Index

A

a_body variable a_body_std variable AbsFactorConstVelKinematics function AbsFactorTricycleKinematics function acquireRemovedPoints function active function variable activeSize function adaptive_sigma variable add function, [1] add_anchor 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 addViewVectors_scalar function align function AlignKind enum allLayers variable allowMatchAlreadyMatchedGlobalPoints_ variable allowMatchAlreadyMatchedPoints_ variable alpha variable, [1]

alpha_balance variable, [1] alpha_deleted variable anchorStamp variable anisotropy function any_window_open function applied_alpha variable apply_filter_pipeline function apply_generators function apply_pose_sigma_floor function approximate_cov variable area variable asString function, [1], [2], [3], [4], [5] assumed_sensor_rate_hz_ variable async_backend variable async_rebuild variable, [1] attachedSource function attachToDataConsumer function AttachToParameterSource function, [1] attachToParameterSource function, [1] autoBoundingBoxOutliersPercentile variable average variable averaging_samples variable axis_eps variable azimuthOffsetDeg variable

B

B variable 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 bias_acc variable bias_gyro variable Bibliography page bin_width variable body_twist_delta function

bootstrap_field_ready_fraction variable bootstrap_knn variable bootstrap_max_plane_deviation variable bootstrap_max_scans variable bootstrap_min_scans variable bootstrap_with_points variable bounding_box variable bounding_box_intersection_check_epsilon variable bounding_box_intersection_check_epsilon_ variable boundingBox function, [1], [2], [3], [4], [5], [6] buildCache function

C

CACHE_MISS_VALUE variable cachedCovarianceCount function cachedPoints variable Cauchy enumvalue Censi3D enumvalue center variable centroidDistance variable channel_names function check function check_for_removal_every_n variable checkAllParametersAreRealized function child_frame variable child_loggers function ChildLoggerName typedef class 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::IncrementalPointCloud mola::internal::IncrementalKDTree mola::internal::ViewDirectionTest mola::KeyframeDecider 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::PendingImuBuffer mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::RegexCache mola::Relocalization mola::Rosbag2Dataset mola::ScanImuWaitList mola::SearchablePoseList mola::SharedKeyframeMap mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::state_estimation_simple::Parameters mola::state_estimation_simple::StateEstimationSimple mola::state_estimation_smoother::FastPredictor 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::TransformTreeSource mola::TSDF mola::VideoDataset mola::VizInterface mp2p_icp::ICP mp2p_icp::IcpPrepareCapable mp2p_icp::LogRecord mp2p_icp::Matcher mp2p_icp::Matcher_Adaptive mp2p_icp::Matcher_Cov2Cov mp2p_icp::Matcher_NDT_Blend mp2p_icp::Matcher_Point2Line mp2p_icp::Matcher_Point2Plane mp2p_icp::Matcher_Points_Base mp2p_icp::Matcher_Points_Blend mp2p_icp::Matcher_Points_DistanceThreshold mp2p_icp::Matcher_Points_InlierRatio mp2p_icp::Matcher_Points_KnnPlane mp2p_icp::metric_map_t mp2p_icp::MetricMapMergeCapable mp2p_icp::NearestPlaneCapable mp2p_icp::NearestPointWithCovCapable 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::FilterAbsoluteTimestamp mp2p_icp_filters::FilterAdjustTimestamps mp2p_icp_filters::FilterBase mp2p_icp_filters::FilterBoundingBox mp2p_icp_filters::FilterByExpression mp2p_icp_filters::FilterByIntensity mp2p_icp_filters::FilterByRange mp2p_icp_filters::FilterByRing mp2p_icp_filters::FilterClear mp2p_icp_filters::FilterCurvature mp2p_icp_filters::FilterDecimate mp2p_icp_filters::FilterDecimateAdaptive mp2p_icp_filters::FilterDecimateRangeAdaptive mp2p_icp_filters::FilterDecimateVoxels mp2p_icp_filters::FilterDeleteLayer mp2p_icp_filters::FilterDeskew mp2p_icp_filters::FilterEdgesPlanes mp2p_icp_filters::FilterFartherPointSampling mp2p_icp_filters::FilterMerge mp2p_icp_filters::FilterMLS mp2p_icp_filters::FilterNormalizeIntensity mp2p_icp_filters::FilterPlanePatches mp2p_icp_filters::FilterPoleDetector mp2p_icp_filters::FilterPolygon2D mp2p_icp_filters::FilterRangeBiasCorrection mp2p_icp_filters::FilterRemoveByVoxelOccupancy mp2p_icp_filters::FilterRemovePointCloudField mp2p_icp_filters::FilterRenameLayer mp2p_icp_filters::FilterSOR mp2p_icp_filters::FilterTransformPointCloud mp2p_icp_filters::FilterVoxelSlice mp2p_icp_filters::FilterVoxelSOR mp2p_icp_filters::Generator mp2p_icp_filters::GeneratorEdgesFromCurvature mp2p_icp_filters::GeneratorEdgesFromRangeImage mp2p_icp_filters::PointCloudToVoxelGrid mp2p_icp_filters::PointCloudToVoxelGridAverage mp2p_icp_filters::PointCloudToVoxelGridSingle TraitsTest

clear function, [1], [2], [3], [4], [5], [6], [7] clear_all_point_clouds_with_decay function, [1], [2], [3] clear_background_scene function clear_previous variable Cli struct clone function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] ClosestToAverage enumvalue closestToAverageIdx variable color variable, [1], [2], [3], [4] colorMap variable colormap variable, [1], [2], [3], [4] colorMapMinCoord variable colorMode variable compact function compiled variable computeMLSSurface 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 const_vel_factor_links_for_testing function contents_summary function, [1] convergence_max_orientation_sigma_deg variable convergence_max_position_sigma variable coordToGlobalIdx function copy_span function core_fraction variable count variable count_const_vel_factors_for_testing function countNearby function cov2cov_alpha variable, [1] cov2cov_auto_balance_with_prior variable, [1] cov_inv variable covariance function covariance_params variable covarianceComputations function covariancesLocal function create variable create_robust_kernel function create_subwindow_from_description function, [1], [2], [3] CreateMetricMapFromDefinition function createTargetLayerIfNeeded function current_georeferencing function current_observation_color_by_field variable currentEstimateForRobust variable

D

datasetGetObservations function, [1], [2], [3], [4], [5], [6], [7] datasetSize function, [1], [2], [3], [4], [5], [6], [7] datasetUI_enabled function 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] datasetUI_time function, [1], [2], [3], [4] datasetUI_total_time function, [1], [2], [3], [4] debugFileNameFormat variable decimate_method variable, [1] DecimateMethod enum decimation variable, [1], [2], [3], [4], [5] decimationDebugFiles variable decimationIterationDetails variable declaredParameters function default_dock_top_id variable default_pointcloud_class variable DEFAULT_WINDOW_NAME_LITERAL variable defaultPointSigma variable define ENSURE_YAML_ENTRY_EXISTS MOLA_ARG_N MOLA_KERNEL_DATASET_UI_HAS_ENABLED MOLA_KERNEL_DATASET_UI_HAS_TIME MOLA_KERNEL_VIZ_HAS_METRICS MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES MOLA_LO_HAS_KEYFRAME_DECIDER MOLA_LO_HAS_MAP_FRAME_RELEVEL MOLA_POSE_LIST_HAS_FIND_NEARBY MOLA_POSE_LIST_HAS_ID_KEYED_API MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING MOLA_POSE_LIST_HAS_TRANSFORM_LEFT_MULTIPLY MOLA_RSEQ_N MOLA_VERSION_CHECK MOLA_VFUNC MOLA_VFUNC_ MP2P_ICP_HAS_MATCHING_DISTANCE_PROFILE MP2P_ICP_HAS_NN_VISIT_PT2PL_CANDIDATES MP2P_ICP_HAS_POINT_WEIGHT_BY_INCIDENCE MP2P_ICP_HAS_POINT_WEIGHT_BY_RANGE 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 desired_output_point_count variable deskew_odometry_poses variable deskew_odometry_sensor_label variable deskew_prev_scan_stamp variable deskew_twist_from_odometry variable DiagnosticLevel enum directionDispersionSigma function display variable dist variable, [1] distance variable, [1] distance_threshold variable DISTINCT_CLOUD enumvalue distinct_cloud_layer 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 drop_stale_scans variable dropped_ratio_warn variable dump function

E

EarliestIsZero enumvalue edge_overlap variable eigVals variable empty function enabled variable, [1], [2], [3] enqueue_custom_gui_code function, [1], [2], [3] enqueue_request function ENSURE_YAML_ENTRY_EXISTS define enu_frame_name variable enum AlignKind DecimateMethod DiagnosticLevel InitLocalization InputMode IterTermReason KinematicModel Method MotionCompensationMethod ProjectionMethod RobustKernel TimestampAdjustMethod UpsamplingMethod ViewDirectionFilter enumvalue Cauchy Censi3D ClosestToAverage DISTINCT_CLOUD EarliestIsZero FirstPoint FixedPose FromStateEstimator GemanMcClure IMU IMUh IMUt InverseHessian Linear MaxAngle MiddleIsZero None, [1], [2], [3] NONE Normalize PitchAndRollFromIMU RandomPoint RotatingIndex SIMPLE SurfaceSide VoxelAverage enuYawAnchor variable equals function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11]

eraseGridsFartherThan function error_on_missing_input_layer variable, [1] errors struct estimate_geo_reference variable estimate_points_eigen function 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, [1] estimatedPitchRoll function estimatedTrajectory function estimateGlobalCorrection function estimateGravityVector function estimateGravityVectorOverWindow function estimatePerKFCorrection function estimator_params variable eval_centroids_robust function evaluate function, [1], [2], [3] 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 extrapolate_pose_pdf function

F

FactorAngularVelocityIntegration function, [1] FactorAngularVelocityIntegrationPose function, [1] FactorConstLocalVelocity function FactorConstLocalVelocityPose function FactorGnssEnu function, [1] FactorGnssMapEnu function, [1] factorsToRemove variable FactorTrapezoidalIntegrator function, [1] FactorTrapezoidalIntegratorPose function, [1] FactorTricycleKinematic function, [1] Factory function fail_if_input_layer_does_not_exist variable far variable fast_predictor_buffer_length variable fid_t typedef field_names variable filled variable filter 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] filter_pipeline_from_yaml function filtered_predict_twist variable filterOutPointsAtZero variable FilterPipeline typedef finalPairings variable find_best_poses_se2 function findModuleSharedDir function findModulesOfType function findNearby function findService function FirstPoint enumvalue fixed_geo_reference variable fixed_maximum_intensity variable fixed_minimum_intensity variable fixed_width variable, [1], [2], [3] FixedPose enumvalue flatten_to variable floor_sigma_angles variable floor_sigma_xyz variable flushedKinematic variable flushPendingLidarScans function force_alpha_channel variable force_final_pairings_for_quality variable forEachKeyframeMapLayer function forEachMapLayerOfType function forward_ros_tf_as_mola_odometry_observations variable frame variable frame_pair_t typedef frameTransforms variable freezePairingsAfterIteration variable from_state_estimator_max_orientation_sigma_deg variable from_state_estimator_max_position_sigma variable from_state_estimator_timeout variable FromStateEstimator enumvalue FromYAML function function AbsFactorConstVelKinematics AbsFactorTricycleKinematics acquireRemovedPoints active activeSize add, [1] add_anchor add_imu_attitude_factors add_imu_gravity_factors addPathModuleLibs addPathModuleSources addViewVectors_scalar align anisotropy any_window_open apply_filter_pipeline apply_generators apply_pose_sigma_floor asString, [1], [2], [3], [4], [5] attachedSource attachToDataConsumer attachToParameterSource, [1] AttachToParameterSource, [1] body_twist_delta boundingBox, [1], [2], [3], [4], [5], [6] buildCache cachedCovarianceCount channel_names check checkAllParametersAreRealized child_loggers clear, [1], [2], [3], [4], [5], [6], [7] clear_all_point_clouds_with_decay, [1], [2], [3] clear_background_scene clone, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] compact computeMLSSurface const_vel_factor_links_for_testing contents_summary, [1] coordToGlobalIdx copy_span count_const_vel_factors_for_testing countNearby covariance covarianceComputations covariancesLocal create_robust_kernel create_subwindow_from_description, [1], [2], [3] CreateMetricMapFromDefinition createTargetLayerIfNeeded current_georeferencing datasetGetObservations, [1], [2], [3], [4], [5], [6], [7] datasetSize, [1], [2], [3], [4], [5], [6], [7] datasetUI_enabled 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] datasetUI_time, [1], [2], [3], [4] datasetUI_total_time, [1], [2], [3], [4] declaredParameters directionDispersionSigma doFilter drainEvictedKeyFrameIDs dump empty enqueue_custom_gui_code, [1], [2], [3] enqueue_request equals, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] eraseGridsFartherThan estimate_points_eigen estimated_navstate, [1], [2] estimated_T_enu_to_map estimated_T_map_to_odometry_frame estimated_trajectory, [1] estimatedPitchRoll estimatedTrajectory estimateGlobalCorrection estimateGravityVector estimateGravityVectorOverWindow estimatePerKFCorrection eval_centroids_robust evaluate, [1], [2], [3] 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 extrapolate_pose_pdf FactorAngularVelocityIntegration, [1] FactorAngularVelocityIntegrationPose, [1] FactorConstLocalVelocity FactorConstLocalVelocityPose FactorGnssEnu, [1] FactorGnssMapEnu, [1] FactorTrapezoidalIntegrator, [1] FactorTrapezoidalIntegratorPose, [1] FactorTricycleKinematic, [1] Factory filter, [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] filter_pipeline_from_yaml find_best_poses_se2 findModuleSharedDir findModulesOfType findNearby findService flushPendingLidarScans forEachKeyframeMapLayer forEachMapLayerOfType FromYAML fuse_gnss, [1], [2] fuse_imu, [1], [2] fuse_odometry, [1], [2] fuse_pose, [1], [2] fuse_twist, [1], [2] generators_from_yaml get_background_scene get_background_scene_mutex get_current_extrapolated_stamp, [1] get_geo_reference get_last_twist get_loaded_modules, [1] get_or_create get_sensor_rates get_shared_from_this get_shared_from_this_or_clone get_subwindow_handle, [1], [2], [3] get_visualization, [1] get_visualization_cov2cov get_visualization_lines get_visualization_map_layer get_visualization_planes get_visualization_points get_visualization_pt2ln get_visualization_pt2pl get_visualization_pt2pt getAsPtr getAsSimplePointsMap, [1], [2], [3] getDiagnostics, [1] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleParameters getModuleSourcePaths getObservationGroup getPointCloud, [1], [2] getVariableValues getViz globalIdxToCenter globalIdxToCoord, [1], [2], [3] gridByOuterIdxs gui_backend, [1], [2], [3] has_converged_localization, [1] hasGroundTruthTrajectory, [1], [2], [3], [4], [5] HashedSetSE3 HashedVoxelPointCloud icp_cleanup, [1] icp_get_prepared_as_global, [1] icp_pipeline_from_yaml id importLoadableOptionsFromIni importMapLayerOptionsFromIni imu_accel_looks_like_gravity imu_apply_enu_azimuth_correction imu_quaternion_looks_valid imu_scan_release_time init_for_embed 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] initialize_derived initialize_frontend initialize_matchers initialize_quality_evaluators initialize_rds initialize_solvers insert, [1] insert_point_cloud_with_decay, [1], [2], [3] insertPoint, [1], [2], [3], [4] insertPose install_embed_core installCovariancesLocal internal_load_lib_modules, [1] isBootstrapping isEmpty, [1], [2], [3], [4] isIsotropicFallback keepOnlyPointsInsideBox keepOnlyPointsNear KeyframeDecider KeyframePointCloudMap keyframePoses knnSearch knnSearchWithinRadius known_odometry_frame_ids lastEstimatedState lastFieldReadyFraction lastIcpQuality lastInsertedKeyFrameID launchOrderPriority layer liveCompactedCopy livePointCount load_from load_from_file, [1] load_from_yaml load_keyframe_policy load_plugin load_xyz_file load_yaml_file loadFrom, [1] LoadFromFile loadIndex loadMap, [1] loadPlugins, [1] make_for_embed makeScan map_load, [1] map_save, [1] MapGravityFactor MapToNN MapToNP MapToPointsMap markWindowForReLayout match matchingDistanceProfile MatchingDistanceProfile, [1] mean MeasuredGravityFactor merge_with, [1] mergeFrom, [1] NDT ndt ndt_is_plane needsCovariance needsRange neighborhoodIsFlat nextFreeKeyFrameID_public nn_search_cov2cov, [1], [2] nn_search_pt2pl nn_visit_pt2pl_candidates note_observation_stamp odometry_increment_pdf olae_build_linear_system on_update_done onKeyframeDropped onNewKeyframe onNewKeyframeRaw onNewObservation, [1], [2], [3], [4], [5] onQuit, [1] open_file_dialog, [1], [2], [3] operator(), [1], [2], [3], [4], [5], [6], [7], [8] operator<<, [1] operator>> optimal_pose optimal_tf_gauss_newton optimal_tf_horn optimal_tf_olae optionsByName, [1], [2], [3], [4], [5], [6], [7] outerIdxToCoord output_console_message, [1], [2], [3] overloaded parameters parse_yaml, [1] physicalSize point_layer pointcloud pointcloud_sanity_check pointWeightByIncidence pointWeightByRange poll, [1] pollIntoDisplay pose, [1] Pose3RotationFactor pose_pdf_to_string_with_sigmas poseOfFrame predict print, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12] process, [1] processPointCloud projectPointSimple pt2ln_pl_to_pt2pt push, [1], [2] push_back, [1] push_metric, [1], [2], [3] queryField radiusSearch readFromStream, [1], [2], [3], [4] realize recenter_georeference reconstructedMap recyclableSlotCount register_gui_cleanup register_metric, [1], [2], [3] regroupKeyframes rejects, [1] relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] removeAllFartherThan render_frame replace_cov_block requestInsertKeyframe requestSpinExit reserve reset, [1], [2], [3] resetLikelihoodCache resizeGrid robust_max_range rotateViewDirectionFields rotationFromGravity run_matchers run_registered_cleanups run_solvers save_to_file, [1] saveIndex saveMetricMapRepresentationToFile, [1], [2], [3], [4] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories seenFromOppositeSides set, [1] set_geo_reference set_menu_bar, [1], [2], [3] set_snapshot setConfiguration, [1], [2] setCurrentPoseCornerVisualization setDeskewedColoring setGridProperties setKeyframePose setLocalMapColoring setPointBuffers setPoseById setSize setTrajectoryVisualization setup setVoxelProperties, [1], [2], [3], [4] shapePointCovariance shutdown shutdown_for_embed shutdownCleanup simplemap_georeference simplemap_to_metricmap size, [1], [2], [3], [4], [5], [6] size_points_only snapshot snapshotLiveIndices sortVoxelPointIndices sourceCloud SparseTreesPointCloud SparseVoxelPointCloud spin spin_one_frame spinOnce, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] stream subscribeToMapUpdates subwindow_update_visualization, [1], [2], [3] take_ready take_up_to ToYAML transform_frame transform_left_multiply transform_map_left_multiply, [1] transform_to_new_map_frame, [1], [2] transform_tree, [1], [2] transform_tree_default_root, [1], [2] tricycleKinematicModel trim_to trySetCreationOptions TSDF unrealizeParameters update_3d_object, [1], [2], [3] update_3d_object_frame, [1], [2], [3] update_velocity_buffer_from_obs update_viewport_camera_azimuth, [1], [2], [3] update_viewport_camera_orthographic, [1], [2], [3] update_viewport_look_at, [1], [2], [3] updateCovarianceParams updateVariable updateVariables vector_of_points_to_xyz version, [1] ViewDirectionTest visit_correspondences visitPt2PlSearchCells visitZeroCrossings voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3], [4] waitForPendingRebuilds warn_on_field_padding_mismatch with_huber withdraw_anchor writeToStream, [1], [2], [3], [4] yaml_to_string

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

G

GemanMcClure enumvalue generate_lazy_load_scan_files variable generate_view_vector variable generateDebugFiles variable generators_from_yaml function GeneratorSet typedef geo_coord variable, [1] geo_ref variable geo_reference variable geodeticReference variable geoReference variable georeferencing variable, [1], [2] get_background_scene function get_background_scene_mutex function get_current_extrapolated_stamp function, [1] get_geo_reference function get_last_twist function get_loaded_modules function, [1] get_or_create function get_sensor_rates function get_shared_from_this function get_shared_from_this_or_clone function get_subwindow_handle function, [1], [2], [3] get_visualization function, [1] get_visualization_cov2cov function get_visualization_lines function get_visualization_map_layer function get_visualization_planes function get_visualization_points function get_visualization_pt2ln function get_visualization_pt2pl function get_visualization_pt2pt function getAsPtr function getAsSimplePointsMap function, [1], [2], [3] getDiagnostics function, [1] getGroundTruthTrajectory function, [1], [2], [3], [4] getLoadedModules function getModuleLibPaths function getModuleParameters function getModuleSourcePaths function getObservationGroup function getPointCloud function, [1], [2]

getVariableValues function getViz function global namespace global_plain_index_t typedef, [1], [2], [3] globalIdxToCenter function globalIdxToCoord function, [1], [2], [3] globalPairedBitField variable 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 gradient variable gravity_calib_first_available_time variable gravity_calib_from_odometry variable gravity_calib_pitch_roll variable gravity_calib_pose variable gravity_estimator variable gravity_information_share variable, [1] gravity_vector variable gravityPrior variable, [1], [2] gridByOuterIdxs function ground variable ground_min_nz variable group Map-frame gauge change 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 mp2p_icp library mp2p_icp_common library mp2p_icp_filters library mp2p_icp_map library gtsam namespace gui_backend function, [1], [2], [3] GYRO_HUBER_K variable

H

HandlersContainer struct hard_discard variable 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, [1] icp_get_prepared_as_global function, [1] icp_pipeline variable icp_pipeline_from_yaml function icp_prior_weight variable icp_search_built_approximate variable icpIteration variable id function variable, [1] id_t typedef idxs variable ignore_accelerometer variable imgui_app_name_ variable IMPLEMENTS_MRPT_OBJECT namespace importLoadableOptionsFromIni function importMapLayerOptionsFromIni function IMU enumvalue imu_accel_looks_like_gravity function imu_angular_velocity_sigma variable imu_apply_enu_azimuth_correction function imu_attitude_azimuth_offset_deg variable imu_attitude_sigma_deg variable imu_coverage_end_time variable imu_decimator variable imu_initial_calibration_dispersion_timeout variable imu_initial_calibration_legacy_mode variable imu_initial_calibration_max_age variable imu_initial_calibration_max_dispersion_deg variable imu_initial_calibration_min_samples variable imu_initial_calibration_sample_count variable imu_initial_calibration_window_seconds variable imu_initializer variable imu_min_sample_period variable imu_nearby_keyframe_stamp_tolerance variable imu_normalized_gravity_alignment_sigma variable imu_propagation_sigma_acc variable imu_propagation_sigma_bias variable imu_quaternion_looks_valid function imu_scan_release_time function imu_sensor_label variable imu_sensor_pose variable imu_sensor_pose_timestamp variable imuAttitudeSigmaDeg variable imuAttitudeYawSigmaDeg variable IMUh enumvalue IMUt enumvalue

in_place variable incidenceWeightAlpha variable incidenceWeightMax variable incidenceWeightMin variable incidenceWeightRefCos variable includesBasePath variable index variable indices variable indices_aux variable init_for_embed function initial_twist variable initial_twist_sigma_lin variable initialize function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32] initialize_derived function initialize_frontend function initialize_matchers function initialize_quality_evaluators function initialize_rds function initialize_solvers function InitLocalization enum innerLoopVerbose variable input_error_sec variable input_layer variable, [1] input_layer_in_local_coordinates variable input_pointcloud_layer variable, [1] input_stale_sec variable InputMode enum insert function, [1] insert_point_cloud_with_decay function, [1], [2], [3] insertPoint function, [1], [2], [3], [4] insertPose function inside_pointcloud_layer variable, [1] install_embed_core function installCovariancesLocal function internal_load_lib_modules function, [1] INVALID_FID variable INVALID_ID variable InverseHessian enumvalue invert_pose variable irls_iterations variable isamIndex variable isBootstrapping function isEmpty function, [1], [2], [3], [4] isIsotropicFallback function island_merge_fraction variable isPipelinesUsingIMU variable item_spacing variable IterTermReason enum

K

k_correspondences_for_cov variable k_neighbors variable kDefaultAxisEps variable kdtree_leaf_max_points_ variable keep_finalized_trajectory variable keep_last_one_only variable keep_original_cloud_color variable keepOnlyPointsInsideBox function keepOnlyPointsNear function kernelPriorRefBlend variable kernelScale variable KeyframeDecider function

KeyFrameID typedef KeyframePointCloudMap function keyframePoses function keyframes_axes_length variable kf_index variable, [1], [2] kinematic_model variable KinematicModel enum kneeRange variable knnSearch function knnSearchWithinRadius function known_odom_frames variable known_odometry_frame_ids function

L

label variable, [1], [2], [3], [4] last_deskewed_observations_color_by_field variable last_deskewed_scan_for_publishing variable last_estimated_frames variable last_estimated_states variable last_kept_pose_stamp variable last_lidar_pose variable last_lidar_sensor_poses variable last_obs_reception_time variable last_observed_scan_period_sec variable last_pose_from_prediction variable last_stamp variable last_wheels_odometry_at_kf variable last_wheels_odometry_kf variable last_wheels_odometry_stamp variable lastEstimatedState function lastFieldReadyFraction function lastIcpQuality function lastInsertedKeyFrameID function launchOrderPriority function layer function layer_matches variable layers variable lbPlaybackPosition variable length variable lengths variable lidar_count variable lidar_sensor_labels variable lidarIdx variable Linear enumvalue linearizationPoint variable

lines variable link_first_pose_to_reference_origin_sigma variable literals namespace live_text variable live_value variable liveCompactedCopy function livePointCount function ln2ln variable load_existing_local_map variable load_existing_simple_map variable load_from function load_from_file function, [1] load_from_yaml function load_keyframe_policy function load_map_after_gui_init variable load_plugin function load_xyz_file function load_yaml_file function loaded_lib_handled variable LoadedModules struct loadFrom function, [1] LoadFromFile function loadIndex function loadMap function, [1] loadPlugins function, [1] local_map_colormap_color_by_field variable local_map_needs_viz_update variable localizationConverged variable localmap_check_removal_counter variable localPairedBitField variable log_only variable

M

make_for_embed function makeScan function map variable Map-frame gauge change group map_has_been_loaded variable map_load function, [1] map_metadata variable map_name variable map_origin_capture_timeout variable map_origin_max_dispersion_deg variable map_save function, [1] map_to_odom_child_frame variable map_to_odom_frame_name variable map_update_decimation variable mapAnchor variable MapGravityFactor function MapToNN function MapToNP function MapToPointsMap function mapUpdateCnt variable markWindowForReLayout function match function match_mean variable MatchingDistanceProfile function, [1] matchingDistanceProfile function math namespace max_age_seconds variable, [1] max_corr_distance variable, [1], [2], [3] max_correction variable max_cosine variable max_distance_for_cov variable, [1] max_distance_to_keep_keyframes variable max_gap variable max_kf_acc_std_mps2 variable max_lidar_queue_before_drop variable max_neighbor_distance variable max_overall_points variable max_patches variable max_planarity_ratio variable max_plane_deviation_for_cov variable, [1] max_points_per_kf variable max_points_per_voxel variable, [1], [2] max_range variable max_registration_mahalanobis variable max_search_keyframes variable max_time_offset variable max_time_to_use_velocity_model variable, [1] max_time_to_wait_for_imu variable max_view_angle_deg variable, [1] max_voxel_size variable max_voxels variable max_weight variable MaxAngle enumvalue maxCost variable maxDistanceInsertion variable maxFreenessInvalidRanges variable maxFreenessUpdateCertainty variable maximum_voxel_stride variable maxInnerLoopIterations variable maxIterations variable maxOccupancyUpdateCertainty variable maxWeight variable, [1] mean function mean_k variable, [1] measure_from_last_kf_only variable MeasuredGravityFactor function menu_bar_enabled_ variable merge_decimate_voxel variable merge_with function, [1] mergeFrom function, [1] message variable metadata variable Method enum method variable, [1], [2], [3] metric_l_infinity variable metric_map_definition variable metric_map_definition_ini_file variable metrics_ variable MiddleIsZero enumvalue min_clearance variable min_correspondences_for_cov variable, [1] min_distance_between_points variable, [1] min_icp_goodness variable min_input_points_per_voxel variable min_interval_seconds variable min_keyframes variable min_line_ratio variable min_motion_model_xyz_cov_inv variable min_nearby_poses_occupied variable min_neighbors variable min_neighbors_for_fit variable min_neighbors_to_cache_cov variable min_points variable min_rotation_between_keyframes variable min_span variable min_time_between_scans variable min_translation_between_keyframes variable min_voxel_size variable min_weight_for_query variable minAbsStep_rot variable minAbsStep_trans variable minDelta variable minimum_input_points_per_voxel variable minimum_input_points_to_filter variable minimum_observation_count variable minimum_points_clearance variable minimum_points_per_voxel variable minimumGNSSFixQuality variable minWeight variable, [1] MLSResult struct 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::cov_diag namespace 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::imu namespace mola::imu::TrajectoryPoint struct mola::IMUAccFrames struct mola::IMUFrames struct mola::IncrementalPointCloud class mola::IncrementalPointCloud::TCreationOptions struct mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::internal namespace mola::internal::IncrementalKDTree class mola::internal::IncrementalKDTree::Neighbor struct mola::internal::IncrementalKDTree::Params struct mola::internal::ViewDirectionTest class mola::KeyframeDecider class mola::KeyframeDecider::Decision struct mola::KeyframeDecisionOptions struct 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::MethodState::OdometryAttitudeState 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::IMUGravityCorrection::MapGravity struct mola::LidarOdometry::Parameters::IMUGravityCorrection::OdometryAttitude 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::MatchingDistanceProfile struct mola::MetricChannel class mola::MetricChannelImpl class mola::MetricSample struct mola::MetricsRegistry class mola::MinimalModuleContainer class mola::mm_cli namespace 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::PendingImuBuffer 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::ScanImuWaitList class mola::ScanImuWaitList::Entry struct mola::SearchablePoseList class mola::SearchablePoseList::NearbyPose struct 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::Integration struct mola::state_estimation_simple::StateEstimationSimple::Propagation struct mola::state_estimation_simple::StateEstimationSimple::State struct mola::state_estimation_simple::StateEstimationSimple::State::ImuSample struct mola::state_estimation_simple::StateEstimationSimple::State::PendingImu struct mola::state_estimation_simple::StateEstimationSimple::State::PendingOdometry struct mola::state_estimation_simple::StateEstimationSimple::State::SourceState struct mola::state_estimation_smoother namespace mola::state_estimation_smoother::FastPredictor class mola::state_estimation_smoother::Parameters class mola::state_estimation_smoother::Parameters::Visualization struct mola::state_estimation_smoother::Snapshot struct mola::state_estimation_smoother::Snapshot::RawSourcePose 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::GtsamImpl::GaugeAnchor struct mola::state_estimation_smoother::StateEstimationSmoother::State struct mola::state_estimation_smoother::StateEstimationSmoother::State::RawSourcePose struct mola::state_estimation_smoother::StateEstimationSmoother::State::RelativePoseChain struct mola::Synchronizer class mola::Synchronizer::Parameters struct mola::TransformTree struct mola::TransformTreeNode struct mola::TransformTreeSource class mola::TSDF class mola::TSDF::FieldQuery struct mola::TSDF::TCreationOptions struct mola::TSDF::TInsertionOptions struct mola::TSDF::TRenderOptions struct mola::TSDF::VoxelData 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_DATASET_UI_HAS_ENABLED define MOLA_KERNEL_DATASET_UI_HAS_TIME define Mola_kernel_grp group Mola_kernel_interfaces_grp group MOLA_KERNEL_VIZ_HAS_METRICS define MOLA_KERNEL_VIZ_HAS_MOVABLE_FRAMES define MOLA_LO_HAS_KEYFRAME_DECIDER define MOLA_LO_HAS_MAP_FRAME_RELEVEL define mola_metric_maps group MOLA_POSE_LIST_HAS_FIND_NEARBY define MOLA_POSE_LIST_HAS_ID_KEYED_API define MOLA_POSE_LIST_HAS_KFM_POSE_PLUMBING define MOLA_POSE_LIST_HAS_TRANSFORM_LEFT_MULTIPLY define MOLA_RSEQ_N define mola_test namespace MOLA_VERSION_CHECK define MOLA_VFUNC define MOLA_VFUNC_ define MotionCompensationMethod enum mp2p_icp namespace mp2p_icp library group mp2p_icp::color_mode_t struct mp2p_icp::CovarianceParameters struct mp2p_icp::GravityPrior struct mp2p_icp::ICP class mp2p_icp::ICP::ICP_State struct mp2p_icp::ICP::IterationHook_Input struct mp2p_icp::ICP::IterationHook_Output struct mp2p_icp::ICP::QualityEvaluatorEntry struct mp2p_icp::IcpPrepareCapable class mp2p_icp::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_Cov2Cov class mp2p_icp::Matcher_NDT_Blend 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_Blend class mp2p_icp::Matcher_Points_DistanceThreshold class mp2p_icp::Matcher_Points_InlierRatio class mp2p_icp::Matcher_Points_KnnPlane class mp2p_icp::MatchingDistanceProfile struct mp2p_icp::MatchState struct mp2p_icp::metric_map_t class mp2p_icp::metric_map_t::Georeferencing struct mp2p_icp::MetricMapMergeCapable class mp2p_icp::NearestPlaneCapable class mp2p_icp::NearestPlaneCapable::NearestPlaneResult struct mp2p_icp::NearestPlaneCapable::PlaneCandidate struct mp2p_icp::NearestPointWithCovCapable class mp2p_icp::OptimalTF_GN_Parameters struct mp2p_icp::OptimalTF_Result struct mp2p_icp::OutlierIndices struct mp2p_icp::Pairings struct mp2p_icp::pairings_render_params_t struct mp2p_icp::PairWeights struct mp2p_icp::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::point_with_cov_pair_t struct mp2p_icp::pointcloud_bitfield_t struct mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField struct mp2p_icp::PointCloudEigen struct mp2p_icp::PointWeightByIncidence struct mp2p_icp::PointWeightByRange struct mp2p_icp::QualityEvaluator class mp2p_icp::QualityEvaluator::Result struct mp2p_icp::QualityEvaluator_PairedRatio class mp2p_icp::QualityEvaluator_RangeImageSimilarity class mp2p_icp::QualityEvaluator_Voxels class mp2p_icp::render_params_lines_t struct mp2p_icp::render_params_pairings_cov2cov_t struct mp2p_icp::render_params_pairings_pt2ln_t struct mp2p_icp::render_params_pairings_pt2pl_t struct mp2p_icp::render_params_pairings_pt2pt_t struct mp2p_icp::render_params_planes_t struct mp2p_icp::render_params_point_layer_t struct mp2p_icp::render_params_points_t struct mp2p_icp::render_params_t struct mp2p_icp::Results struct mp2p_icp::Solver class mp2p_icp::Solver_GaussNewton class mp2p_icp::Solver_Horn class mp2p_icp::Solver_OLAE class mp2p_icp::SolverContext struct mp2p_icp::VisitCorrespondencesStats struct mp2p_icp::WeightParameters struct mp2p_icp_common library group mp2p_icp_filters namespace mp2p_icp_filters library group mp2p_icp_filters::FilterAbsoluteTimestamp class mp2p_icp_filters::FilterAbsoluteTimestamp::Parameters struct 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::FilterByExpression class mp2p_icp_filters::FilterByExpression::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::FilterClear class mp2p_icp_filters::FilterClear::Parameters struct mp2p_icp_filters::FilterCurvature class mp2p_icp_filters::FilterCurvature::Parameters struct mp2p_icp_filters::FilterDecimate class mp2p_icp_filters::FilterDecimate::Parameters struct mp2p_icp_filters::FilterDecimateAdaptive class mp2p_icp_filters::FilterDecimateAdaptive::Impl struct mp2p_icp_filters::FilterDecimateAdaptive::OutputTarget struct mp2p_icp_filters::FilterDecimateAdaptive::Parameters struct mp2p_icp_filters::FilterDecimateRangeAdaptive class mp2p_icp_filters::FilterDecimateRangeAdaptive::Impl struct mp2p_icp_filters::FilterDecimateRangeAdaptive::Parameters struct mp2p_icp_filters::FilterDecimateVoxels class mp2p_icp_filters::FilterDecimateVoxels::Parameters struct mp2p_icp_filters::FilterDeleteLayer class mp2p_icp_filters::FilterDeleteLayer::Parameters struct mp2p_icp_filters::FilterDeskew class mp2p_icp_filters::FilterEdgesPlanes class mp2p_icp_filters::FilterEdgesPlanes::Parameters struct mp2p_icp_filters::FilterFartherPointSampling class mp2p_icp_filters::FilterFartherPointSampling::Parameters struct mp2p_icp_filters::FilterMerge class mp2p_icp_filters::FilterMerge::Parameters struct mp2p_icp_filters::FilterMLS class mp2p_icp_filters::FilterMLS::Impl struct mp2p_icp_filters::FilterMLS::Impl::NewPoint struct mp2p_icp_filters::FilterMLS::Impl::ThreadWorkspace struct mp2p_icp_filters::FilterMLS::Parameters struct mp2p_icp_filters::FilterNormalizeIntensity class mp2p_icp_filters::FilterNormalizeIntensity::Parameters struct mp2p_icp_filters::FilterPlanePatches class mp2p_icp_filters::FilterPlanePatches::Parameters struct mp2p_icp_filters::FilterPoleDetector class mp2p_icp_filters::FilterPoleDetector::Parameters struct mp2p_icp_filters::FilterPolygon2D class mp2p_icp_filters::FilterPolygon2D::Parameters struct mp2p_icp_filters::FilterRangeBiasCorrection class mp2p_icp_filters::FilterRangeBiasCorrection::Parameters struct mp2p_icp_filters::FilterRemoveByVoxelOccupancy class mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters struct mp2p_icp_filters::FilterRemovePointCloudField class mp2p_icp_filters::FilterRemovePointCloudField::Parameters struct mp2p_icp_filters::FilterRenameLayer class mp2p_icp_filters::FilterRenameLayer::Parameters struct mp2p_icp_filters::FilterSOR class mp2p_icp_filters::FilterSOR::Parameters struct mp2p_icp_filters::FilterTransformPointCloud class mp2p_icp_filters::FilterTransformPointCloud::Parameters struct mp2p_icp_filters::FilterVoxelSlice class mp2p_icp_filters::FilterVoxelSlice::Parameters struct mp2p_icp_filters::FilterVoxelSOR class mp2p_icp_filters::FilterVoxelSOR::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::internal namespace 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::PointCloudToVoxelGridAverage class mp2p_icp_filters::PointCloudToVoxelGridAverage::Impl struct mp2p_icp_filters::PointCloudToVoxelGridAverage::indices_t struct mp2p_icp_filters::PointCloudToVoxelGridAverage::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGridAverage::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_HAS_MATCHING_DISTANCE_PROFILE define MP2P_ICP_HAS_NN_VISIT_PT2PL_CANDIDATES define MP2P_ICP_HAS_POINT_WEIGHT_BY_INCIDENCE define MP2P_ICP_HAS_POINT_WEIGHT_BY_RANGE define mp2p_icp_map library group mrpt namespace mrpt::config namespace mrpt::containers namespace mrpt::maps namespace mrpt::obs namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace

N

n_samples variable name variable, [1], [2] nameServer_ variable namespace global gtsam IMPLEMENTS_MRPT_OBJECT literals math mola mola::cov_diag mola::detail mola::factors mola::gui mola::imu mola::internal mola::kf_cli mola::mm_cli mola::state_estimation_simple mola::state_estimation_smoother mola_test mp2p_icp mp2p_icp::internal mp2p_icp_filters mp2p_icp_filters::internal mrpt mrpt::config mrpt::containers mrpt::maps mrpt::obs mrpt::rtti mrpt::serialization mrpt::system rosbag2_cpp rosbag2_cpp::readers rosbag2_storage std string_literals tf2 NDT function ndt function

ndt_is_plane function near variable nearby_keyframe_time_window variable needsCovariance function needsRange function neighborhoodIsFlat function next_frame_index variable next_odom_frame_id variable nextFreeKeyFrameID_public function nIterations variable nn_search_cov2cov function, [1], [2] nn_search_pt2pl function nn_visit_pt2pl_candidates function nodes variable NONE enumvalue None enumvalue, [1], [2], [3] normal_agreement_deg variable normal_knn variable Normalize enumvalue normalizedAcc variable note_observation_stamp function num_diverse_keyframes variable num_scan_lines variable

O

obs_generators variable observation_radius_quantile variable observation_radius_quantile_max_samples variable observations variable odom_attitude variable odom_attitude_wait_since variable odom_frame variable odometry_as_robot_pose_observation variable odometry_increment_pdf function odometry_min_sample_period variable offset variable olae_build_linear_system function OLAE_LinearSystems struct on_change variable, [1], [2] on_update_done function 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], [3], [4], [5], [6], [7], [8] operator<< function, [1] operator>> function optimal_pose function optimal_tf variable optimal_tf_gauss_newton function optimal_tf_horn function

optimal_tf_olae function optimalPose variable optimalScale variable optimize_twist variable optionsByName function, [1], [2], [3], [4], [5], [6], [7] outerIdxToCoord function outliers variable output_console_message function, [1], [2], [3] output_field_name variable output_file variable, [1] output_layer variable, [1] output_layer_between variable output_layer_class variable, [1] output_layer_high_intensity variable output_layer_larger_curvature variable output_layer_low_intensity variable output_layer_mid_intensity variable output_layer_no_poles variable output_layer_non_selected variable output_layer_other variable output_layer_outside variable output_layer_poles variable output_layer_selected variable output_layer_smaller_curvature variable output_pointcloud_layer variable, [1] outputs variable outside_pointcloud_layer variable, [1] overloaded function

P

page Bibliography Deprecated List Todo List pair_weights variable paired_pt2pt variable pairing variable, [1] pairingsWeightParameters variable, [1] parallelization_grain_size variable, [1], [2], [3], [4], [5] parameter_source variable parameters function params variable, [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] params_ variable parent variable parse_yaml function, [1] pcGlobal variable penalty_not_visible variable pendingIndex variable pendingKinematic variable percent_print_progress variable perLayer variable physicalSize function PitchAndRollFromIMU enumvalue pl2pl variable plane_regularization_lambda variable, [1] planes variable planes_target_layer variable plot_windows variable plots_default_retention_seconds_ variable plots_default_span_seconds_ variable plots_enabled_ variable point_layer function pointcloud function pointcloud_layer variable, [1], [2] pointcloud_layer_to_remove variable pointcloud_sanity_check function pointCount variable, [1] pointIdx variable points_already_global variable points_color variable points_colormap variable points_per_batch variable pointSize variable pointWeightAlpha variable pointWeightByIncidence function pointWeightByRange function pointWeightMax variable pointWeightMin variable pointWeightRefRange variable poll function, [1] pollIntoDisplay function

polygon variable polynomial_order variable pose function, [1] variable, [1], [2], [3], [4], [5] Pose3RotationFactor function pose_in_root variable pose_in_source variable pose_min_sample_period variable pose_pdf_to_string_with_sigmas function pose_robust_huber_threshold variable poseOfFrame function position variable possibly_degenerate variable potential_pairings variable predict function predict_twist_filter_enabled variable predict_twist_filter_time_const variable print function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12] prior variable, [1], [2] process function, [1] process_class_names_regex variable process_sensor_labels_regex variable processPointCloud function profiler_ variable, [1] profiler_dtor_save_stats_ variable, [1] projection_method variable ProjectionMethod enum projectPointSimple function pt2ln variable pt2ln_pl_to_pt2pt function pt2pl variable pt2pt variable pt2pt_layer_matches variable publish_estimated_georef_on_convergence variable publish_fused_vehicle_tf variable publish_geo_referenced_poses_from_slam variable publish_in_sim_time variable publish_local_map variable publish_localization_following_rep105 variable publish_map_to_odom_tf 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_back function, [1] push_metric function, [1], [2], [3]

Q

quality variable, [1], [2], [3] quality_checkpoints variable

queryField function quit_callback_ variable

R

radiusSearch function RandomPoint enumvalue range_min variable, [1] rangeCamera variable rawAttitude variable ray_tube_voxels variable readFromStream function, [1], [2], [3], [4] realize function recent_gnss_stamps variable recent_imu_stamps variable recent_lidar_stamps variable recenter_georeference function recolorByPointField variable, [1], [2], [3], [4] recolorize_by variable recolorizeByField variable reconstructedMap function recyclableSlotCount function refCos variable reference_frame variable, [1], [2] reference_frame_name variable refRange variable register_gui_cleanup function register_metric function, [1], [2], [3] registrations_attempted variable regroupKeyframes function rejects function, [1] relative_factors_frame_ids_re variable relative_pose_increment_sigma_ang variable relative_pose_increment_sigma_lin variable relative_pose_increment_sigma_per_sqrt_meter variable relative_pose_increment_sigma_per_sqrt_rad variable relativePose variable relevel_map_frame variable relevel_min_intervals variable relevel_min_tilt_deg variable relocalize_from_gnss function, [1] relocalize_from_topic variable relocalize_near_pose_pdf function, [1]

remove_frames_farther_than variable remove_points_farther_than variable remove_submaps_farther_than variable remove_voxels_farther_than variable, [1], [2] removeAllFartherThan function render_as_mesh variable render_frame function render_in_movable_frame variable replace_cov_block function requestInsertKeyframe function requestSpinExit function reserve function reserve_points variable reset function, [1], [2], [3] resetLikelihoodCache function resizeGrid function retention_seconds variable robot_pose variable, [1] robust_kernel_scale variable robust_max_range function RobustKernel enum robustKernelPriorRefBlend variable robustKernelScale variable robustParamHuberK variable root variable rosbag2_cpp namespace rosbag2_cpp::readers namespace rosbag2_storage namespace rotateViewDirectionFields function RotatingIndex enumvalue rotation variable, [1] rotation_distance_weight variable rotationFromGravity function run_matchers function run_registered_cleanups function run_solvers function runUpToIteration variable, [1]

S

save_deskewed_scans variable save_final_local_map variable save_final_map_to_file variable save_gnss_max_age variable save_imu_max_age variable save_to_file function, [1] saveIndex function saveIterationDetails variable saveMetricMapRepresentationToFile function, [1], [2], [3], [4] saveToTextFile function, [1], [2], [3], [4] scale variable scale_outlier_threshold variable scanAndLoadLibraries function scanForModuleSharedDirectories function search_radius variable seed_candidates variable seenFromOppositeSides function sensor_label variable sensor_origin variable sensor_poses_corner_size variable serialize_covariances variable serialize_kdtree variable serialize_kdtrees variable set function, [1] set_geo_reference function set_menu_bar function, [1], [2], [3] set_snapshot function setConfiguration function, [1], [2] setCurrentPoseCornerVisualization function setDeskewedColoring function setGridProperties function setKeyframePose function setLocalMapColoring function setPointBuffers function setPoseById function setSize function setTrajectoryVisualization function setup function setVoxelProperties function, [1], [2], [3], [4] shapePointCovariance function shortcut variable show_covariances variable show_current_pose_corner variable show_last_deskewed_observations_decay variable show_localmap variable show_mean_only variable show_tf_tree variable shutdown function shutdown_for_embed function shutdownCleanup function sigma_deg variable, [1] sigma_dist variable, [1], [2], [3] sigma_rad variable sigma_random_walk_acceleration_angular variable sigma_relative_pose_angular variable sigma_relative_pose_linear variable silently_ignore_no_timestamps variable, [1] SIMPLE enumvalue simplemap_georeference function simplemap_to_metricmap function size function, [1], [2], [3], [4], [5], [6] variable size_pixels variable size_points_only function sliding_window_length variable slot_of_point variable slot_of_voxel variable snapshot function snapshotLiveIndices function solve_every_n variable sortVoxelPointIndices function source_frame_id variable sourceCloud function sourceIdx 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_dev_mul variable, [1] step_counter_post_relocalization variable stream function string_literals namespace struct Cli errors HandlersContainer LoadedModules MLSResult 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::imu::TrajectoryPoint mola::IMUAccFrames mola::IMUFrames mola::IncrementalPointCloud::TCreationOptions mola::index3d_hash mola::index3d_t mola::index_se3_t mola::index_se3_t_hash mola::internal::IncrementalKDTree::Neighbor mola::internal::IncrementalKDTree::Params mola::KeyframeDecider::Decision mola::KeyframeDecisionOptions 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::MethodState::OdometryAttitudeState mola::LidarOdometry::Parameters mola::LidarOdometry::Parameters::AdaptiveThreshold mola::LidarOdometry::Parameters::Diagnostics mola::LidarOdometry::Parameters::ICP_case mola::LidarOdometry::Parameters::IMUGravityCorrection mola::LidarOdometry::Parameters::IMUGravityCorrection::MapGravity mola::LidarOdometry::Parameters::IMUGravityCorrection::OdometryAttitude 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::MatchingDistanceProfile 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::ScanImuWaitList::Entry mola::SearchablePoseList::NearbyPose 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::Integration mola::state_estimation_simple::StateEstimationSimple::Propagation mola::state_estimation_simple::StateEstimationSimple::State mola::state_estimation_simple::StateEstimationSimple::State::ImuSample mola::state_estimation_simple::StateEstimationSimple::State::PendingImu mola::state_estimation_simple::StateEstimationSimple::State::PendingOdometry mola::state_estimation_simple::StateEstimationSimple::State::SourceState mola::state_estimation_smoother::Parameters::Visualization mola::state_estimation_smoother::Snapshot mola::state_estimation_smoother::Snapshot::RawSourcePose mola::state_estimation_smoother::StateEstimationSmoother::FrameState mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl mola::state_estimation_smoother::StateEstimationSmoother::GtsamImpl::GaugeAnchor mola::state_estimation_smoother::StateEstimationSmoother::State mola::state_estimation_smoother::StateEstimationSmoother::State::RawSourcePose mola::state_estimation_smoother::StateEstimationSmoother::State::RelativePoseChain mola::Synchronizer::Parameters mola::TransformTree mola::TransformTreeNode mola::TSDF::FieldQuery mola::TSDF::TCreationOptions mola::TSDF::TInsertionOptions mola::TSDF::TRenderOptions mola::TSDF::VoxelData mola::YAMLParseOptions mp2p_icp::color_mode_t mp2p_icp::CovarianceParameters mp2p_icp::GravityPrior mp2p_icp::ICP::ICP_State mp2p_icp::ICP::IterationHook_Input mp2p_icp::ICP::IterationHook_Output mp2p_icp::ICP::QualityEvaluatorEntry 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::MatchingDistanceProfile mp2p_icp::MatchState mp2p_icp::metric_map_t::Georeferencing mp2p_icp::NearestPlaneCapable::NearestPlaneResult mp2p_icp::NearestPlaneCapable::PlaneCandidate mp2p_icp::OptimalTF_GN_Parameters mp2p_icp::OptimalTF_Result mp2p_icp::OutlierIndices mp2p_icp::Pairings mp2p_icp::pairings_render_params_t mp2p_icp::PairWeights mp2p_icp::Parameters mp2p_icp::plane_patch_t mp2p_icp::point_line_pair_t mp2p_icp::point_plane_pair_t mp2p_icp::point_with_cov_pair_t mp2p_icp::pointcloud_bitfield_t mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField mp2p_icp::PointCloudEigen mp2p_icp::PointWeightByIncidence mp2p_icp::PointWeightByRange mp2p_icp::QualityEvaluator::Result mp2p_icp::render_params_lines_t mp2p_icp::render_params_pairings_cov2cov_t mp2p_icp::render_params_pairings_pt2ln_t mp2p_icp::render_params_pairings_pt2pl_t mp2p_icp::render_params_pairings_pt2pt_t mp2p_icp::render_params_planes_t mp2p_icp::render_params_point_layer_t mp2p_icp::render_params_points_t mp2p_icp::render_params_t mp2p_icp::Results mp2p_icp::SolverContext mp2p_icp::VisitCorrespondencesStats mp2p_icp::WeightParameters mp2p_icp_filters::FilterAbsoluteTimestamp::Parameters mp2p_icp_filters::FilterAdjustTimestamps::Parameters mp2p_icp_filters::FilterBoundingBox::Parameters mp2p_icp_filters::FilterByExpression::Parameters mp2p_icp_filters::FilterByIntensity::Parameters mp2p_icp_filters::FilterByRange::Parameters mp2p_icp_filters::FilterByRing::Parameters mp2p_icp_filters::FilterClear::Parameters mp2p_icp_filters::FilterCurvature::Parameters mp2p_icp_filters::FilterDecimate::Parameters mp2p_icp_filters::FilterDecimateAdaptive::Impl mp2p_icp_filters::FilterDecimateAdaptive::OutputTarget mp2p_icp_filters::FilterDecimateAdaptive::Parameters mp2p_icp_filters::FilterDecimateRangeAdaptive::Impl mp2p_icp_filters::FilterDecimateRangeAdaptive::Parameters mp2p_icp_filters::FilterDecimateVoxels::Parameters mp2p_icp_filters::FilterDeleteLayer::Parameters mp2p_icp_filters::FilterEdgesPlanes::Parameters mp2p_icp_filters::FilterFartherPointSampling::Parameters mp2p_icp_filters::FilterMerge::Parameters mp2p_icp_filters::FilterMLS::Impl mp2p_icp_filters::FilterMLS::Impl::NewPoint mp2p_icp_filters::FilterMLS::Impl::ThreadWorkspace mp2p_icp_filters::FilterMLS::Parameters mp2p_icp_filters::FilterNormalizeIntensity::Parameters mp2p_icp_filters::FilterPlanePatches::Parameters mp2p_icp_filters::FilterPoleDetector::Parameters mp2p_icp_filters::FilterPolygon2D::Parameters mp2p_icp_filters::FilterRangeBiasCorrection::Parameters mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters mp2p_icp_filters::FilterRemovePointCloudField::Parameters mp2p_icp_filters::FilterRenameLayer::Parameters mp2p_icp_filters::FilterSOR::Parameters mp2p_icp_filters::FilterTransformPointCloud::Parameters mp2p_icp_filters::FilterVoxelSlice::Parameters mp2p_icp_filters::FilterVoxelSOR::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::PointCloudToVoxelGridAverage::Impl mp2p_icp_filters::PointCloudToVoxelGridAverage::indices_t mp2p_icp_filters::PointCloudToVoxelGridAverage::IndicesHash mp2p_icp_filters::PointCloudToVoxelGridAverage::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 VoxelEntry VoxelKey VoxelKeyHash

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

T

T_enu_to_map variable, [1] tabs variable take_ready function take_up_to function target_layer variable, [1] target_max_size variable tentative_geo_coord_reference variable text variable tf2 namespace tf_tree_exclude_frames variable tf_tree_link_radius variable tf_tree_root_frame variable tf_tree_show_links variable tf_tree_show_names variable threshold variable thresholdFar variable thresholdKneeRange variable thresholdTransitionWidth variable throw_on_missing_field variable time_between_frames_to_warning variable time_cost variable, [1] time_offset variable timestamp variable, [1], [2], [3], [4], [5], [6] TimestampAdjustMethod enum timestep_t typedef timing_utilization_warn variable Todo List page total_indices variable

ToYAML function TraitsTest class trajectory_t typedef transform_frame function transform_left_multiply function transform_map_left_multiply function, [1] transform_publish_period variable transform_to_new_map_frame function, [1], [2] transform_tolerance variable transform_tree function, [1], [2] transform_tree_default_root function, [1], [2] translation variable, [1] tricycleKinematicModel function trim_to function truncation_distance variable truncation_voxels variable trySetCreationOptions function TSDF function tube_sigma_voxels variable twist variable, [1], [2] twist_inv_cov variable typedef ChildLoggerName fid_t FilterPipeline frame_pair_t GeneratorSet global_plain_index_t, [1], [2], [3] id_t KeyFrameID timestep_t trajectory_t Yaml

U

unify_all variable unrealizeParameters function up_body variable, [1] up_map variable update_3d_object function, [1], [2], [3] update_3d_object_frame function, [1], [2], [3] update_velocity_buffer_from_obs function 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

updateVariable function updateVariables function upsampling_method variable UpsamplingMethod enum use_imu_orientation variable use_rank2_prior variable use_scale_outlier_detector variable use_tsl_robin_map variable, [1] use_view_direction_filter variable, [1] useIMUAttitudeAlignment variable useIMUGravityAlignment variable

V

valid variable values variable variable a_body a_body_std active adaptive_sigma add_non_keyframes_too addHorizontalityConstraints additional_isam2_update_steps allLayers allowMatchAlreadyMatchedGlobalPoints_ allowMatchAlreadyMatchedPoints_ alpha, [1] alpha_balance, [1] alpha_deleted anchorStamp applied_alpha approximate_cov area assumed_sensor_rate_hz_ async_backend async_rebuild, [1] autoBoundingBoxOutliersPercentile average averaging_samples axis_eps azimuthOffsetDeg B BACKEND_IMGUI BACKEND_NANOGUI background_scene_view base_footprint_frame base_footprint_to_base_link_tf base_link_frame bias_acc bias_gyro bin_width bootstrap_field_ready_fraction bootstrap_knn bootstrap_max_plane_deviation bootstrap_max_scans bootstrap_min_scans bootstrap_with_points bounding_box bounding_box_intersection_check_epsilon bounding_box_intersection_check_epsilon_ CACHE_MISS_VALUE cachedPoints center centroidDistance check_for_removal_every_n child_frame clear_previous closestToAverageIdx color, [1], [2], [3], [4] colormap, [1], [2], [3], [4] colorMap colorMapMinCoord colorMode compiled 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 count cov2cov_alpha, [1] cov2cov_auto_balance_with_prior, [1] cov_inv covariance_params create current_observation_color_by_field currentEstimateForRobust debugFileNameFormat decimate_method, [1] decimation, [1], [2], [3], [4], [5] decimationDebugFiles decimationIterationDetails default_dock_top_id default_pointcloud_class DEFAULT_WINDOW_NAME_LITERAL defaultPointSigma deltaTime, [1] density_penalty_max_m density_penalty_min_points desired_output_point_count deskew_odometry_poses deskew_odometry_sensor_label deskew_prev_scan_stamp deskew_twist_from_odometry display dist, [1] distance, [1] distance_threshold distinct_cloud_layer 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 drop_stale_scans dropped_ratio_warn edge_overlap eigVals enabled, [1], [2], [3] enu_frame_name enuYawAnchor error_on_missing_input_layer, [1] estimate_geo_reference estimated_georef_published estimator_params execution_rate expected_g_mps2 expected_observation_labels extent_factor external_georef factorsToRemove fail_if_input_layer_does_not_exist far fast_predictor_buffer_length field_names filled filtered_predict_twist filterOutPointsAtZero finalPairings fixed_geo_reference fixed_maximum_intensity fixed_minimum_intensity fixed_width, [1], [2], [3] flatten_to floor_sigma_angles floor_sigma_xyz flushedKinematic force_alpha_channel force_final_pairings_for_quality forward_ros_tf_as_mola_odometry_observations frame frameTransforms freezePairingsAfterIteration from_state_estimator_max_orientation_sigma_deg from_state_estimator_max_position_sigma from_state_estimator_timeout functor_before_logging_local functor_should_generate_debug_file fuse_ground_truth_label, [1] fused_vehicle_frame_name generate_lazy_load_scan_files generate_view_vector generateDebugFiles geo_coord, [1] geo_ref geo_reference geodeticReference geoReference georeferencing, [1], [2] globalPairedBitField 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 gradient gravity_calib_first_available_time gravity_calib_from_odometry gravity_calib_pitch_roll gravity_calib_pose gravity_estimator gravity_information_share, [1] gravity_vector gravityPrior, [1], [2] ground ground_min_nz GYRO_HUBER_K hard_discard HARDLIMIT_MAX_POINTS_PER_VOXEL hardware_id has_geodetic_datum huber_threshold_mps2 icon_entypo icon_imgui icp_pipeline icp_prior_weight icp_search_built_approximate icpIteration id, [1] idxs ignore_accelerometer imgui_app_name_ imu_angular_velocity_sigma imu_attitude_azimuth_offset_deg imu_attitude_sigma_deg imu_coverage_end_time imu_decimator imu_initial_calibration_dispersion_timeout imu_initial_calibration_legacy_mode imu_initial_calibration_max_age imu_initial_calibration_max_dispersion_deg imu_initial_calibration_min_samples imu_initial_calibration_sample_count imu_initial_calibration_window_seconds imu_initializer imu_min_sample_period imu_nearby_keyframe_stamp_tolerance imu_normalized_gravity_alignment_sigma imu_propagation_sigma_acc imu_propagation_sigma_bias imu_sensor_label imu_sensor_pose imu_sensor_pose_timestamp imuAttitudeSigmaDeg imuAttitudeYawSigmaDeg in_place incidenceWeightAlpha incidenceWeightMax incidenceWeightMin incidenceWeightRefCos includesBasePath index indices indices_aux initial_twist initial_twist_sigma_lin innerLoopVerbose input_error_sec input_layer, [1] input_layer_in_local_coordinates input_pointcloud_layer, [1] input_stale_sec inside_pointcloud_layer, [1] INVALID_FID INVALID_ID invert_pose irls_iterations isamIndex island_merge_fraction isPipelinesUsingIMU item_spacing k_correspondences_for_cov k_neighbors kDefaultAxisEps kdtree_leaf_max_points_ keep_finalized_trajectory keep_last_one_only keep_original_cloud_color kernelPriorRefBlend kernelScale keyframes_axes_length kf_index, [1], [2] kinematic_model kneeRange known_odom_frames label, [1], [2], [3], [4] last_deskewed_observations_color_by_field last_deskewed_scan_for_publishing last_estimated_frames last_estimated_states last_kept_pose_stamp last_lidar_pose last_lidar_sensor_poses last_obs_reception_time last_observed_scan_period_sec last_pose_from_prediction last_stamp last_wheels_odometry_at_kf last_wheels_odometry_kf last_wheels_odometry_stamp layer_matches layers lbPlaybackPosition length lengths lidar_count lidar_sensor_labels lidarIdx linearizationPoint lines link_first_pose_to_reference_origin_sigma live_text live_value ln2ln 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 localizationConverged localmap_check_removal_counter localPairedBitField log_only map map_has_been_loaded map_metadata map_name map_origin_capture_timeout map_origin_max_dispersion_deg map_to_odom_child_frame map_to_odom_frame_name map_update_decimation mapAnchor mapUpdateCnt match_mean max_age_seconds, [1] max_corr_distance, [1], [2], [3] max_correction max_cosine max_distance_for_cov, [1] max_distance_to_keep_keyframes max_gap max_kf_acc_std_mps2 max_lidar_queue_before_drop max_neighbor_distance max_overall_points max_patches max_planarity_ratio max_plane_deviation_for_cov, [1] max_points_per_kf max_points_per_voxel, [1], [2] max_range max_registration_mahalanobis max_search_keyframes max_time_offset max_time_to_use_velocity_model, [1] max_time_to_wait_for_imu max_view_angle_deg, [1] max_voxel_size max_voxels max_weight maxCost maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maximum_voxel_stride maxInnerLoopIterations maxIterations maxOccupancyUpdateCertainty maxWeight, [1] mean_k, [1] measure_from_last_kf_only menu_bar_enabled_ merge_decimate_voxel message metadata method, [1], [2], [3] metric_l_infinity metric_map_definition metric_map_definition_ini_file metrics_ min_clearance min_correspondences_for_cov, [1] min_distance_between_points, [1] min_icp_goodness min_input_points_per_voxel min_interval_seconds min_keyframes min_line_ratio min_motion_model_xyz_cov_inv min_nearby_poses_occupied min_neighbors min_neighbors_for_fit min_neighbors_to_cache_cov min_points min_rotation_between_keyframes min_span min_time_between_scans min_translation_between_keyframes min_voxel_size min_weight_for_query minAbsStep_rot minAbsStep_trans minDelta minimum_input_points_per_voxel minimum_input_points_to_filter minimum_observation_count minimum_points_clearance minimum_points_per_voxel minimumGNSSFixQuality minWeight, [1] n_samples name, [1], [2] nameServer_ near nearby_keyframe_time_window next_frame_index next_odom_frame_id nIterations nodes normal_agreement_deg normal_knn normalizedAcc num_diverse_keyframes num_scan_lines obs_generators observation_radius_quantile observation_radius_quantile_max_samples observations odom_attitude odom_attitude_wait_since odom_frame odometry_as_robot_pose_observation odometry_min_sample_period offset on_change, [1], [2] optimal_tf optimalPose optimalScale optimize_twist outliers output_field_name output_file, [1] output_layer, [1] output_layer_between output_layer_class, [1] output_layer_high_intensity output_layer_larger_curvature output_layer_low_intensity output_layer_mid_intensity output_layer_no_poles output_layer_non_selected output_layer_other output_layer_outside output_layer_poles output_layer_selected output_layer_smaller_curvature output_pointcloud_layer, [1] outputs outside_pointcloud_layer, [1] pair_weights paired_pt2pt pairing, [1] pairingsWeightParameters, [1] parallelization_grain_size, [1], [2], [3], [4], [5] parameter_source params, [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] params_ parent pcGlobal penalty_not_visible pendingIndex pendingKinematic percent_print_progress perLayer pl2pl plane_regularization_lambda, [1] planes planes_target_layer plot_windows plots_default_retention_seconds_ plots_default_span_seconds_ plots_enabled_ pointcloud_layer, [1], [2] pointcloud_layer_to_remove pointCount, [1] pointIdx points_already_global points_color points_colormap points_per_batch pointSize pointWeightAlpha pointWeightMax pointWeightMin pointWeightRefRange polygon polynomial_order pose, [1], [2], [3], [4], [5] pose_in_root pose_in_source pose_min_sample_period pose_robust_huber_threshold position possibly_degenerate potential_pairings predict_twist_filter_enabled predict_twist_filter_time_const prior, [1], [2] process_class_names_regex process_sensor_labels_regex profiler_, [1] profiler_dtor_save_stats_, [1] projection_method pt2ln pt2pl pt2pt pt2pt_layer_matches publish_estimated_georef_on_convergence publish_fused_vehicle_tf publish_geo_referenced_poses_from_slam publish_in_sim_time publish_local_map publish_localization_following_rep105 publish_map_to_odom_tf publish_map_updates_every_n publish_odometry_msgs_from_slam publish_reference_frame publish_tf_from_robot_pose_observations publish_tf_from_slam publish_vehicle_frame quality, [1], [2], [3] quality_checkpoints quit_callback_ range_min, [1] rangeCamera rawAttitude ray_tube_voxels recent_gnss_stamps recent_imu_stamps recent_lidar_stamps recolorByPointField, [1], [2], [3], [4] recolorize_by recolorizeByField refCos reference_frame, [1], [2] reference_frame_name refRange registrations_attempted relative_factors_frame_ids_re relative_pose_increment_sigma_ang relative_pose_increment_sigma_lin relative_pose_increment_sigma_per_sqrt_meter relative_pose_increment_sigma_per_sqrt_rad relativePose relevel_map_frame relevel_min_intervals relevel_min_tilt_deg relocalize_from_topic remove_frames_farther_than remove_points_farther_than remove_submaps_farther_than remove_voxels_farther_than, [1], [2] render_as_mesh render_in_movable_frame reserve_points retention_seconds robot_pose, [1] robust_kernel_scale robustKernelPriorRefBlend robustKernelScale robustParamHuberK root rotation, [1] rotation_distance_weight runUpToIteration, [1] save_deskewed_scans save_final_local_map save_final_map_to_file save_gnss_max_age save_imu_max_age saveIterationDetails scale scale_outlier_threshold search_radius seed_candidates sensor_label sensor_origin sensor_poses_corner_size serialize_covariances serialize_kdtree serialize_kdtrees shortcut show_covariances show_current_pose_corner show_last_deskewed_observations_decay show_localmap show_mean_only show_tf_tree sigma_deg, [1] sigma_dist, [1], [2], [3] sigma_rad sigma_random_walk_acceleration_angular sigma_relative_pose_angular sigma_relative_pose_linear silently_ignore_no_timestamps, [1] size size_pixels sliding_window_length slot_of_point slot_of_voxel solve_every_n source_frame_id sourceIdx SSO_MAX_POINTS_PER_VOXEL stamp2frame_index starts_hidden std_dev_mul, [1] step_counter_post_relocalization sync_obs synchronization_tolerance T_enu_to_map, [1] tabs target_layer, [1] target_max_size tentative_geo_coord_reference text tf_tree_exclude_frames tf_tree_link_radius tf_tree_root_frame tf_tree_show_links tf_tree_show_names threshold thresholdFar thresholdKneeRange thresholdTransitionWidth throw_on_missing_field time_between_frames_to_warning time_cost, [1] time_offset timestamp, [1], [2], [3], [4], [5], [6] timing_utilization_warn total_indices transform_publish_period transform_tolerance translation, [1] truncation_distance truncation_voxels tube_sigma_voxels twist, [1], [2] twist_inv_cov unify_all up_body, [1] up_map upsampling_method use_imu_orientation use_rank2_prior use_scale_outlier_detector use_tsl_robin_map, [1] use_view_direction_filter, [1] useIMUAttitudeAlignment useIMUGravityAlignment valid values variables vehicle_frame_name velocity_filter_enabled VERTICAL_ANGLE_OFFSET, [1] vertical_fov_rad view_direction_filter, [1] visible voxel_filter_resolution, [1] voxel_layer_name voxel_size, [1], [2], [3] waiting_for_state_estimator_since weight weight_by_incidence weight_by_range weight_range_ref wheels_odometry_accumulated wheels_odometry_anchor_kf wideningBeamsWithDistance width win_pos window_length write_debug_icp_log_if_quality_under x_locals z_min

variables variable vector_of_points_to_xyz function vehicle_frame_name variable velocity_filter_enabled variable version function, [1] VERTICAL_ANGLE_OFFSET variable, [1] vertical_fov_rad variable VFUNC define view_direction_filter variable, [1] ViewDirectionFilter enum ViewDirectionTest function visible variable visit_correspondences function visitPt2PlSearchCells function visitZeroCrossings function voxel_filter_resolution variable, [1] voxel_layer_name variable voxel_size variable, [1], [2], [3] VoxelAverage enumvalue voxelByCoords function, [1], [2], [3] voxelByGlobalIdxs function, [1], [2], [3], [4] VoxelEntry struct VoxelKey struct VoxelKeyHash struct

W

waitForPendingRebuilds function waiting_for_state_estimator_since variable warn_on_field_padding_mismatch function weight variable weight_by_incidence variable weight_by_range variable weight_range_ref variable wheels_odometry_accumulated variable wheels_odometry_anchor_kf variable

wideningBeamsWithDistance variable width variable win_pos variable window_length variable with_huber function withdraw_anchor function write_debug_icp_log_if_quality_under variable writeToStream function, [1], [2], [3], [4]

X

x_locals variable

Y

Yaml typedef YAML_LOAD_MEMBER_OPT define YAML_LOAD_MEMBER_REQ define YAML_LOAD_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

Z

z_min variable