Index

A

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

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

B

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

BOOST_AUTO_TEST_CASE_TEMPLATE function BOOST_TEST_MODULE define bounding_box variable bounding_box_intersection_check_epsilon_ variable boundingBox function, [1], [2], [3] bucket_entry function bucket_for_hash function

C

CACHE_MISS_VALUE variable Cauchy enumvalue center variable Centralized map database entities group Centralized map database factors group check_for_removal_every_n variable checkAllParametersAreRealized function child_frame variable class copy_only_test custom_allocator deserializer identity_hash mod_hash mola::BackEndBase mola::BridgeROS2 mola::Dataset_UI mola::EntityBase mola::EntityRelativeBase mola::EurocDataset mola::ExecutableBase mola::FactorBase mola::FactorConstVelKinematics mola::FactorRelativePose3 mola::FactorStereoProjectionPose mola::FilterBase mola::FixedDenseGrid3D mola::FrontEndBase mola::HashedSetSE3 mola::HashedVoxelPointCloud mola::KeyFrameBase mola::Kitti360Dataset mola::KittiOdometryDataset mola::LandmarkPoint3 mola::LazyLoadResource mola::LidarOdometry mola::LocalizationSourceBase mola::MapServer mola::MapSourceBase mola::MinimalModuleContainer mola::MolaLauncherApp mola::MolaViz mola::MulranDataset mola::NavStateFilter mola::NDT mola::OccGrid mola::OfflineDatasetSource mola::ParisLucoDataset mola::RawDataConsumer mola::RawDataSourceBase mola::RawlogDataset mola::RefPose3 mola::RelDynPose3KF mola::Relocalization mola::RelPose3 mola::RelPose3KF mola::Rosbag2Dataset mola::SearchablePoseList mola::SmartFactorIMU mola::SmartFactorStereoProjectionPose mola::SparseTreesPointCloud mola::SparseVoxelPointCloud mola::Synchronizer mola::VideoDataset mola::VizInterface mola::WorldModel mola::WorldModelData move_only_test mp2p_icp::ICP mp2p_icp::ICP_LibPointmatcher mp2p_icp::LogRecord mp2p_icp::Matcher mp2p_icp::Matcher_Adaptive mp2p_icp::Matcher_Point2Line mp2p_icp::Matcher_Point2Plane mp2p_icp::Matcher_Points_Base mp2p_icp::Matcher_Points_DistanceThreshold mp2p_icp::Matcher_Points_InlierRatio mp2p_icp::metric_map_t mp2p_icp::NearestPlaneCapable mp2p_icp::Parameterizable mp2p_icp::ParameterSource mp2p_icp::QualityEvaluator mp2p_icp::QualityEvaluator_PairedRatio mp2p_icp::QualityEvaluator_RangeImageSimilarity mp2p_icp::QualityEvaluator_Voxels mp2p_icp::Solver mp2p_icp::Solver_GaussNewton mp2p_icp::Solver_Horn mp2p_icp::Solver_OLAE mp2p_icp_filters::FilterAdjustTimestamps mp2p_icp_filters::FilterBase mp2p_icp_filters::FilterBoundingBox mp2p_icp_filters::FilterByIntensity mp2p_icp_filters::FilterByRange mp2p_icp_filters::FilterByRing mp2p_icp_filters::FilterCurvature mp2p_icp_filters::FilterDecimateAdaptive mp2p_icp_filters::FilterDecimateVoxels mp2p_icp_filters::FilterDecimateVoxelsQuadratic mp2p_icp_filters::FilterDeleteLayer mp2p_icp_filters::FilterDeskew mp2p_icp_filters::FilterEdgesPlanes mp2p_icp_filters::FilterMerge mp2p_icp_filters::FilterNormalizeIntensity mp2p_icp_filters::FilterPoleDetector mp2p_icp_filters::FilterRemoveByVoxelOccupancy mp2p_icp_filters::FilterVoxelSlice mp2p_icp_filters::Generator mp2p_icp_filters::GeneratorEdgesFromCurvature mp2p_icp_filters::GeneratorEdgesFromRangeImage mp2p_icp_filters::PointCloudToVoxelGrid mp2p_icp_filters::PointCloudToVoxelGridSingle self_reference_member_test serializer TraitsTest tsl::detail_robin_hash::bucket_entry tsl::detail_robin_hash::bucket_entry_hash tsl::detail_robin_hash::bucket_entry_hash<true> tsl::detail_robin_hash::robin_hash tsl::detail_robin_hash::robin_hash::robin_iterator tsl::rh::mod_growth_policy tsl::rh::power_of_two_growth_policy tsl::rh::prime_growth_policy tsl::robin_map tsl::robin_map::KeySelect tsl::robin_map::ValueSelect tsl::robin_set tsl::robin_set::KeySelect utils

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

D

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

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

E

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

enumvalue Cauchy ClosestToAverage EarliestIsZero FirstPoint FixedPose FromStateEstimator GemanMcClure HUBER MiddleIsZero None Normalize PitchAndRollFromIMU RandomPoint VoxelAverage equal_range function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] erase function, [1], [2], [3], [4], [5], [6] erase_fast function, [1] eraseGridsFartherThan function error_on_missing_input_layer variable, [1], [2] errors struct estimate_points_eigen function estimated_navstate function estimated_trajectory function estimatedTrajectory function eval_centroids_robust function evaluate function, [1], [2], [3] execution_rate variable expected_observation_labels variable

F

Factor typedef factor_get_base function, [1] FactorConstVelKinematics function FactorOther typedef FactorRelativePose3 function factors_ variable Factory function fid_t typedef filter function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] filter_pipeline_from_yaml function FilterPipeline typedef finalPairings variable find function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 function findModuleSharedDir function findService function FirstPoint enumvalue FixedPose enumvalue flatten_to variable forward_ros_tf_as_mola_odometry_observations variable FromStateEstimator enumvalue FromYAML function function add addFactor addKeyFrame addPathModuleLibs addPathModuleSources align, [1] apply_filter_pipeline apply_generators asString, [1], [2], [3] at, [1], [2], [3], [4], [5] attachToDataConsumer attachToParameterSource, [1] AttachToParameterSource, [1] BOOST_AUTO_TEST_CASE, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24] BOOST_AUTO_TEST_CASE_TEMPLATE boundingBox, [1], [2], [3] bucket_entry bucket_for_hash checkAllParametersAreRealized clear, [1], [2], [3], [4] contains, [1], [2], [3], [4], [5] contents_summary, [1] count, [1], [2], [3], [4], [5] covariance create_robust_kernel create_subwindow datasetGetObservations, [1], [2], [3], [4], [5], [6] datasetSize, [1], [2], [3], [4], [5], [6] datasetUI_lastQueriedTimestep, [1], [2], [3], [4], [5], [6], [7], [8] datasetUI_size, [1], [2], [3], [4], [5], [6], [7], [8] datasetUI_teleport, [1], [2], [3], [4], [5], [6], [7], [8] deserialize, [1] doFilter edge_count, [1], [2], [3], [4], [5] edge_indices, [1], [2], [3], [4], [5] emplace, [1] emplace_hint, [1] empty enqueue_custom_nanogui_code enqueue_request entity_get_base, [1] entity_neighbors equal_range, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] erase, [1], [2], [3], [4], [5], [6] erase_fast, [1] eraseGridsFartherThan estimate_points_eigen estimated_navstate estimated_trajectory estimatedTrajectory eval_centroids_robust evaluate, [1], [2], [3] factor_get_base, [1] FactorConstVelKinematics FactorRelativePose3 Factory filter, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17] filter_pipeline_from_yaml find, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11] find_best_poses_se2 findModuleSharedDir findService FromYAML fuse_gnss fuse_imu fuse_odometry fuse_pose fuse_twist generators_from_yaml get_loaded_modules, [1] get_shared_from_this get_shared_from_this_or_clone get_visualization, [1] get_visualization_lines get_visualization_map_layer get_visualization_planes get_visualization_points get_visualization_pt2ln get_visualization_pt2pl get_visualization_pt2pt getAsPtr getAsSimplePointsMap, [1] getGroundTruthTrajectory, [1], [2], [3], [4] getLoadedModules getModuleLibPaths getModuleParameters getModuleSourcePaths getObservationGroup getPointCloud, [1], [2] getVariableValues globalIdxToCoord, [1], [2], [3] gridByOuterIdxs hasGroundTruthTrajectory, [1], [2], [3], [4] HashedSetSE3 HashedVoxelPointCloud icp_pipeline_from_yaml initialize, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42] initialize_derived initialize_frontend initialize_matchers initialize_quality_evaluators initialize_solvers insertPoint, [1], [2], [3] insertPose internal_load_lib_modules, [1] isEmpty, [1], [2], [3] lastEstimatedState launchOrderPriority, [1] load load_from_file, [1] load_xyz_file load_yaml_file LoadFromFile map_base_directory map_load, [1] map_load_from, [1] map_save, [1] map_save_to MapToNN MapToNP MapToPointsMap match max_bucket_count mean merge_with methodAvailable min_load_factor, [1] mutable_iterator, [1] NDT ndt ndt_is_plane next_bucket_count olae_build_linear_system onNewObservation, [1], [2], [3] onQuit operator(), [1], [2], [3], [4] operator<< operator>> optimal_pose optimal_tf_gauss_newton optimal_tf_horn optimal_tf_olae outerIdxToCoord overloaded parse_yaml point_layer pointcloud_sanity_check power_of_two_growth_policy print process, [1] pt2ln_pl_to_pt2pt push_back, [1] readFromStream, [1], [2], [3] reconstructedMap relocalize_from_gnss, [1] relocalize_near_pose_pdf, [1] reset, [1], [2] resetLikelihoodCache resizeGrid run_matchers run_solvers save_to_file, [1] saveMetricMapRepresentationToFile, [1], [2], [3] saveToTextFile, [1], [2], [3], [4] scanAndLoadLibraries scanForModuleSharedDirectories serialize, [1] set setAsExternal setGridProperties setResolution, [1] setSize setup setVoxelProperties, [1], [2], [3] shutdown simplemap_to_metricmap size, [1], [2], [3] size_points_only SparseTreesPointCloud SparseVoxelPointCloud spin spinOnce, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13] subwindow_update_visualization temp_createStereoCamera ToYAML unload unrealizeParameters update_3d_object updateVariable updateVariables value, [1] vector_of_points_to_xyz visit_correspondences voxelByCoords, [1], [2], [3] voxelByGlobalIdxs, [1], [2], [3] writeToStream, [1], [2], [3] yaml_to_string

functor_before_logging_local variable fuse_gnss function fuse_imu function fuse_odometry function fuse_pose function fuse_twist function

G

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

getModuleParameters function getModuleSourcePaths function getObservationGroup function getPointCloud function, [1], [2] getVariableValues function global namespace global_plain_index_t typedef, [1], [2], [3] globalIdxToCoord function, [1], [2], [3] globalPairedBitField variable gnss_sensor_label variable gridByOuterIdxs function group Centralized map database entities Centralized map database factors Entity handling utilities MOLA virtual interfaces mola-input-kitti-dataset. mola-input-kitti360-dataset. mola-input-mulran-dataset. mola-input-paris-luco-dataset. mola-kernel: MOLA data types and interfaces mola-launcher: Library to load and launch MOLA mola-relocalization mola-viz mola-yaml: YAML parsing helper functions mola_bridge_ros2 mola_input_euroc_dataset_grp. mola_input_rawlog_grp. mola_input_rosbag2_grp mola_input_video_grp. mola_metric_maps mp2p_icp library mp2p_icp_filters library mp2p_icp_map library

H

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

HashedSetSE3 function HashedVoxelPointCloud function HUBER enumvalue

I

icp_pipeline variable icp_pipeline_from_yaml function icpIteration variable id variable id_t typedef identity_hash class idxs variable imu_sensor_label variable includesBasePath variable initialize function, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16], [17], [18], [19], [20], [21], [22], [23], [24], [25], [26], [27], [28], [29], [30], [31], [32], [33], [34], [35], [36], [37], [38], [39], [40], [41], [42] initialize_derived function initialize_frontend function initialize_matchers function initialize_quality_evaluators function initialize_solvers function

InitLocalization enum innerLoopVerbose variable input_layer_in_local_coordinates variable input_pointcloud_layer variable, [1] InputMode enum insertPoint function, [1], [2], [3] insertPose function inside_pointcloud_layer variable internal_load_lib_modules function, [1] INVALID_FID variable INVALID_ID variable is_pair struct is_pair<std::pair<T1, T2>> struct isEmpty function, [1], [2], [3] IterTermReason enum

K

kdtree_leaf_max_points_ variable

keep_original_cloud_color variable

L

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

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

M

map variable map_base_directory function map_load function, [1] map_load_from function, [1] map_name variable map_name_ variable map_save function, [1] map_save_to function MapToNN function MapToNP function MapToPointsMap function match function match_mean variable math namespace max_bucket_count function max_corr_distance variable, [1], [2], [3] max_distance_to_keep_keyframes variable max_points_per_voxel variable, [1], [2] max_time_offset variable maxCost variable maxDistanceInsertion variable maxFreenessInvalidRanges variable maxFreenessUpdateCertainty variable maxInnerLoopIterations variable maxIterations variable maxOccupancyUpdateCertainty variable mean function measure_from_last_kf_only variable, [1] merge_with function method variable, [1], [2] methodAvailable function metric_map_definition variable metric_map_definition_ini_file variable MiddleIsZero enumvalue min_consecutive_distance variable min_distance_between_points variable, [1] min_icp_goodness variable min_load_factor function, [1] min_rotation_between_keyframes variable, [1] min_time_between_scans variable min_translation_between_keyframes variable, [1] minAbsStep_rot variable minAbsStep_trans variable minDelta variable minimum_input_points_per_voxel variable minimum_input_points_to_filter variable minimum_observation_count variable minimum_points_clearance variable mod_hash class module mola-launcher mola namespace MOLA virtual interfaces group mola-cli mola-dir mola-input-kitti-dataset. group mola-input-kitti360-dataset. group mola-input-mulran-dataset. group mola-input-paris-luco-dataset. group mola-kernel: MOLA data types and interfaces group mola-launcher module mola-launcher: Library to load and launch MOLA group mola-relocalization group mola-viz group mola-yaml-parser mola-yaml: YAML parsing helper functions group mola::BackEndBase class mola::BackEndBase::AddFactor_Output struct mola::BackEndBase::AdvertiseUpdatedLocalization_Input struct mola::BackEndBase::ProposeKF_Input struct mola::BackEndBase::ProposeKF_Output struct mola::BridgeROS2 class mola::BridgeROS2::MolaSubs struct mola::BridgeROS2::Params struct mola::ContainerDeque struct mola::ContainerFastMap struct mola::Dataset_UI class mola::detail namespace mola::EntityBase class mola::EntityRelativeBase class mola::EurocDataset class mola::ExecutableBase class mola::ExecutableBase::DiagnosticsOutput struct mola::FactorBase class mola::FactorConstVelKinematics class mola::FactorRelativePose3 class mola::FactorStereoProjectionPose class mola::FilterBase class mola::FixedDenseGrid3D class mola::FrontEndBase class mola::Georeferencing struct mola::HashedSetSE3 class mola::HashedSetSE3::VoxelData struct mola::HashedVoxelPointCloud class mola::HashedVoxelPointCloud::CachedData struct mola::HashedVoxelPointCloud::TInsertionOptions struct mola::HashedVoxelPointCloud::TLikelihoodOptions struct mola::HashedVoxelPointCloud::TRenderOptions struct mola::HashedVoxelPointCloud::VoxelData struct mola::HashedVoxelPointCloud::VoxelData::PointSpan struct mola::index3d_hash struct mola::index3d_t struct mola::index_se3_t struct mola::index_se3_t_hash struct mola::KeyFrameBase class mola::Kitti360Dataset class mola::KittiOdometryDataset class mola::LandmarkPoint3 class mola::LazyLoadResource class mola::LidarOdometry class mola::LidarOdometry::ICP_Input struct mola::LidarOdometry::ICP_Output struct mola::LidarOdometry::MethodState struct mola::LidarOdometry::Parameters struct mola::LidarOdometry::Parameters::AdaptiveThreshold struct mola::LidarOdometry::Parameters::ICP_case struct mola::LidarOdometry::Parameters::InitialLocalizationOptions struct mola::LidarOdometry::Parameters::MapUpdateOptions struct mola::LidarOdometry::Parameters::MultipleLidarOptions struct mola::LidarOdometry::Parameters::ObservationValidityChecks struct mola::LidarOdometry::Parameters::SimpleMapOptions struct mola::LidarOdometry::Parameters::TraceOutputOptions struct mola::LidarOdometry::Parameters::TrajectoryOutputOptions struct mola::LidarOdometry::Parameters::Visualization struct mola::LidarOdometry::Parameters::Visualization::ModelPart struct mola::LidarOdometry::StateUI struct mola::LocalizationSourceBase class mola::LocalizationSourceBase::LocalizationUpdate struct mola::MapServer class mola::MapServer::ReturnStatus struct mola::MapSourceBase class mola::MapSourceBase::MapUpdate struct mola::MinimalModuleContainer class mola::MolaLauncherApp class mola::MolaLauncherApp::InfoPerRunningThread struct mola::MolaLauncherApp::Parameters struct mola::MolaViz class mola::MolaViz::DataPerDatasetUI struct mola::MolaViz::PerWindowData struct mola::MulranDataset class mola::MulranDataset::Entry struct mola::NavState struct mola::NavStateFilter class mola::NDT class mola::NDT::CachedData struct mola::NDT::point_vector_t struct mola::NDT::TInsertionOptions struct mola::NDT::TLikelihoodOptions struct mola::NDT::TRenderOptions struct mola::NDT::VoxelData struct mola::NDT::VoxelData::PointSpan struct mola::OccGrid class mola::OccGrid::InsertionParameters struct mola::OccGrid::LikelihoodParameters struct mola::OfflineDatasetSource class mola::overloaded struct mola::ParisLucoDataset class mola::RawDataConsumer class mola::RawDataSourceBase class mola::RawDataSourceBase::SensorViewerImpl struct mola::RawlogDataset class mola::RefPose3 class mola::RelDynPose3KF class mola::Relocalization class mola::RelocalizationICP_SE2 struct mola::RelocalizationICP_SE2::Input struct mola::RelocalizationICP_SE2::Input::InputLattice struct mola::RelocalizationICP_SE2::Input::OutputLattice struct mola::RelocalizationICP_SE2::Output struct mola::RelocalizationICP_SE2::ProgressFeedback struct mola::RelocalizationLikelihood_SE2 struct mola::RelocalizationLikelihood_SE2::Input struct mola::RelocalizationLikelihood_SE2::Output struct mola::RelPose3 class mola::RelPose3KF class mola::Rosbag2Dataset class mola::Rosbag2Dataset::DatasetEntry struct

mola::SearchablePoseList class mola::SensorCamera struct mola::SensorIMU struct mola::SmartFactorIMU class mola::SmartFactorStereoProjectionPose class mola::SmartFactorStereoProjectionPose::obs_tuple_t struct mola::SmartFactorStereoProjectionPose::StereoObservation struct mola::SparseTreesPointCloud class mola::SparseTreesPointCloud::CachedData struct mola::SparseTreesPointCloud::GridData struct mola::SparseTreesPointCloud::TInsertionOptions struct mola::SparseTreesPointCloud::TLikelihoodOptions struct mola::SparseTreesPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud class mola::SparseVoxelPointCloud::CachedData struct mola::SparseVoxelPointCloud::InnerGrid struct mola::SparseVoxelPointCloud::TInsertionOptions struct mola::SparseVoxelPointCloud::TLikelihoodOptions struct mola::SparseVoxelPointCloud::TRenderOptions struct mola::SparseVoxelPointCloud::VoxelData struct mola::SparseVoxelPointCloud::VoxelData::PointSpan struct mola::StereoObservation struct mola::Synchronizer class mola::Synchronizer::Parameters struct mola::VideoDataset class mola::VizInterface class mola::WorldModel class mola::WorldModel::Parameters struct mola::WorldModelData class mola::WorldModelData::EntitiesContainer struct mola::WorldModelData::FactorsContainer struct mola::YAMLParseOptions struct mola_bridge_ros2 group mola_input_euroc_dataset_grp. group mola_input_rawlog_grp. group mola_input_rosbag2_grp group mola_input_video_grp. group mola_metric_maps group MOLA_VERSION_CHECK define move_only_test class mp2p_icp namespace mp2p_icp library group mp2p_icp::color_mode_t struct mp2p_icp::CovarianceParameters struct mp2p_icp::ICP class mp2p_icp::ICP::ICP_State struct mp2p_icp::ICP::IterationHook_Input struct mp2p_icp::ICP::IterationHook_Output struct mp2p_icp::ICP::QualityEvaluatorEntry struct mp2p_icp::ICP_LibPointmatcher class mp2p_icp::ICP_LibPointmatcher::ParametersLibpointmatcher struct mp2p_icp::internal namespace mp2p_icp::internal::InfoPerParam struct mp2p_icp::LogRecord class mp2p_icp::LogRecord::DebugInfoPerIteration struct mp2p_icp::MatchContext struct mp2p_icp::matched_line_t struct mp2p_icp::matched_plane_t struct mp2p_icp::Matcher class mp2p_icp::Matcher_Adaptive class mp2p_icp::Matcher_Point2Line class mp2p_icp::Matcher_Point2Plane class mp2p_icp::Matcher_Points_Base class mp2p_icp::Matcher_Points_Base::TransformedLocalPointCloud struct mp2p_icp::Matcher_Points_DistanceThreshold class mp2p_icp::Matcher_Points_InlierRatio class mp2p_icp::MatchState struct mp2p_icp::metric_map_t class mp2p_icp::metric_map_t::Georeferencing struct mp2p_icp::NearestPlaneCapable class mp2p_icp::NearestPlaneCapable::NearestPlaneResult struct mp2p_icp::OptimalTF_GN_Parameters struct mp2p_icp::OptimalTF_Result struct mp2p_icp::OutlierIndices struct mp2p_icp::Pairings struct mp2p_icp::pairings_render_params_t struct mp2p_icp::PairWeights struct mp2p_icp::Parameterizable class mp2p_icp::Parameters struct mp2p_icp::ParameterSource class mp2p_icp::plane_patch_t struct mp2p_icp::point_line_pair_t struct mp2p_icp::point_plane_pair_t struct mp2p_icp::pointcloud_bitfield_t struct mp2p_icp::pointcloud_bitfield_t::DenseOrSparseBitField struct mp2p_icp::PointCloudEigen struct mp2p_icp::QualityEvaluator class mp2p_icp::QualityEvaluator::Result struct mp2p_icp::QualityEvaluator_PairedRatio class mp2p_icp::QualityEvaluator_RangeImageSimilarity class mp2p_icp::QualityEvaluator_Voxels class mp2p_icp::render_params_lines_t struct mp2p_icp::render_params_pairings_pt2ln_t struct mp2p_icp::render_params_pairings_pt2pl_t struct mp2p_icp::render_params_pairings_pt2pt_t struct mp2p_icp::render_params_planes_t struct mp2p_icp::render_params_point_layer_t struct mp2p_icp::render_params_points_t struct mp2p_icp::render_params_t struct mp2p_icp::Results struct mp2p_icp::Solver class mp2p_icp::Solver_GaussNewton class mp2p_icp::Solver_Horn class mp2p_icp::Solver_OLAE class mp2p_icp::SolverContext struct mp2p_icp::VisitCorrespondencesStats struct mp2p_icp::WeightParameters struct mp2p_icp_filters namespace mp2p_icp_filters library group mp2p_icp_filters::FilterAdjustTimestamps class mp2p_icp_filters::FilterAdjustTimestamps::Parameters struct mp2p_icp_filters::FilterBase class mp2p_icp_filters::FilterBoundingBox class mp2p_icp_filters::FilterBoundingBox::Parameters struct mp2p_icp_filters::FilterByIntensity class mp2p_icp_filters::FilterByIntensity::Parameters struct mp2p_icp_filters::FilterByRange class mp2p_icp_filters::FilterByRange::Parameters struct mp2p_icp_filters::FilterByRing class mp2p_icp_filters::FilterByRing::Parameters struct mp2p_icp_filters::FilterCurvature class mp2p_icp_filters::FilterCurvature::Parameters struct mp2p_icp_filters::FilterDecimateAdaptive class mp2p_icp_filters::FilterDecimateAdaptive::Parameters struct mp2p_icp_filters::FilterDecimateVoxels class mp2p_icp_filters::FilterDecimateVoxels::Parameters struct mp2p_icp_filters::FilterDecimateVoxelsQuadratic class mp2p_icp_filters::FilterDecimateVoxelsQuadratic::Parameters struct mp2p_icp_filters::FilterDeleteLayer class mp2p_icp_filters::FilterDeleteLayer::Parameters struct mp2p_icp_filters::FilterDeskew class mp2p_icp_filters::FilterEdgesPlanes class mp2p_icp_filters::FilterEdgesPlanes::Parameters struct mp2p_icp_filters::FilterMerge class mp2p_icp_filters::FilterMerge::Parameters struct mp2p_icp_filters::FilterNormalizeIntensity class mp2p_icp_filters::FilterNormalizeIntensity::Parameters struct mp2p_icp_filters::FilterPoleDetector class mp2p_icp_filters::FilterPoleDetector::Parameters struct mp2p_icp_filters::FilterRemoveByVoxelOccupancy class mp2p_icp_filters::FilterRemoveByVoxelOccupancy::Parameters struct mp2p_icp_filters::FilterVoxelSlice class mp2p_icp_filters::FilterVoxelSlice::Parameters struct mp2p_icp_filters::Generator class mp2p_icp_filters::Generator::Parameters struct mp2p_icp_filters::GeneratorEdgesFromCurvature class mp2p_icp_filters::GeneratorEdgesFromCurvature::ParametersEdges struct mp2p_icp_filters::GeneratorEdgesFromRangeImage class mp2p_icp_filters::GeneratorEdgesFromRangeImage::ParametersEdges struct mp2p_icp_filters::NotImplementedError struct mp2p_icp_filters::PointCloudToVoxelGrid class mp2p_icp_filters::PointCloudToVoxelGrid::Impl struct mp2p_icp_filters::PointCloudToVoxelGrid::indices_t struct mp2p_icp_filters::PointCloudToVoxelGrid::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGrid::Parameters struct mp2p_icp_filters::PointCloudToVoxelGrid::voxel_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle class mp2p_icp_filters::PointCloudToVoxelGridSingle::Impl struct mp2p_icp_filters::PointCloudToVoxelGridSingle::indices_t struct mp2p_icp_filters::PointCloudToVoxelGridSingle::IndicesHash struct mp2p_icp_filters::PointCloudToVoxelGridSingle::voxel_t struct mp2p_icp_filters::sm2mm_options_t struct mp2p_icp_map library group mrpt namespace mrpt::config namespace mrpt::containers namespace mrpt::maps namespace mrpt::obs namespace mrpt::opengl namespace mrpt::rtti namespace mrpt::serialization namespace mrpt::system namespace mutable_iterator function, [1] my_id_ variable, [1]

N

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

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

O

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

outliers variable output_file variable, [1] output_layer_between variable output_layer_class variable output_layer_high_intensity variable output_layer_larger_curvature variable output_layer_low_intensity variable output_layer_mid_intensity variable output_layer_no_poles variable output_layer_non_selected variable output_layer_other variable output_layer_outside variable output_layer_poles variable output_layer_selected variable output_layer_smaller_curvature variable output_pointcloud_layer variable, [1], [2] outside_pointcloud_layer variable overloaded function

P

page Bibliography Todo List pair_weights variable paired_pt2pt variable pairing variable pairingsWeightParameters variable, [1] parameter_source variable params_ variable, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] parse_yaml function pcGlobal variable penalty_not_visible variable perLayer variable PitchAndRollFromIMU enumvalue pl2pl variable planes variable planes_target_layer variable point_layer function point_weights variable pointcloud_layer_to_remove variable pointcloud_sanity_check function pointCount variable points_colormap variable pointSize variable

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

Q

quadratic_reference_radius variable quality variable, [1], [2]

quality_checkpoints variable

R

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

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

S

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

subwindow_update_visualization function supported sensors sync_obs variable synchronization_tolerance variable

T

T_enu_to_map variable, [1] target_layer variable temp_createStereoCamera function test_types typedef, [1], [2] tf2 namespace time_cost variable, [1] time_offset variable timestamp variable, [1], [2], [3], [4] timestamp_ variable TimestampAdjustMethod enum timestep_t typedef Todo List page ToYAML function TraitsTest class trajectory_t typedef tsl namespace tsl::detail_robin_hash namespace tsl::detail_robin_hash::bucket_entry class tsl::detail_robin_hash::bucket_entry_hash class tsl::detail_robin_hash::bucket_entry_hash<true> class tsl::detail_robin_hash::has_is_transparent struct tsl::detail_robin_hash::has_is_transparent<T, typename make_void<typename T::is_transparent>::type> struct tsl::detail_robin_hash::is_power_of_two_policy struct tsl::detail_robin_hash::is_power_of_two_policy<tsl::rh::power_of_two_growth_policy<GrowthFactor>> struct tsl::detail_robin_hash::make_void struct tsl::detail_robin_hash::robin_hash class

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

U

unload function unrealizeParameters function update_3d_object function updateVariable function updateVariables function

use_closest_to_voxel_average variable use_random_point_within_voxel variable use_scale_outlier_detector variable use_voxel_average variable utils class

V

value function, [1] variable active add_non_keyframes_too age_to_unload_keyframes allLayers allowMatchAlreadyMatchedGlobalPoints_ allowMatchAlreadyMatchedPoints_ annotations_ autoBoundingBoxOutliersPercentile B base_footprint_frame base_footprint_to_base_link_tf base_id_ base_link_frame bounding_box bounding_box_intersection_check_epsilon_ CACHE_MISS_VALUE center check_for_removal_every_n child_frame color, [1], [2], [3] colormap, [1], [2] colorMap colorMapMinCoord colorMode compiled considerInvalidRangesAsFreeSpace currentEstimateForRobust debugFileNameFormat decimate_method decimation, [1], [2], [3], [4] decimationDebugFiles decimationIterationDetails deltaTime_ distance doCmdRuns doEnvVars doIncludes eigVals enabled, [1] entities_ error_on_missing_input_layer, [1], [2] execution_rate expected_observation_labels factors_ finalPairings flatten_to forward_ros_tf_as_mola_odometry_observations functor_before_logging_local generate_lazy_load_scan_files generateDebugFiles geo_coord, [1] georeferencing, [1] globalPairedBitField gnss_sensor_label hard_discard HARDLIMIT_MAX_POINTS_PER_VOXEL icp_pipeline icpIteration id idxs imu_sensor_label includesBasePath innerLoopVerbose input_layer_in_local_coordinates input_pointcloud_layer, [1] inside_pointcloud_layer INVALID_FID INVALID_ID kdtree_leaf_max_points_ keep_original_cloud_color label last_lidar_pose layers length lengths lidar_count lidar_sensor_labels lidarIdx linearizationPoint lines ln2ln load_existing_local_map load_existing_simple_map loaded_lib_handled local_map_needs_viz_update local_map_point_size localmap_check_removal_counter localPairedBitField map map_name map_name_ match_mean max_corr_distance, [1], [2], [3] max_distance_to_keep_keyframes max_points_per_voxel, [1], [2] max_time_offset maxCost maxDistanceInsertion maxFreenessInvalidRanges maxFreenessUpdateCertainty maxInnerLoopIterations maxIterations maxOccupancyUpdateCertainty measure_from_last_kf_only, [1] method, [1], [2] metric_map_definition metric_map_definition_ini_file min_consecutive_distance min_distance_between_points, [1] min_icp_goodness min_rotation_between_keyframes, [1] min_time_between_scans min_translation_between_keyframes, [1] minAbsStep_rot minAbsStep_trans minDelta minimum_input_points_per_voxel minimum_input_points_to_filter minimum_observation_count minimum_points_clearance my_id_, [1] nameServer_ nb_custom_allocs nIterations noise_model_ noise_model_diag_rot_ noise_model_diag_xyz_ observations odom_frame optimal_tf optimalPose optimalScale optimize_twist outliers output_file, [1] output_layer_between output_layer_class output_layer_high_intensity output_layer_larger_curvature output_layer_low_intensity output_layer_mid_intensity output_layer_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], [2] outside_pointcloud_layer pair_weights paired_pt2pt pairing pairingsWeightParameters, [1] parameter_source params_, [1], [2], [3], [4], [5], [6], [7], [8], [9], [10], [11], [12], [13], [14], [15], [16] pcGlobal penalty_not_visible perLayer pl2pl planes planes_target_layer point_weights pointcloud_layer_to_remove pointCount points_colormap pointSize pose potential_pairings prior, [1] process_class_names_regex process_sensor_labels_regex profiler_, [1] profiler_dtor_save_stats_, [1] pt2ln pt2pl pt2pt publish_in_sim_time publish_localization_following_rep105 publish_map_updates_every_n publish_odometry_msgs_from_slam publish_reference_frame publish_tf_from_robot_pose_observations publish_tf_from_slam publish_vehicle_frame quadratic_reference_radius quality, [1], [2] quality_checkpoints range_min rangeCamera recolorizeByCoordinate recolorizeByCoordinateIndex, [1], [2], [3] reference_frame, [1], [2] reference_kf relocalize_from_topic relpose_value, [1], [2] remove_submaps_farther_than remove_voxels_farther_than, [1] robot_pose robust_param_ robust_type_ runUpToIteration, [1] save_final_map_to_file save_gnss_max_age saveIterationDetails scale scale_outlier_threshold show_mean_only sigma_dist, [1], [2], [3] sigma_xleft_, [1] silently_ignore_no_timestamps, [1] skip_deskew SSO_MAX_POINTS_PER_VOXEL step_counter_post_relocalization sync_obs synchronization_tolerance T_enu_to_map, [1] target_layer time_cost, [1] time_offset timestamp, [1], [2], [3], [4] timestamp_ twist, [1] twist_inv_cov use_closest_to_voxel_average use_random_point_within_voxel use_scale_outlier_detector use_voxel_average variables VERTICAL_ANGLE_OFFSET, [1] visible voxel_filter_resolution, [1], [2] voxel_layer_name weight_pt2pt_layers wideningBeamsWithDistance win_pos window_length x_locals

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

W

weight_pt2pt_layers variable wideningBeamsWithDistance variable win_pos variable

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

X

x_locals variable

Y

Yaml typedef YAML_LOAD_MEMBER_OPT define YAML_LOAD_MEMBER_REQ define YAML_LOAD_OPT3 define

YAML_LOAD_OPT_DEG3 define YAML_LOAD_REQ3 define YAML_LOAD_REQ_DEG3 define yaml_to_string function