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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef DBDRIVER_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define DBDRIVER_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < string> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < map> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < set> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include " rtabmap/utilite/UMutex.h" </ span ></ div >
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< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include " < a class = "code" href = "UThreadNode_8h.html" > rtabmap/utilite/UThreadNode.h</ a > " </ span ></ div >
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< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include " rtabmap/core/Parameters.h" </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include " rtabmap/core/SensorData.h" </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < rtabmap/core/Statistics.h> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > </ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "preprocessor" > #include < rtabmap/core/Link.h> </ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > </ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > </ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > class </ span > Signature;</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span >< span class = "keyword" > class </ span > VWDictionary;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span >< span class = "keyword" > class </ span > VisualWord;</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > </ div >
< div class = "foldopen" id = "foldopen00071" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html" > 71</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classUThread.html" > UThreadNode</ a ></ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > {</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span >< span class = "keyword" > public</ span > :</ div >
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< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9" > 79</ a ></ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9" > create</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > </ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > ~DBDriver</ a > ();</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > </ div >
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< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427" > 85</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
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< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a" > 90</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a" > isInMemory</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _url.empty();}</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab" > 92</ a ></ span > < span class = "keyword" > const</ span > std::string & < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab" > getUrl</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _url;}</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1" > 94</ a ></ span > < span class = "keyword" > const</ span > std::string & < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1" > getTargetVersion</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _targetVersion;}</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > </ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f" > 97</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f" > asyncSave</ a > (< a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > * s);</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d" > 99</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d" > asyncSave</ a > (< a class = "code hl_class" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > * vw);</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" > 104</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" > emptyTrashes</ a > (< span class = "keywordtype" > bool</ span > async = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > < span class = "keywordtype" > double</ span > getEmptyTrashesTime()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _emptyTrashesTime;}</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > < span class = "keywordtype" > void</ span > setTimestampUpdateEnabled(< span class = "keywordtype" > bool</ span > enabled) {_timestampUpdate = enabled;} < span class = "comment" > // used on Update Signature and Word queries</ span ></ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > </ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230" > 115</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230" > generateGraph</ a > (</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keyword" > const</ span > std::string & fileName,</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > < span class = "keyword" > const</ span > std::set< int> & ids = std::set< int> (),</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > < span class = "keyword" > const</ span > std::map< int, Signature *> & otherSignatures = std::map< int, Signature *> ());</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > </ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b" > 126</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b" > addLink</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link);</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717" > 128</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717" > removeLink</ a > (< span class = "keywordtype" > int</ span > from, < span class = "keywordtype" > int</ span > to);</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80" > 130</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80" > updateLink</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link);</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61" > 138</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61" > updateOccupancyGrid</ a > (</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > < span class = "keyword" > const</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < span class = "keyword" > const</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keyword" > const</ span > cv::Mat & empty,</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > < span class = "keyword" > const</ span > cv::Point3f & viewpoint);</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1" > 146</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1" > updateCalibration</ a > (</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & models,</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoModels);</ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811" > 156</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811" > updateDepthImage</ a > (< span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > std::string & format);</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b" > 162</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b" > updateLaserScan</ a > (< span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan);</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span >< span class = "keyword" > public</ span > :</ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keywordtype" > void</ span > addInfoAfterRun(< span class = "keywordtype" > int</ span > stMemSize, < span class = "keywordtype" > int</ span > lastSignAdded, < span class = "keywordtype" > int</ span > processMemUsed, < span class = "keywordtype" > int</ span > databaseMemUsed, < span class = "keywordtype" > int</ span > dictionarySize, < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) < span class = "keyword" > const</ span > ;</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832" > 176</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832" > addStatistics</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & statistics, < span class = "keywordtype" > bool</ span > saveWmState) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170" > 182</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170" > savePreviewImage</ a > (< span class = "keyword" > const</ span > cv::Mat & image) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82" > 184</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82" > loadPreviewImage</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4" > 186</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4" > saveOptimizedPoses</ a > (< span class = "keyword" > const</ span > std::map< int, Transform> & optimizedPoses, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & lastlocalizationPose) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55" > 188</ a ></ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55" > loadOptimizedPoses</ a > (< a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > * lastlocalizationPose = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037" > 190</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037" > save2DMap</ a > (< span class = "keyword" > const</ span > cv::Mat & map, < span class = "keywordtype" > float</ span > xMin, < span class = "keywordtype" > float</ span > yMin, < span class = "keywordtype" > float</ span > cellSize) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a" > 192</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a" > load2DMap</ a > (< span class = "keywordtype" > float</ span > & xMin, < span class = "keywordtype" > float</ span > & yMin, < span class = "keywordtype" > float</ span > & cellSize) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39" > 200</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39" > saveOptimizedMesh</ a > (</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > < span class = "keyword" > const</ span > cv::Mat & cloud,</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > < span class = "keyword" > const</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > & polygons = std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > (), < span class = "comment" > // Textures -> polygons -> vertices</ span ></ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > & texCoords = std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > (), < span class = "comment" > // Textures -> uv coords for each vertex of the polygons</ span ></ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f> > & texCoords = std::vector< std::vector< Eigen::Vector2f> > (), < span class = "comment" > // Textures -> uv coords for each vertex of the polygons</ span ></ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > #endif</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > < span class = "keyword" > const</ span > cv::Mat & textures = cv::Mat()) < span class = "keyword" > const</ span > ; < span class = "comment" > // concatenated textures (assuming square textures with all same size);</ span ></ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > cv::Mat loadOptimizedMesh(</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > * polygons = 0,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > * texCoords = 0,</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > std::vector< std::vector< Eigen::Vector2f> > * texCoords = 0,</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > #endif</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > cv::Mat * textures = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea" > 222</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea" > saveFlannIndex</ a > (< span class = "keyword" > const</ span > std::vector< unsigned char> & indexData) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5" > 231</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5" > openConnection</ a > (< span class = "keyword" > const</ span > std::string & url, < span class = "keywordtype" > bool</ span > overwritten = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > readOnly = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f" > 233</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f" > closeConnection</ a > (< span class = "keywordtype" > bool</ span > save = < span class = "keyword" > true</ span > , < span class = "keyword" > const</ span > std::string & outputUrl = < span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85" > 235</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85" > isConnected</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > getMemoryUsed() < span class = "keyword" > const</ span > ; < span class = "comment" > // In bytes</ span ></ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264" > 238</ a ></ span > std::string < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264" > getDatabaseVersion</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > < span class = "keywordtype" > long</ span > getNodesMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordtype" > long</ span > getLinksMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < span class = "keywordtype" > long</ span > getImagesMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keywordtype" > long</ span > getDepthImagesMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keywordtype" > long</ span > getCalibrationsMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > < span class = "keywordtype" > long</ span > getGridsMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > < span class = "keywordtype" > long</ span > getLaserScansMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > < span class = "keywordtype" > long</ span > getUserDataMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span > < span class = "keywordtype" > long</ span > getWordsMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > < span class = "keywordtype" > long</ span > getFeaturesMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00249" name = "l00249" ></ a >< span class = "lineno" > 249</ span > < span class = "keywordtype" > long</ span > getStatisticsMemoryUsed() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" > 250</ span > < span class = "keywordtype" > int</ span > getLastNodesSize() < span class = "keyword" > const</ span > ; < span class = "comment" > // working memory</ span ></ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > < span class = "keywordtype" > int</ span > getLastDictionarySize() < span class = "keyword" > const</ span > ; < span class = "comment" > // working memory</ span ></ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < span class = "keywordtype" > int</ span > getTotalNodesSize() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > < span class = "keywordtype" > int</ span > getTotalDictionarySize() < span class = "keyword" > const</ span > ;</ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > getLastParameters() < span class = "keyword" > const</ span > ;</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > std::map< std::string, float> getStatistics(< span class = "keywordtype" > int</ span > nodeId, < span class = "keywordtype" > double</ span > & stamp, std::vector< int> * wmState=0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > std::map< int, std::pair< std::map< std::string, float> , < span class = "keywordtype" > double</ span > > > getAllStatistics() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > std::map< int, std::vector< int> > getAllStatisticsWmStates() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span > </ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8" > 275</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8" > executeNoResult</ a > (< span class = "keyword" > const</ span > std::string & sql) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > </ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > < span class = "comment" > // Load objects</ span ></ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > < span class = "keywordtype" > void</ span > load(< a class = "code hl_class" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a > & dictionary, < span class = "keywordtype" > bool</ span > lastStateOnly = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > idsOnly = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span > < span class = "keywordtype" > void</ span > loadLastNodes(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > loadWordIdsOnly = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ; < span class = "comment" > // returned signatures must be freed after usage</ span ></ div >
< div class = "line" >< a id = "l00286" name = "l00286" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120" > 286</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > * < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120" > loadSignature</ a > (< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > , < span class = "keywordtype" > bool</ span > * loadedFromTrash = 0); < span class = "comment" > // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded</ span ></ div >
< div class = "line" >< a id = "l00287" name = "l00287" ></ a >< span class = "lineno" > 287</ span > < span class = "keywordtype" > void</ span > loadSignatures(< span class = "keyword" > const</ span > std::list< int> & ids, std::list< Signature *> & signatures, std::set< int> * loadedFromTrash = 0, < span class = "keywordtype" > bool</ span > loadWordIdsOnly = < span class = "keyword" > false</ span > ); < span class = "comment" > // returned signatures must be freed after usage</ span ></ div >
< div class = "line" >< a id = "l00288" name = "l00288" ></ a >< span class = "lineno" > 288</ span > < span class = "keywordtype" > void</ span > loadWords(< span class = "keyword" > const</ span > std::set< int> & wordIds, std::list< VisualWord *> & vws); < span class = "comment" > // returned words must be freed after usage</ span ></ div >
< div class = "line" >< a id = "l00289" name = "l00289" ></ a >< span class = "lineno" > 289</ span > </ div >
< div class = "line" >< a id = "l00290" name = "l00290" ></ a >< span class = "lineno" > 290</ span > < span class = "comment" > // Specific queries...</ span ></ div >
< div class = "line" >< a id = "l00291" name = "l00291" ></ a >< span class = "lineno" > 291</ span > < span class = "keywordtype" > void</ span > loadNodeData(< a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > & signature, < span class = "keywordtype" > bool</ span > images = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00292" name = "l00292" ></ a >< span class = "lineno" > 292</ span > < span class = "keywordtype" > void</ span > loadNodeData(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > images = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00293" name = "l00293" ></ a >< span class = "lineno" > 293</ span > < span class = "keywordtype" > void</ span > getNodeData(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data, < span class = "keywordtype" > bool</ span > images = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" > 294</ span > < span class = "keywordtype" > bool</ span > getCalibration(< span class = "keywordtype" > int</ span > signatureId, std::vector< CameraModel> & models, std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > < span class = "keywordtype" > bool</ span > getLaserScanInfo(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & info) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" > 296</ span > < span class = "keywordtype" > bool</ span > getNodeInfo(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, < span class = "keywordtype" > int</ span > & mapId, < span class = "keywordtype" > int</ span > & weight, std::string & label, < span class = "keywordtype" > double</ span > & stamp, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & groundTruthPose, std::vector< float> & velocity, < a class = "code hl_class" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps, < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > < span class = "keywordtype" > void</ span > getLocalFeatures(< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, int> & words, std::vector< cv::KeyPoint> & keypoints, std::vector< cv::Point3f> & points, cv::Mat & descriptors) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d" > 299</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d" > loadLinks</ a > (< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, Link> & links, < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = Link::kUndef) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00300" name = "l00300" ></ a >< span class = "lineno" > 300</ span > < span class = "keywordtype" > void</ span > getWeight(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & weight) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" > 301</ span > < span class = "keywordtype" > void</ span > getLastNodeIds(std::set< int> & ids) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00302" name = "l00302" ></ a >< span class = "lineno" > 302</ span > < span class = "keywordtype" > void</ span > getAllNodeIds(std::set< int> & ids, < span class = "keywordtype" > bool</ span > ignoreChildren = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > ignoreBadSignatures = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" > 303</ span > < span class = "keywordtype" > void</ span > getAllOdomPoses(std::map< int, Transform> & poses, < span class = "keywordtype" > bool</ span > ignoreChildren = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" > 304</ span > < span class = "keywordtype" > void</ span > getAllLinks(std::multimap< int, Link> & links, < span class = "keywordtype" > bool</ span > ignoreNullLinks = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > withLandmarks = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > < span class = "keywordtype" > void</ span > getLastNodeId(< span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keywordtype" > void</ span > getLastMapId(< span class = "keywordtype" > int</ span > & mapId) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keywordtype" > void</ span > getLastWordId(< span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keywordtype" > void</ span > getInvertedIndexNi(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & ni) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > < span class = "keywordtype" > void</ span > getNodesObservingLandmark(< span class = "keywordtype" > int</ span > landmarkId, std::map< int, Link> & nodes) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > < span class = "keywordtype" > void</ span > getNodeIdByLabel(< span class = "keyword" > const</ span > std::string & label, < span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keywordtype" > void</ span > getAllLabels(std::map< int, std::string> & labels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span >< span class = "keyword" > protected</ span > :</ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e" > 318</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e" > DBDriver</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" > 319</ span > </ div >
< div class = "line" >< a id = "l00324" name = "l00324" ></ a >< span class = "lineno" > 324</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > connectDatabaseQuery(< span class = "keyword" > const</ span > std::string & url, < span class = "keywordtype" > bool</ span > overwritten = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > readOnly = < span class = "keyword" > false</ span > ) = 0;</ div >
< div class = "line" >< a id = "l00325" name = "l00325" ></ a >< span class = "lineno" > 325</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > disconnectDatabaseQuery(< span class = "keywordtype" > bool</ span > save = < span class = "keyword" > true</ span > , < span class = "keyword" > const</ span > std::string & outputUrl = < span class = "stringliteral" > "" </ span > ) = 0;</ div >
< div class = "line" >< a id = "l00326" name = "l00326" ></ a >< span class = "lineno" > 326</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isConnectedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" > 327</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > getMemoryUsedQuery() < span class = "keyword" > const</ span > = 0; < span class = "comment" > // In bytes</ span ></ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" > 328</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getDatabaseVersionQuery(std::string & version) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getNodesMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getLinksMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getImagesMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getDepthImagesMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getCalibrationsMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getGridsMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getLaserScansMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getUserDataMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getWordsMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getFeaturesMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getStatisticsMemoryUsedQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getLastNodesSizeQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00341" name = "l00341" ></ a >< span class = "lineno" > 341</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getLastDictionarySizeQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00342" name = "l00342" ></ a >< span class = "lineno" > 342</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getTotalNodesSizeQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00343" name = "l00343" ></ a >< span class = "lineno" > 343</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getTotalDictionarySizeQuery() < span class = "keyword" > const</ span > = 0;</ div >
2026-08-02 07:56:38 +00:00
< div class = "line" >< a id = "l00344" name = "l00344" ></ a >< span class = "lineno" > 344</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > getLastParametersQuery() < span class = "keyword" > const</ span > = 0;</ div >
2026-08-02 01:36:11 +00:00
< div class = "line" >< a id = "l00345" name = "l00345" ></ a >< span class = "lineno" > 345</ span > < span class = "keyword" > virtual</ span > std::map< std::string, float> getStatisticsQuery(< span class = "keywordtype" > int</ span > nodeId, < span class = "keywordtype" > double</ span > & stamp, std::vector< int> * wmState) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00346" name = "l00346" ></ a >< span class = "lineno" > 346</ span > < span class = "keyword" > virtual</ span > std::map< int, std::pair< std::map< std::string, float> , < span class = "keywordtype" > double</ span > > > getAllStatisticsQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00347" name = "l00347" ></ a >< span class = "lineno" > 347</ span > < span class = "keyword" > virtual</ span > std::map< int, std::vector< int> > getAllStatisticsWmStatesQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00348" name = "l00348" ></ a >< span class = "lineno" > 348</ span > </ div >
< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" > 349</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > executeNoResultQuery(< span class = "keyword" > const</ span > std::string & sql) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00350" name = "l00350" ></ a >< span class = "lineno" > 350</ span > </ div >
< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" > 351</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getWeightQuery(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & weight) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" > 352</ span > </ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveQuery(< span class = "keyword" > const</ span > std::list< Signature *> & signatures) = 0;</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveQuery(< span class = "keyword" > const</ span > std::list< VisualWord *> & words) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateQuery(< span class = "keyword" > const</ span > std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > updateTimestamp) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" > 356</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateQuery(< span class = "keyword" > const</ span > std::list< VisualWord *> & words, < span class = "keywordtype" > bool</ span > updateTimestamp) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > </ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > addLinkQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00359" name = "l00359" ></ a >< span class = "lineno" > 359</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateLinkQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00360" name = "l00360" ></ a >< span class = "lineno" > 360</ span > </ div >
< div class = "line" >< a id = "l00361" name = "l00361" ></ a >< span class = "lineno" > 361</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateOccupancyGridQuery(</ div >
< div class = "line" >< a id = "l00362" name = "l00362" ></ a >< span class = "lineno" > 362</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00363" name = "l00363" ></ a >< span class = "lineno" > 363</ span > < span class = "keyword" > const</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00364" name = "l00364" ></ a >< span class = "lineno" > 364</ span > < span class = "keyword" > const</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00365" name = "l00365" ></ a >< span class = "lineno" > 365</ span > < span class = "keyword" > const</ span > cv::Mat & empty,</ div >
< div class = "line" >< a id = "l00366" name = "l00366" ></ a >< span class = "lineno" > 366</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00367" name = "l00367" ></ a >< span class = "lineno" > 367</ span > < span class = "keyword" > const</ span > cv::Point3f & viewpoint) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00368" name = "l00368" ></ a >< span class = "lineno" > 368</ span > </ div >
< div class = "line" >< a id = "l00369" name = "l00369" ></ a >< span class = "lineno" > 369</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateCalibrationQuery(</ div >
< div class = "line" >< a id = "l00370" name = "l00370" ></ a >< span class = "lineno" > 370</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00371" name = "l00371" ></ a >< span class = "lineno" > 371</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & models,</ div >
< div class = "line" >< a id = "l00372" name = "l00372" ></ a >< span class = "lineno" > 372</ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00373" name = "l00373" ></ a >< span class = "lineno" > 373</ span > </ div >
< div class = "line" >< a id = "l00374" name = "l00374" ></ a >< span class = "lineno" > 374</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateDepthImageQuery(</ div >
< div class = "line" >< a id = "l00375" name = "l00375" ></ a >< span class = "lineno" > 375</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00376" name = "l00376" ></ a >< span class = "lineno" > 376</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00377" name = "l00377" ></ a >< span class = "lineno" > 377</ span > < span class = "keyword" > const</ span > std::string & format) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00378" name = "l00378" ></ a >< span class = "lineno" > 378</ span > </ div >
< div class = "line" >< a id = "l00379" name = "l00379" ></ a >< span class = "lineno" > 379</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateLaserScanQuery(</ div >
< div class = "line" >< a id = "l00380" name = "l00380" ></ a >< span class = "lineno" > 380</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00381" name = "l00381" ></ a >< span class = "lineno" > 381</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00382" name = "l00382" ></ a >< span class = "lineno" > 382</ span > </ div >
< div class = "line" >< a id = "l00383" name = "l00383" ></ a >< span class = "lineno" > 383</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > addStatisticsQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & statistics, < span class = "keywordtype" > bool</ span > saveWmState) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00384" name = "l00384" ></ a >< span class = "lineno" > 384</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > savePreviewImageQuery(< span class = "keyword" > const</ span > cv::Mat & image) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00385" name = "l00385" ></ a >< span class = "lineno" > 385</ span > < span class = "keyword" > virtual</ span > cv::Mat loadPreviewImageQuery() < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00386" name = "l00386" ></ a >< span class = "lineno" > 386</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveOptimizedPosesQuery(< span class = "keyword" > const</ span > std::map< int, Transform> & optimizedPoses, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & lastlocalizationPose) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00387" name = "l00387" ></ a >< span class = "lineno" > 387</ span > < span class = "keyword" > virtual</ span > std::map< int, Transform> loadOptimizedPosesQuery(< a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > * lastlocalizationPose = 0) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00388" name = "l00388" ></ a >< span class = "lineno" > 388</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > save2DMapQuery(< span class = "keyword" > const</ span > cv::Mat & map, < span class = "keywordtype" > float</ span > xMin, < span class = "keywordtype" > float</ span > yMin, < span class = "keywordtype" > float</ span > cellSize) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00389" name = "l00389" ></ a >< span class = "lineno" > 389</ span > < span class = "keyword" > virtual</ span > cv::Mat load2DMapQuery(< span class = "keywordtype" > float</ span > & xMin, < span class = "keywordtype" > float</ span > & yMin, < span class = "keywordtype" > float</ span > & cellSize) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00390" name = "l00390" ></ a >< span class = "lineno" > 390</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveOptimizedMeshQuery(</ div >
< div class = "line" >< a id = "l00391" name = "l00391" ></ a >< span class = "lineno" > 391</ span > < span class = "keyword" > const</ span > cv::Mat & cloud,</ div >
< div class = "line" >< a id = "l00392" name = "l00392" ></ a >< span class = "lineno" > 392</ span > < span class = "keyword" > const</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > & polygons,</ div >
< div class = "line" >< a id = "l00393" name = "l00393" ></ a >< span class = "lineno" > 393</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00394" name = "l00394" ></ a >< span class = "lineno" > 394</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > & texCoords,</ div >
< div class = "line" >< a id = "l00395" name = "l00395" ></ a >< span class = "lineno" > 395</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00396" name = "l00396" ></ a >< span class = "lineno" > 396</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f> > & texCoords,</ div >
< div class = "line" >< a id = "l00397" name = "l00397" ></ a >< span class = "lineno" > 397</ span > #endif</ div >
< div class = "line" >< a id = "l00398" name = "l00398" ></ a >< span class = "lineno" > 398</ span > < span class = "keyword" > const</ span > cv::Mat & textures) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" > 399</ span > < span class = "keyword" > virtual</ span > cv::Mat loadOptimizedMeshQuery(</ div >
< div class = "line" >< a id = "l00400" name = "l00400" ></ a >< span class = "lineno" > 400</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > * polygons,</ div >
< div class = "line" >< a id = "l00401" name = "l00401" ></ a >< span class = "lineno" > 401</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00402" name = "l00402" ></ a >< span class = "lineno" > 402</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > * texCoords,</ div >
< div class = "line" >< a id = "l00403" name = "l00403" ></ a >< span class = "lineno" > 403</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00404" name = "l00404" ></ a >< span class = "lineno" > 404</ span > std::vector< std::vector< Eigen::Vector2f> > * texCoords,</ div >
< div class = "line" >< a id = "l00405" name = "l00405" ></ a >< span class = "lineno" > 405</ span > #endif</ div >
< div class = "line" >< a id = "l00406" name = "l00406" ></ a >< span class = "lineno" > 406</ span > cv::Mat * textures) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00407" name = "l00407" ></ a >< span class = "lineno" > 407</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveFlannIndexQuery(< span class = "keyword" > const</ span > std::vector< unsigned char> & indexData) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00408" name = "l00408" ></ a >< span class = "lineno" > 408</ span > </ div >
< div class = "line" >< a id = "l00409" name = "l00409" ></ a >< span class = "lineno" > 409</ span > < span class = "comment" > // Load objects</ span ></ div >
< div class = "line" >< a id = "l00410" name = "l00410" ></ a >< span class = "lineno" > 410</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadQuery(< a class = "code hl_class" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a > & dictionary, < span class = "keywordtype" > bool</ span > lastStateOnly = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > idsOnly = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00411" name = "l00411" ></ a >< span class = "lineno" > 411</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadLastNodesQuery(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > loadWordIdsOnly) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00412" name = "l00412" ></ a >< span class = "lineno" > 412</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadSignaturesQuery(< span class = "keyword" > const</ span > std::list< int> & ids, std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > loadWordIdsOnly) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00413" name = "l00413" ></ a >< span class = "lineno" > 413</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadWordsQuery(< span class = "keyword" > const</ span > std::set< int> & wordIds, std::list< VisualWord *> & vws) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00414" name = "l00414" ></ a >< span class = "lineno" > 414</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadLinksQuery(< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, Link> & links, < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = Link::kUndef) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00415" name = "l00415" ></ a >< span class = "lineno" > 415</ span > </ div >
< div class = "line" >< a id = "l00416" name = "l00416" ></ a >< span class = "lineno" > 416</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadNodeDataQuery(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > images=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid=< span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00417" name = "l00417" ></ a >< span class = "lineno" > 417</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getCalibrationQuery(< span class = "keywordtype" > int</ span > signatureId, std::vector< CameraModel> & models, std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00418" name = "l00418" ></ a >< span class = "lineno" > 418</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getLaserScanInfoQuery(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & info) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00419" name = "l00419" ></ a >< span class = "lineno" > 419</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getNodeInfoQuery(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, < span class = "keywordtype" > int</ span > & mapId, < span class = "keywordtype" > int</ span > & weight, std::string & label, < span class = "keywordtype" > double</ span > & stamp, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & groundTruthPose, std::vector< float> & velocity, < a class = "code hl_class" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps, < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00420" name = "l00420" ></ a >< span class = "lineno" > 420</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLocalFeaturesQuery(< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, int> & words, std::vector< cv::KeyPoint> & keypoints, std::vector< cv::Point3f> & points, cv::Mat & descriptors) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00421" name = "l00421" ></ a >< span class = "lineno" > 421</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLastNodeIdsQuery(std::set< int> & ids) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00422" name = "l00422" ></ a >< span class = "lineno" > 422</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllNodeIdsQuery(std::set< int> & ids, < span class = "keywordtype" > bool</ span > ignoreChildren, < span class = "keywordtype" > bool</ span > ignoreBadSignatures, < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00423" name = "l00423" ></ a >< span class = "lineno" > 423</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllOdomPosesQuery(std::map< int, Transform> & poses, < span class = "keywordtype" > bool</ span > ignoreChildren, < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00424" name = "l00424" ></ a >< span class = "lineno" > 424</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllLinksQuery(std::multimap< int, Link> & links, < span class = "keywordtype" > bool</ span > ignoreNullLinks, < span class = "keywordtype" > bool</ span > withLandmarks) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00425" name = "l00425" ></ a >< span class = "lineno" > 425</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLastIdQuery(< span class = "keyword" > const</ span > std::string & tableName, < span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > , < span class = "keyword" > const</ span > std::string & fieldName=< span class = "stringliteral" > " id" </ span > ) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00426" name = "l00426" ></ a >< span class = "lineno" > 426</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getInvertedIndexNiQuery(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & ni) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00427" name = "l00427" ></ a >< span class = "lineno" > 427</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getNodesObservingLandmarkQuery(< span class = "keywordtype" > int</ span > landmarkId, std::map< int, Link> & nodes) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00428" name = "l00428" ></ a >< span class = "lineno" > 428</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getNodeIdByLabelQuery(< span class = "keyword" > const</ span > std::string & label, < span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > ) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00429" name = "l00429" ></ a >< span class = "lineno" > 429</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllLabelsQuery(std::map< int, std::string> & labels) < span class = "keyword" > const</ span > = 0;</ div >
< div class = "line" >< a id = "l00432" name = "l00432" ></ a >< span class = "lineno" > 432</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00434" name = "l00434" ></ a >< span class = "lineno" > 434</ span > < span class = "keywordtype" > void</ span > beginTransaction() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00436" name = "l00436" ></ a >< span class = "lineno" > 436</ span > < span class = "keywordtype" > void</ span > commit() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00437" name = "l00437" ></ a >< span class = "lineno" > 437</ span > </ div >
< div class = "line" >< a id = "l00438" name = "l00438" ></ a >< span class = "lineno" > 438</ span > < span class = "comment" > //non-abstract methods</ span ></ div >
< div class = "line" >< a id = "l00439" name = "l00439" ></ a >< span class = "lineno" > 439</ span > < span class = "keywordtype" > void</ span > saveOrUpdate(< span class = "keyword" > const</ span > std::vector< Signature *> & signatures);</ div >
< div class = "line" >< a id = "l00440" name = "l00440" ></ a >< span class = "lineno" > 440</ span > < span class = "keywordtype" > void</ span > saveOrUpdate(< span class = "keyword" > const</ span > std::vector< VisualWord *> & words) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00441" name = "l00441" ></ a >< span class = "lineno" > 441</ span > </ div >
< div class = "line" >< a id = "l00442" name = "l00442" ></ a >< span class = "lineno" > 442</ span > < span class = "comment" > //thread stuff</ span ></ div >
< div class = "line" >< a id = "l00443" name = "l00443" ></ a >< span class = "lineno" > 443</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > mainLoop();</ div >
< div class = "line" >< a id = "l00444" name = "l00444" ></ a >< span class = "lineno" > 444</ span > </ div >
< div class = "line" >< a id = "l00445" name = "l00445" ></ a >< span class = "lineno" > 445</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" > 446</ span > < a class = "code hl_class" href = "classUMutex.html" > UMutex</ a > _transactionMutex;</ div >
< div class = "line" >< a id = "l00447" name = "l00447" ></ a >< span class = "lineno" > 447</ span > std::map< int, Signature *> _trashSignatures;< span class = "comment" > //< id, Signature*> </ span ></ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" > 448</ span > std::map< int, VisualWord *> _trashVisualWords; < span class = "comment" > //< id, VisualWord*> </ span ></ div >
< div class = "line" >< a id = "l00449" name = "l00449" ></ a >< span class = "lineno" > 449</ span > < a class = "code hl_class" href = "classUMutex.html" > UMutex</ a > _trashesMutex;</ div >
< div class = "line" >< a id = "l00450" name = "l00450" ></ a >< span class = "lineno" > 450</ span > < a class = "code hl_class" href = "classUMutex.html" > UMutex</ a > _dbSafeAccessMutex;</ div >
< div class = "line" >< a id = "l00451" name = "l00451" ></ a >< span class = "lineno" > 451</ span > < a class = "code hl_class" href = "classUSemaphore.html" > USemaphore</ a > _addSem;</ div >
< div class = "line" >< a id = "l00452" name = "l00452" ></ a >< span class = "lineno" > 452</ span > < span class = "keywordtype" > double</ span > _emptyTrashesTime;</ div >
< div class = "line" >< a id = "l00453" name = "l00453" ></ a >< span class = "lineno" > 453</ span > std::string _url;</ div >
< div class = "line" >< a id = "l00454" name = "l00454" ></ a >< span class = "lineno" > 454</ span > std::string _targetVersion;</ div >
< div class = "line" >< a id = "l00455" name = "l00455" ></ a >< span class = "lineno" > 455</ span > < span class = "keywordtype" > bool</ span > _timestampUpdate;</ div >
< div class = "line" >< a id = "l00456" name = "l00456" ></ a >< span class = "lineno" > 456</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00457" name = "l00457" ></ a >< span class = "lineno" > 457</ span > </ div >
< div class = "line" >< a id = "l00458" name = "l00458" ></ a >< span class = "lineno" > 458</ span > }</ div >
< div class = "line" >< a id = "l00459" name = "l00459" ></ a >< span class = "lineno" > 459</ span > </ div >
< div class = "line" >< a id = "l00460" name = "l00460" ></ a >< span class = "lineno" > 460</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* DBDRIVER_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
2026-08-02 07:56:38 +00:00
< div class = "ttc" id = "aUThreadNode_8h_html" >< div class = "ttname" >< a href = "UThreadNode_8h.html" > UThreadNode.h</ a ></ div >< div class = "ttdoc" > Backward-compatible alias header for UThread.</ div ></ div >
2026-08-02 01:36:11 +00:00
< div class = "ttc" id = "aclassUMutex_html" >< div class = "ttname" >< a href = "classUMutex.html" > UMutex</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UMutex_8h_source.html#l00054" > UMutex.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassUSemaphore_html" >< div class = "ttname" >< a href = "classUSemaphore.html" > USemaphore</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "USemaphore_8h_source.html#l00055" > USemaphore.h:56</ a ></ div ></ div >
< div class = "ttc" id = "aclassUThread_html" >< div class = "ttname" >< a href = "classUThread.html" > UThread</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UThread_8h_source.html#l00086" > UThread.h:87</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html" > rtabmap::DBDriver</ a ></ div >< div class = "ttdoc" > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00071" > DBDriver.h:72</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a0a713d7a6dabdcfbb8d733dba2a20120" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120" > rtabmap::DBDriver::loadSignature</ a ></ div >< div class = "ttdeci" > Signature * loadSignature(int id, bool *loadedFromTrash=0)</ div >< div class = "ttdoc" > Load one signature by id; caller must delete the returned pointer.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a0ecd6182f404d8e6822b66a54f1d248a" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a" > rtabmap::DBDriver::isInMemory</ a ></ div >< div class = "ttdeci" > virtual bool isInMemory() const</ div >< div class = "ttdoc" > True when no database file URL was set at open time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00090" > DBDriver.h:90</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a1f75e440b35243ccad645052bc4a12f9" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9" > rtabmap::DBDriver::create</ a ></ div >< div class = "ttdeci" > static DBDriver * create(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Factory: returns a SQLite database driver (DBDriverSqlite3).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a22d5643353b8d49bcc94c5a4abbc9a39" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39" > rtabmap::DBDriver::saveOptimizedMesh</ a ></ div >< div class = "ttdeci" > void saveOptimizedMesh(const cv::Mat & cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > (), const std::vector< std::vector< Eigen::Vector2f > > & texCoords=std::vector< std::vector< Eigen::Vector2f > > (), const cv::Mat & textures=cv::Mat()) const</ div >< div class = "ttdoc" > Persist the global optimized 3D mesh to the database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a2f5e8e0b367e49cfbba7c96b28306a61" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61" > rtabmap::DBDriver::updateOccupancyGrid</ a ></ div >< div class = "ttdeci" > void updateOccupancyGrid(int nodeId, const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float cellSize, const cv::Point3f & viewpoint)</ div >< div class = "ttdoc" > Update occupancy grid cells for a node.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a33c2abff50e61f35efbbdbe530963fea" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea" > rtabmap::DBDriver::saveFlannIndex</ a ></ div >< div class = "ttdeci" > void saveFlannIndex(const std::vector< unsigned char > & indexData) const</ div >< div class = "ttdoc" > Persist the visual word dictionary FLANN index (serialized blob).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a3a02d595356e2dd0ed8b8933a6c4e811" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811" > rtabmap::DBDriver::updateDepthImage</ a ></ div >< div class = "ttdeci" > void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format)</ div >< div class = "ttdoc" > Update the depth image stored for a node.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a3c73e045d9bdf8cad1c58efc9d930427" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427" > rtabmap::DBDriver::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Parse driver parameters from the map (e.g. target schema version).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a456bc49e8e60e0c754078a4b09e3f1a1" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1" > rtabmap::DBDriver::getTargetVersion</ a ></ div >< div class = "ttdeci" > const std::string & getTargetVersion() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00094" > DBDriver.h:94</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a4dbccd0dabf72da724488692b1713832" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832" > rtabmap::DBDriver::addStatistics</ a ></ div >< div class = "ttdeci" > void addStatistics(const Statistics & statistics, bool saveWmState) const</ div >< div class = "ttdoc" > Append a Statistics record for a processed node.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a5bed0d1f92c1cc864dedf99b99a44037" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a5bed0d1f92c1cc864dedf99b99a44037" > rtabmap::DBDriver::save2DMap</ a ></ div >< div class = "ttdeci" > void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const</ div >< div class = "ttdoc" > Save the assembled 2D occupancy grid and its origin metadata.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a5f90eb62bb559d42611dbe7ffe11328e" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e" > rtabmap::DBDriver::DBDriver</ a ></ div >< div class = "ttdeci" > DBDriver(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Protected constructor for subclasses.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a6d59931a9496cf1b23568f79fc421cc1" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a6d59931a9496cf1b23568f79fc421cc1" > rtabmap::DBDriver::updateCalibration</ a ></ div >< div class = "ttdeci" > void updateCalibration(int nodeId, const std::vector< CameraModel > & models, const std::vector< StereoCameraModel > & stereoModels)</ div >< div class = "ttdoc" > Update camera calibration stored for a node.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a6ef8c39b350634d21b57b1c07b029e55" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a6ef8c39b350634d21b57b1c07b029e55" > rtabmap::DBDriver::loadOptimizedPoses</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > loadOptimizedPoses(Transform *lastlocalizationPose=0) const</ div >< div class = "ttdoc" > Load optimized poses; optional last localization pose output.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a79365611bce06aeda0d078641be89cab" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab" > rtabmap::DBDriver::getUrl</ a ></ div >< div class = "ttdeci" > const std::string & getUrl() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00092" > DBDriver.h:92</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a7b1222cf6e75d7365b5b90c37bca2a85" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85" > rtabmap::DBDriver::isConnected</ a ></ div >< div class = "ttdeci" > bool isConnected() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a7c3c7536423a956e74d3f609ee814717" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a7c3c7536423a956e74d3f609ee814717" > rtabmap::DBDriver::removeLink</ a ></ div >< div class = "ttdeci" > void removeLink(int from, int to)</ div >< div class = "ttdoc" > Remove a link between two nodes.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a7d167e53d447d77dd3fe35665f8a661b" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b" > rtabmap::DBDriver::updateLaserScan</ a ></ div >< div class = "ttdeci" > void updateLaserScan(int nodeId, const LaserScan & scan)</ div >< div class = "ttdoc" > Update the laser scan stored for a node.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a8323a53d20e4ade6b1c7b268c473a170" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170" > rtabmap::DBDriver::savePreviewImage</ a ></ div >< div class = "ttdeci" > void savePreviewImage(const cv::Mat & image) const</ div >< div class = "ttdoc" > Save the map preview thumbnail in the Admin table.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a835fc23bd4f6532af71f3aadfb8037d8" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8" > rtabmap::DBDriver::executeNoResult</ a ></ div >< div class = "ttdeci" > void executeNoResult(const std::string & sql) const</ div >< div class = "ttdoc" > Run a SQL statement that does not return result rows.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a88eee22aa9707a6993f734fe29f6af5d" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a88eee22aa9707a6993f734fe29f6af5d" > rtabmap::DBDriver::asyncSave</ a ></ div >< div class = "ttdeci" > void asyncSave(VisualWord *vw)</ div >< div class = "ttdoc" > Queue a visual word for deferred save; ownership is transferred.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a94eb69c07a44343c008654b1401dce80" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a94eb69c07a44343c008654b1401dce80" > rtabmap::DBDriver::updateLink</ a ></ div >< div class = "ttdeci" > void updateLink(const Link & link)</ div >< div class = "ttdoc" > Update an existing link in the database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_a9adb7be1463016917f24a3db5f1e8264" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264" > rtabmap::DBDriver::getDatabaseVersion</ a ></ div >< div class = "ttdeci" > std::string getDatabaseVersion() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_aa1423596308a8baf123ecbc7fdfc1e82" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82" > rtabmap::DBDriver::loadPreviewImage</ a ></ div >< div class = "ttdeci" > cv::Mat loadPreviewImage() const</ div >< div class = "ttdoc" > Load and uncompress the map preview thumbnail from the Admin table.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_aa3d68850f4bb114e897e37af6b1c858a" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#aa3d68850f4bb114e897e37af6b1c858a" > rtabmap::DBDriver::load2DMap</ a ></ div >< div class = "ttdeci" > cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const</ div >< div class = "ttdoc" > Load the 2D map and fill origin/cell size outputs.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_aab00d50127b8b5bb92f8605e35aaca4d" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d" > rtabmap::DBDriver::loadLinks</ a ></ div >< div class = "ttdeci" > void loadLinks(int signatureId, std::multimap< int, Link > & links, Link::Type type=Link::kUndef) const</ div >< div class = "ttdoc" > Load outgoing links from signatureId, optionally filtered by type.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_ab4a0036162994c2ef76d4236e2a7ea0a" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" > rtabmap::DBDriver::emptyTrashes</ a ></ div >< div class = "ttdeci" > void emptyTrashes(bool async=false)</ div >< div class = "ttdoc" > Flush queued signatures and visual words to the database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_ab91ad40e4273485e5f0951fac32c22e4" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#ab91ad40e4273485e5f0951fac32c22e4" > rtabmap::DBDriver::saveOptimizedPoses</ a ></ div >< div class = "ttdeci" > void saveOptimizedPoses(const std::map< int, Transform > & optimizedPoses, const Transform & lastlocalizationPose) const</ div >< div class = "ttdoc" > Persist graph-optimized poses and last localization pose.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_abb644a203d148d0b29db41aea04c949f" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f" > rtabmap::DBDriver::closeConnection</ a ></ div >< div class = "ttdeci" > void closeConnection(bool save=true, const std::string & outputUrl="" )</ div >< div class = "ttdoc" > Close the connection; optionally flush trashes and save in-memory DB to outputUrl.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_abbf62fc6967cf618e6b2aece44f45230" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230" > rtabmap::DBDriver::generateGraph</ a ></ div >< div class = "ttdeci" > void generateGraph(const std::string & fileName, const std::set< int > & ids=std::set< int > (), const std::map< int, Signature * > & otherSignatures=std::map< int, Signature * > ())</ div >< div class = "ttdoc" > Export the pose graph to a Graphviz DOT file for visualization.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_ac6c0a2260ba2c3cc030136c9609142f5" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5" > rtabmap::DBDriver::openConnection</ a ></ div >< div class = "ttdeci" > bool openConnection(const std::string & url, bool overwritten=false, bool readOnly=false)</ div >< div class = "ttdoc" > Open or create the database at url (empty url uses an in-memory database).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_acfb5fed58aad744050c392a8d346926b" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#acfb5fed58aad744050c392a8d346926b" > rtabmap::DBDriver::addLink</ a ></ div >< div class = "ttdeci" > void addLink(const Link & link)</ div >< div class = "ttdoc" > Insert or replace a link in the database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html_ad1510e157f3ab8df3284528369a6d88f" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f" > rtabmap::DBDriver::asyncSave</ a ></ div >< div class = "ttdeci" > void asyncSave(Signature *s)</ div >< div class = "ttdoc" > Queue a signature for deferred save; ownership is transferred.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GPS_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GPS.html" > rtabmap::GPS</ a ></ div >< div class = "ttdoc" > WGS84 GPS fix attached to a sensor sample or graph node.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GPS_8h_source.html#l00046" > GPS.h:47</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html" > rtabmap::Link</ a ></ div >< div class = "ttdoc" > Directed constraint between two nodes in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00054" > Link.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > rtabmap::Link::Type</ a ></ div >< div class = "ttdeci" > Type</ div >< div class = "ttdoc" > Link category and filter sentinels.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00064" > Link.h:64</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Signature_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Signature.html" > rtabmap::Signature</ a ></ div >< div class = "ttdoc" > Represents a node in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Signature_8h_source.html#l00083" > Signature.h:84</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Statistics_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Statistics.html" > rtabmap::Statistics</ a ></ div >< div class = "ttdoc" > Collects and manages runtime statistics for RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Statistics_8h_source.html#l00107" > Statistics.h:108</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1VWDictionary_html" >< div class = "ttname" >< a href = "classrtabmap_1_1VWDictionary.html" > rtabmap::VWDictionary</ a ></ div >< div class = "ttdoc" > Manages a dictionary of visual words for visual place recognition and loop closure detection.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "VWDictionary_8h_source.html#l00065" > VWDictionary.h:66</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1VisualWord_html" >< div class = "ttname" >< a href = "classrtabmap_1_1VisualWord.html" > rtabmap::VisualWord</ a ></ div >< div class = "ttdoc" > Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "VisualWord_8h_source.html#l00049" > VisualWord.h:50</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00039" > BayesFilter.h:39</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a" >< div class = "ttname" >< a href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > rtabmap::EnvSensors</ a ></ div >< div class = "ttdeci" > std::map< EnvSensor::Type, EnvSensor > EnvSensors</ div >< div class = "ttdoc" > Map of environmental readings keyed by EnvSensor::Type (at most one per type).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EnvSensor_8h_source.html#l00114" > EnvSensor.h:114</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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