struct mola::gui::SliderFloat struct mola::gui::SliderInt struct mola::gui::Tab struct mola::gui::TextBox struct mola::gui::TextPanel struct mola::gui::WindowDescription struct mola::HashedSetSE3 class mola::HashedSetSE3::VoxelData struct mola::HashedVoxelPointCloud class mola::HashedVoxelPointCloud::CachedData struct mola::HashedVoxelPointCloud::TCreationOptions struct mola::HashedVoxelPointCloud::TInsertionOptions struct mola::HashedVoxelPointCloud::TLikelihoodOptions struct mola::HashedVoxelPointCloud::TRenderOptions struct mola::HashedVoxelPointCloud::VoxelData struct mola::HashedVoxelPointCloud::VoxelData::PointSpan struct mola::IMUAccFrames struct mola::IMUFrames struct mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::KeyframeMapCapable class mola::KeyframePointCloudMap class mola::KeyframePointCloudMap::CachedData struct mola::KeyframePointCloudMap::KeyFrame class mola::KeyframePointCloudMap::RegroupParams struct mola::KeyframePointCloudMap::TCreationOptions struct mola::KeyframePointCloudMap::TInsertionOptions struct mola::KeyframePointCloudMap::TLikelihoodOptions struct mola::KeyframePointCloudMap::TRenderOptions struct mola::kf_cli namespace 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::MethodState::GravityEstimator struct mola::LidarOdometry::MethodState::GravityEstimator::TimestampedAcc struct mola::LidarOdometry::Parameters struct mola::LidarOdometry::Parameters::AdaptiveThreshold struct mola::LidarOdometry::Parameters::Diagnostics struct mola::LidarOdometry::Parameters::ICP_case struct mola::LidarOdometry::Parameters::IMUGravityCorrection 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::MetricChannel class mola::MetricChannelImpl class mola::MetricSample struct mola::MetricsRegistry class mola::MinimalModuleContainer class mola::MockDiagModule 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::MolaVizImGui class mola::MolaVizImGui::DataPerDatasetUI struct mola::MolaVizImGuiCore class mola::MolaVizImGuiCore::DecayingCloud struct mola::MolaVizImGuiCore::PerWindowData struct mola::MolaVizImGuiCore::PerWindowData::PendingSensorObs struct mola::MolaVizImGuiCore::PlotWindowState struct mola::MolaVizImGuiCore::SubWindowState 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::TCreationOptions 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::OptionsCapable class mola::overloaded struct mola::ParisLucoDataset class mola::RawDataConsumer class mola::RawDataSourceBase class mola::RawDataSourceBase::SensorViewerImpl struct mola::RawlogDataset class mola::RegexCache 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::SharedKeyframeMap class mola::SharedKeyframeMap::KeyframeInsertRequest struct mola::SMGeoReferencingOutput struct mola::SMGeoReferencingParams struct mola::SparseTreesPointCloud class mola::SparseTreesPointCloud::CachedData struct mola::SparseTreesPointCloud::GridData struct mola::SparseTreesPointCloud::TCreationOptions 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::TCreationOptions 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_simple::StateEstimationSimple::State::SourceState struct mola::state_estimation_smoother namespace mola::state_estimation_smoother::Parameters class mola::state_estimation_smoother::Parameters::Visualization struct mola::state_estimation_smoother::StateEstimationSmoother class mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorConstVelKinematics class mola::state_estimation_smoother::StateEstimationSmoother::AbsFactorTricycleKinematics class mola::state_estimation_smoother::StateEstimationSmoother::FrameState struct mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl struct mola::state_estimation_smoother::StateEstimationSmoother::State struct mola::state_estimation_smoother::StateEstimationSmoother::State::RawSourcePose struct mola::Synchronizer class mola::Synchronizer::Parameters struct mola::TrajectoryRebaker class mola::TrajectoryRebaker::Result struct mola::VideoDataset class mola::VizInterface class mola::YAMLParseOptions struct MOLA_ARG_N define 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_kernel_interfaces_grp group MOLA_KERNEL_VIZ_HAS_METRICS define MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES define mola_metric_maps group MOLA_POSE_LIST_HAS_ID_KEYED_API define MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING define MOLA_RSEQ_N define MOLA_VERSION_CHECK define MOLA_VFUNC define MOLA_VFUNC_ define move_only_test class mp2p_icp namespace mrpt namespace mrpt::config namespace mrpt::maps namespace mrpt::obs namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace mutable_iterator function, [1]

N

n_samples variable name variable nameServer_ variable namespace global gtsam literals mola mola::detail mola::factors mola::gui mola::kf_cli mola::state_estimation_simple mola::state_estimation_smoother mp2p_icp 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 next_bucket_count function next_frame_index variable next_odom_frame_id variable nextFreeKeyFrameID_public function normalizedAcc variable num_diverse_keyframes variable

O

observations variable odom_frame variable odometry_as_robot_pose_observation variable oldestActiveKeyframeID function, [1] on_change variable, [1], [2] onKeyframeDropped function onNewKeyframe function onNewKeyframeRaw function onNewObservation function, [1], [2], [3], [4], [5]

onQuit function, [1] open_file_dialog function, [1], [2], [3] operator() function, [1], [2] optimize_twist variable optionsByName function, [1], [2], [3], [4], [5] outerIdxToCoord function output_console_message function, [1], [2], [3] output_file variable, [1] overloaded function

P

page Bibliography Deprecated List Todo List parameter_source variable parameters function params_ variable parse_yaml function, [1] PitchAndRollFromIMU enumvalue plot_windows variable plots_default_retention_seconds_ variable plots_default_span_seconds_ variable plots_enabled_ variable pointcloud function points_colormap variable poll function, [1] pollIntoDisplay function pose function, [1] variable, [1], [2] Pose3RotationFactor function pose_in_source variable

pose_pdf_to_string_with_sigmas function position variable possibly_degenerate variable power_of_two_growth_policy function print function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] profiler_ variable, [1] profiler_dtor_save_stats_ variable, [1] publish_estimated_georef_on_convergence variable publish_geo_referenced_poses_from_slam 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 function, [1], [2] push_metric function, [1], [2], [3]

Q

quality variable, [1]

quit_callback_ variable

R

rawAttitude variable readFromStream function, [1], [2], [3], [4] rebake function, [1] recent_gnss_stamps variable recent_imu_stamps variable recent_lidar_stamps variable recenter_georeference function recolorByPointField variable, [1], [2], [3], [4] reconstructedMap function reference_frame variable, [1], [2] reference_frame_name variable register_gui_cleanup function register_metric function, [1], [2], [3] regroupKeyframes function 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] render_frame function render_in_movable_frame variable requestInsertKeyframe function reset function, [1], [2], [3] resetLikelihoodCache function resizeGrid function retention_seconds variable robin_pg_map typedef robin_pg_set typedef robustParamHuberK variable rosbag2_cpp namespace rosbag2_cpp::readers namespace rosbag2_storage namespace rotation_distance_weight variable rotationFromGravity function run_registered_cleanups function

S

save_deskewed_scans variable save_final_local_map variable save_final_map_to_file variable save_gnss_max_age variable saveMetricMapRepresentationToFile function, [1], [2], [3], [4] saveToTextFile function, [1], [2], [3], [4] scale variable scanAndLoadLibraries function scanForModuleSharedDirectories function self_reference_member_test class sensor_poses_corner_size variable serialize function, [1] serialize_covariances variable serialize_kdtrees variable serializer class set function, [1] set_geo_reference function set_menu_bar function, [1], [2], [3] setDeskewedColoring function setGridProperties function setKeyframePose function, [1] setLocalMapColoring function setPoseById function setSize function setTrajectoryVisualization function setup function setVoxelProperties function, [1], [2], [3] shortcut variable show_covariances variable show_ground_grid variable show_last_deskewed_observations_decay variable show_localmap variable show_mean_only variable shutdown function shutdown_for_embed function shutdownCleanup function sigma_deg variable sigma_dist variable, [1], [2], [3] simplemap_georeference function size variable size_pixels variable sliding_window_length variable slz_size_type typedef source_frame_id variable SparseTreesPointCloud function SparseVoxelPointCloud function spin function spin_one_frame function spinOnce function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] SSO_MAX_POINTS_PER_VOXEL variable stamp2frame_index variable starts_hidden 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::AddGNSSFactorParams mola::AddIMUAttitudeFactorParams mola::AddIMUGravityFactorParams mola::BridgeROS2::CachedLocalizationTf mola::BridgeROS2::MolaSubs mola::BridgeROS2::Params mola::ConsoleLogEntry mola::DiagnosticKeyValue mola::DiagnosticStatusMsg mola::ExecutableBase::DiagnosticsOutput mola::FrameGNSS mola::FrameIMU mola::FrameIMUAcc mola::Georeferencing mola::GNSSFrames mola::GravityMapAligner::KFAccSample mola::GravityMapAligner::Params mola::gui::Button mola::gui::CheckBox mola::gui::ComboBox mola::gui::Label mola::gui::LiveFloat mola::gui::LiveString mola::gui::Menu mola::gui::MenuBar mola::gui::MenuItem mola::gui::Row mola::gui::Separator mola::gui::SliderFloat mola::gui::SliderInt mola::gui::Tab mola::gui::TextBox mola::gui::TextPanel mola::gui::WindowDescription mola::HashedSetSE3::VoxelData mola::HashedVoxelPointCloud::CachedData mola::HashedVoxelPointCloud::TCreationOptions mola::HashedVoxelPointCloud::TInsertionOptions mola::HashedVoxelPointCloud::TLikelihoodOptions mola::HashedVoxelPointCloud::TRenderOptions mola::HashedVoxelPointCloud::VoxelData mola::HashedVoxelPointCloud::VoxelData::PointSpan mola::IMUAccFrames mola::IMUFrames mola::index3d_hash mola::index3d_t mola::index_se3_t mola::index_se3_t_hash mola::KeyframePointCloudMap::CachedData mola::KeyframePointCloudMap::RegroupParams 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::MethodState::GravityEstimator mola::LidarOdometry::MethodState::GravityEstimator::TimestampedAcc mola::LidarOdometry::Parameters mola::LidarOdometry::Parameters::AdaptiveThreshold mola::LidarOdometry::Parameters::Diagnostics mola::LidarOdometry::Parameters::ICP_case mola::LidarOdometry::Parameters::IMUGravityCorrection 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::MetricSample mola::MolaLauncherApp::InfoPerRunningThread mola::MolaLauncherApp::Parameters mola::MolaViz::DataPerDatasetUI mola::MolaViz::DecayingCloud mola::MolaViz::PerWindowData mola::MolaVizImGui::DataPerDatasetUI mola::MolaVizImGuiCore::DecayingCloud mola::MolaVizImGuiCore::PerWindowData mola::MolaVizImGuiCore::PerWindowData::PendingSensorObs mola::MolaVizImGuiCore::PlotWindowState mola::MolaVizImGuiCore::SubWindowState mola::MulranDataset::Entry mola::NavState mola::NDT::CachedData mola::NDT::point_vector_t mola::NDT::TCreationOptions 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::SharedKeyframeMap::KeyframeInsertRequest mola::SMGeoReferencingOutput mola::SMGeoReferencingParams mola::SparseTreesPointCloud::CachedData mola::SparseTreesPointCloud::GridData mola::SparseTreesPointCloud::TCreationOptions mola::SparseTreesPointCloud::TInsertionOptions mola::SparseTreesPointCloud::TLikelihoodOptions mola::SparseTreesPointCloud::TRenderOptions mola::SparseVoxelPointCloud::CachedData mola::SparseVoxelPointCloud::InnerGrid mola::SparseVoxelPointCloud::TCreationOptions 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_simple::StateEstimationSimple::State::SourceState mola::state_estimation_smoother::Parameters::Visualization mola::state_estimation_smoother::StateEstimationSmoother::FrameState mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl mola::state_estimation_smoother::StateEstimationSmoother::State mola::state_estimation_smoother::StateEstimationSmoother::State::RawSourcePose mola::Synchronizer::Parameters mola::TrajectoryRebaker::Result mola::YAMLParseOptions 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

subscribeToMapUpdates function subwindow_update_visualization function, [1], [2], [3] supported sensors sync_obs variable synchronization_tolerance variable

T

T_enu_to_map variable tabs variable tentative_geo_coord_reference variable test_types typedef, [1], [2] text variable tf2 namespace time_between_frames_to_warning variable time_cost variable, [1] timestamp variable, [1], [2], [3], [4] timestep_t typedef timing_utilization_warn variable Todo List page TraitsTest class trajectory_t typedef transform_map_left_multiply function transform_publish_period variable transform_tolerance variable tricycleKinematicModel function trySetCreationOptions 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 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

unify_all variable update_3d_object function, [1], [2], [3] update_3d_object_frame function, [1], [2], [3] update_viewport_camera_azimuth function, [1], [2], [3] update_viewport_camera_orthographic function, [1], [2], [3] update_viewport_look_at function, [1], [2], [3]

updateCovarianceParams function use_imu_orientation variable use_view_direction_filter variable useIMUAttitudeAlignment variable useIMUGravityAlignment variable utils class

V

values variable variable a_body a_body_std active add_non_keyframes_too addHorizontalityConstraints additional_isam2_update_steps anchor_id approximate_cov assumed_sensor_rate_hz_ averaging_samples axis_eps azimuthOffsetDeg BACKEND_IMGUI BACKEND_NANOGUI background_scene_view base_footprint_frame base_footprint_to_base_link_tf base_link_frame CACHE_MISS_VALUE cachedPoints check_for_removal_every_n child_frame color, [1], [2], [3] colormap, [1], [2], [3] considerInvalidRangesAsFreeSpace console_capture_level_ console_dock_defaulted console_enabled_ console_max_entries_ console_open console_sink_ console_window_seconds_ convergence_max_orientation_sigma_deg convergence_max_position_sigma core_fraction corrected_poses current_observation_color_by_field decimation, [1], [2], [3], [4] default_dock_top_id deltaTime, [1] density_penalty_max_m density_penalty_min_points display do_process_gnss_labels_re, [1] do_process_imu_labels_re, [1] do_process_odometry_labels_re, [1] dock_central_id dock_top_by_default doCmdRuns doEnvVars doIncludes dropped_ratio_warn edge_overlap enabled, [1] enu_frame_name estimate_geo_reference estimated_georef_published execution_rate expected_g_mps2 expected_observation_labels extent_factor external_georef fixed_geo_reference fixed_width, [1], [2] forward_ros_tf_as_mola_odometry_observations from_state_estimator_max_orientation_sigma_deg from_state_estimator_max_position_sigma from_state_estimator_timeout generate_lazy_load_scan_files geo_coord geo_ref geo_reference geodeticReference georeferencing gnss_enabled gnss_fuse_z gnss_huber_threshold gnss_max_horizontal_sigma gnss_min_sigma_floor_xy gnss_min_sigma_floor_z gnss_nearby_keyframe_stamp_tolerance gnss_sensor_label gravity_calib_pitch_roll HARDLIMIT_MAX_POINTS_PER_VOXEL hardware_id has_geodetic_datum huber_threshold_mps2 icon_entypo icon_imgui icp_pipeline icp_search_built_approximate imgui_app_name_ imu_attitude_azimuth_offset_deg imu_attitude_sigma_deg imu_initial_calibration_max_age imu_initial_calibration_sample_count imu_initializer imu_nearby_keyframe_stamp_tolerance imu_normalized_gravity_alignment_sigma imu_sensor_label imu_sensor_pose imu_sensor_pose_timestamp imuAttitudeSigmaDeg imuAttitudeYawSigmaDeg includesBasePath input_error_sec input_stale_sec INVALID_FID INVALID_ID irls_iterations island_merge_fraction isPipelinesUsingIMU item_spacing kDefaultAxisEps keep_last_one_only keyframes_axes_length kf_index, [1], [2] kinematic_model known_odom_frames label, [1], [2], [3] last_deskewed_observations_color_by_field last_deskewed_scan_for_publishing last_estimated_frames last_estimated_states last_lidar_pose last_lidar_sensor_poses last_obs_reception_time last_observed_scan_period_sec lbPlaybackPosition lidar_count lidar_sensor_labels lidarIdx link_first_pose_to_reference_origin_sigma live_text live_value load_existing_local_map load_existing_simple_map load_map_after_gui_init loaded_lib_handled local_map_colormap_color_by_field local_map_needs_viz_update localmap_check_removal_counter map map_has_been_loaded map_metadata map_name map_update_decimation match_mean max_age_seconds max_corr_distance, [1], [2], [3] max_distance_for_cov max_distance_to_keep_keyframes max_kf_acc_std_mps2 max_lidar_queue_before_drop max_overall_points max_points_per_kf max_points_per_voxel, [1], [2] max_search_keyframes max_time_offset max_time_to_use_velocity_model, [1] max_view_angle_deg maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maxOccupancyUpdateCertainty measure_from_last_kf_only, [1] menu_bar_enabled_ merge_decimate_voxel message method, [1] metrics_ min_correspondences_for_cov min_distance_between_points, [1] min_icp_goodness min_keyframes min_motion_model_xyz_cov_inv min_nearby_poses_occupied, [1] min_rotation_between_keyframes, [1] min_time_between_scans min_translation_between_keyframes, [1] minimum_observation_count minimum_points_clearance minimumGNSSFixQuality n_samples name nameServer_ nb_custom_allocs next_frame_index next_odom_frame_id normalizedAcc num_diverse_keyframes observations odom_frame odometry_as_robot_pose_observation on_change, [1], [2] optimize_twist output_file, [1] parameter_source params_ plot_windows plots_default_retention_seconds_ plots_default_span_seconds_ plots_enabled_ points_colormap pose, [1], [2] pose_in_source position possibly_degenerate profiler_, [1] profiler_dtor_save_stats_, [1] publish_estimated_georef_on_convergence publish_geo_referenced_poses_from_slam 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] quit_callback_ rawAttitude recent_gnss_stamps recent_imu_stamps recent_lidar_stamps recolorByPointField, [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] render_in_movable_frame retention_seconds robustParamHuberK rotation_distance_weight save_deskewed_scans save_final_local_map save_final_map_to_file save_gnss_max_age scale sensor_poses_corner_size serialize_covariances serialize_kdtrees shortcut show_covariances show_ground_grid show_last_deskewed_observations_decay show_localmap show_mean_only sigma_deg sigma_dist, [1], [2], [3] size size_pixels sliding_window_length source_frame_id SSO_MAX_POINTS_PER_VOXEL stamp2frame_index starts_hidden step_counter_post_relocalization sync_obs synchronization_tolerance T_enu_to_map tabs tentative_geo_coord_reference text time_between_frames_to_warning time_cost, [1] timestamp, [1], [2], [3], [4] timing_utilization_warn transform_publish_period transform_tolerance twist, [1] twist_inv_cov unify_all use_imu_orientation use_view_direction_filter useIMUAttitudeAlignment useIMUGravityAlignment values variables vehicle_frame_name velocity_filter_enabled VERTICAL_ANGLE_OFFSET, [1] voxel_size waiting_for_state_estimator_since wideningBeamsWithDistance win_pos window_length write_debug_icp_log_if_quality_under

variables variable vehicle_frame_name variable velocity_filter_enabled variable version function, [1] VERTICAL_ANGLE_OFFSET variable, [1] VFUNC define voxel_size variable voxelByCoords function, [1], [2], [3] voxelByGlobalIdxs function, [1], [2], [3]

W

waiting_for_state_estimator_since variable wideningBeamsWithDistance variable win_pos variable

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

Y

Yaml typedef YAML_LOAD_MEMBER_OPT define YAML_LOAD_MEMBER_REQ define YAML_LOAD_OPT define YAML_LOAD_OPT2 define YAML_LOAD_OPT3 define YAML_LOAD_OPT_DEG define YAML_LOAD_OPT_DEG2 define

YAML_LOAD_OPT_DEG3 define YAML_LOAD_REQ define YAML_LOAD_REQ2 define YAML_LOAD_REQ3 define YAML_LOAD_REQ_DEG define YAML_LOAD_REQ_DEG2 define YAML_LOAD_REQ_DEG3 define yaml_to_string function