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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 >
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< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef LINK_H_</ span ></ div >
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< 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 >
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< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
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< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
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< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html" > 54</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a ></ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > {</ div >
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< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb" > 68</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb" > kLocalTimeClosure</ a > , </ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea878009c73fbfa2736f438b748afbc1f6" > 69</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea878009c73fbfa2736f438b748afbc1f6" > kUserClosure</ a > , </ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7" > 70</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7" > kVirtualClosure</ a > , </ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db" > 71</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db" > kNeighborMerged</ a > , </ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1" > 72</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1" > kPosePrior</ a > , </ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9" > 73</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9" > kLandmark</ a > , </ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983" > 74</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983" > kGravity</ a > , </ div >
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< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00" > 75</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00" > kEnd</ a > , </ div >
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< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e" > 76</ a ></ span > kSelfRefLink = 97, </ div >
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< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > </ div >
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< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > </ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b" > 86</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b" > Link</ a > ();</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885" > 96</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885" > Link</ a > (< span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Type</ a > type,</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & transform,</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "keyword" > const</ span > cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > </ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96" > 104</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96" > isValid</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > </ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534" > 107</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534" > from</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > from_;}</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4" > 109</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4" > to</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > to_;}</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb" > 111</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb" > transform</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > transform_;}</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3" > 113</ a ></ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Type</ a > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3" > type</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > type_;}</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > std::string typeName()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > typeName(type_);}</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > < span class = "keyword" > const</ span > cv::Mat & infMatrix()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > infMatrix_;}</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > </ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4" > 122</ a ></ span > < span class = "keywordtype" > double</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4" > rotVariance</ a > (< span class = "keywordtype" > bool</ span > minimum = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e" > 127</ a ></ span > < span class = "keywordtype" > double</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e" > transVariance</ a > (< span class = "keywordtype" > bool</ span > minimum = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > </ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < span class = "keywordtype" > void</ span > setFrom(< span class = "keywordtype" > int</ span > from) {from_ = from;}</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > < span class = "keywordtype" > void</ span > setTo(< span class = "keywordtype" > int</ span > to) {to_ = to;}</ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordtype" > void</ span > setTransform(< span class = "keyword" > const</ span > Transform & transform) {transform_ = transform;}</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > < span class = "keywordtype" > void</ span > setType(Type type) {type_ = type;}</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939" > 134</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939" > setInfMatrix</ a > (< span class = "keyword" > const</ span > cv::Mat & infMatrix);</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > </ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac" > 137</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac" > userDataRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _userDataRaw;}</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213" > 139</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213" > userDataCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _userDataCompressed;}</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521" > 141</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521" > uncompressUserData</ a > ();</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62" > 143</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62" > uncompressUserDataConst</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > </ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542" > 157</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542" > merge</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link, < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Type</ a > outputType) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3" > 159</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > < a class = "code hl_function" href = "classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3" > inverse</ a > () < span class = "keyword" > const</ span > ;</ div >
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< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > </ div >
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< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > < span class = "keywordtype" > int</ span > from_;</ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > < span class = "keywordtype" > int</ span > to_;</ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > transform_;</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Type</ a > type_;</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > cv::Mat infMatrix_; < span class = "comment" > // Information matrix = covariance matrix ^ -1</ span ></ div >
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< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > </ div >
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< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > < span class = "comment" > // user data</ span ></ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > cv::Mat _userDataCompressed; < span class = "comment" > // compressed data</ span ></ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > cv::Mat _userDataRaw;</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > </ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > }</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > </ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > </ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* LINK_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
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< 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_a00cecebc9adf3ee5afb66d6ad63871e4" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4" > rtabmap::Link::rotVariance</ a ></ div >< div class = "ttdeci" > double rotVariance(bool minimum=true) const</ div >< div class = "ttdoc" > Rotation variance derived from the information matrix diagonal (roll, pitch, yaw).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a0d5dcb7392f6ac89ca8b4de202ca07d3" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3" > rtabmap::Link::inverse</ a ></ div >< div class = "ttdeci" > Link inverse() const</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a17ea666cb54c4f7cce1c80bc2e1950c3" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3" > rtabmap::Link::type</ a ></ div >< div class = "ttdeci" > Type type() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00113" > Link.h:113</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a185194e8e766ca979e4de7e179f0e534" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534" > rtabmap::Link::from</ a ></ div >< div class = "ttdeci" > int from() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00107" > Link.h:107</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a1fb9569f6435b5a1c800a935b08f0159" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159" > rtabmap::Link::typeName</ a ></ div >< div class = "ttdeci" > static std::string typeName(Type type)</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a1fce4ae495f2a4f5e0f7ac10551983ac" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac" > rtabmap::Link::userDataRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & userDataRaw() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00137" > Link.h:137</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a2dce9c7a3ef04085d51f702002107c7b" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b" > rtabmap::Link::Link</ a ></ div >< div class = "ttdeci" > Link()</ div >< div class = "ttdoc" > Default constructor; creates an invalid link (kUndef).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a3a82104ae4195beff134811a3a19d939" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939" > rtabmap::Link::setInfMatrix</ a ></ div >< div class = "ttdeci" > void setInfMatrix(const cv::Mat & infMatrix)</ div >< div class = "ttdoc" > Sets the 6x6 information matrix (CV_64FC1); diagonal entries must be positive and finite.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a3c4344c01b4f32a8b4a957b979fea84e" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e" > rtabmap::Link::transVariance</ a ></ div >< div class = "ttdeci" > double transVariance(bool minimum=true) const</ div >< div class = "ttdoc" > Translation variance derived from the information matrix diagonal (x, y, z).</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a49186880bde84ca3dd43c2d95449fbfb" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb" > rtabmap::Link::transform</ a ></ div >< div class = "ttdeci" > const Transform & transform() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00111" > Link.h:111</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a53974a2cea4315106cf12065ace8bb96" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96" > rtabmap::Link::isValid</ a ></ div >< div class = "ttdeci" > bool isValid() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00104" > Link.h:104</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a8d534b311c37d789276dd58bd7dc89e4" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4" > rtabmap::Link::to</ a ></ div >< div class = "ttdeci" > int to() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00109" > Link.h:109</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a8f624aa84862d7abafae5cfc7175f885" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885" > rtabmap::Link::Link</ a ></ div >< div class = "ttdeci" > Link(int from, int to, Type type, const Transform & transform, const cv::Mat & infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Constructs a link between two nodes.</ 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_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9" > rtabmap::Link::kLandmark</ a ></ div >< div class = "ttdeci" > @ kLandmark</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00073" > Link.h:73</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983" > rtabmap::Link::kGravity</ a ></ div >< div class = "ttdeci" > @ kGravity</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00074" > Link.h:74</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1" > rtabmap::Link::kPosePrior</ a ></ div >< div class = "ttdeci" > @ kPosePrior</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00072" > Link.h:72</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea878009c73fbfa2736f438b748afbc1f6" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea878009c73fbfa2736f438b748afbc1f6" > rtabmap::Link::kUserClosure</ a ></ div >< div class = "ttdeci" > @ kUserClosure</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00069" > Link.h:69</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf" > rtabmap::Link::kNeighbor</ a ></ div >< div class = "ttdeci" > @ kNeighbor</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00065" > Link.h:65</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db" > rtabmap::Link::kNeighborMerged</ a ></ div >< div class = "ttdeci" > @ kNeighborMerged</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00071" > Link.h:71</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db" > rtabmap::Link::kLocalSpaceClosure</ a ></ div >< div class = "ttdeci" > @ kLocalSpaceClosure</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00067" > Link.h:67</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00" > rtabmap::Link::kEnd</ a ></ div >< div class = "ttdeci" > @ kEnd</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00075" > Link.h:75</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb" > rtabmap::Link::kLocalTimeClosure</ a ></ div >< div class = "ttdeci" > @ kLocalTimeClosure</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00068" > Link.h:68</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791" > rtabmap::Link::kGlobalClosure</ a ></ div >< div class = "ttdeci" > @ kGlobalClosure</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00066" > Link.h:66</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7" > rtabmap::Link::kVirtualClosure</ a ></ div >< div class = "ttdeci" > @ kVirtualClosure</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00070" > Link.h:70</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a953a029f601d7ca3efbb12ca22da4542" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542" > rtabmap::Link::merge</ a ></ div >< div class = "ttdeci" > Link merge(const Link & link, Type outputType) const</ div >< div class = "ttdoc" > Chains this link (from → to) with link (to → link.to).</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_abdec9d745b1b4679a87b944cd5b48213" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213" > rtabmap::Link::userDataCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & userDataCompressed() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00139" > Link.h:139</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html_ac425a90800494da64512011315c47e62" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62" > rtabmap::Link::uncompressUserDataConst</ a ></ div >< div class = "ttdeci" > cv::Mat uncompressUserDataConst() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_adb075101cafb535fc4a9b74f7afae521" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521" > rtabmap::Link::uncompressUserData</ a ></ div >< div class = "ttdeci" > void uncompressUserData()</ div >< div class = "ttdoc" > Decompresses user data into userDataRaw() if compressed data is stored.</ 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 = "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 >
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