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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1DBDriver-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::DBDriver Class Reference< span class = "mlabels" >< span class = "mlabel" > abstract</ span ></ span ></ div ></ div >
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< p > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
< a href = "classrtabmap_1_1DBDriver.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > > </ code ></ p >
< div class = "dynheader" >
Inheritance diagram for rtabmap::DBDriver:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1DBDriver__inherit__graph.png" border = "0" usemap = "#artabmap_1_1DBDriver_inherit__map" alt = "Inheritance graph" /></ div >
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< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
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Collaboration diagram for rtabmap::DBDriver:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1DBDriver__coll__graph.png" border = "0" usemap = "#artabmap_1_1DBDriver_coll__map" alt = "Collaboration graph" /></ div >
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< center >< span class = "legend" > [< a target = "top" href = "graph_legend.html" > legend</ a > ]</ span ></ center ></ div >
< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a3c73e045d9bdf8cad1c58efc9d930427" id = "r_a3c73e045d9bdf8cad1c58efc9d930427" >< td class = "memItemLeft" align = "right" valign = "top" > virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427" > parseParameters</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters)</ td ></ tr >
< tr class = "memdesc:a3c73e045d9bdf8cad1c58efc9d930427" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parse driver parameters from the map (e.g. target schema version). < br /></ td ></ tr >
< tr class = "separator:a3c73e045d9bdf8cad1c58efc9d930427" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ecd6182f404d8e6822b66a54f1d248a" id = "r_a0ecd6182f404d8e6822b66a54f1d248a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a" > isInMemory</ a > () const</ td ></ tr >
< tr class = "memdesc:a0ecd6182f404d8e6822b66a54f1d248a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > True when no database file URL was set at open time. < br /></ td ></ tr >
< tr class = "separator:a0ecd6182f404d8e6822b66a54f1d248a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a79365611bce06aeda0d078641be89cab" id = "r_a79365611bce06aeda0d078641be89cab" >< td class = "memItemLeft" align = "right" valign = "top" > const std::string &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab" > getUrl</ a > () const</ td ></ tr >
< tr class = "separator:a79365611bce06aeda0d078641be89cab" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a456bc49e8e60e0c754078a4b09e3f1a1" id = "r_a456bc49e8e60e0c754078a4b09e3f1a1" >< td class = "memItemLeft" align = "right" valign = "top" > const std::string &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1" > getTargetVersion</ a > () const</ td ></ tr >
< tr class = "separator:a456bc49e8e60e0c754078a4b09e3f1a1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
2026-08-09 07:13:20 +00:00
< tr class = "memitem:ad1510e157f3ab8df3284528369a6d88f" id = "r_ad1510e157f3ab8df3284528369a6d88f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f" > asyncSave</ a > (< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > *s)</ td ></ tr >
< tr class = "memdesc:ad1510e157f3ab8df3284528369a6d88f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Queue a signature for deferred save; ownership is transferred. < br /></ td ></ tr >
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< tr class = "separator:ad1510e157f3ab8df3284528369a6d88f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a88eee22aa9707a6993f734fe29f6af5d" id = "r_a88eee22aa9707a6993f734fe29f6af5d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a88eee22aa9707a6993f734fe29f6af5d" name = "a88eee22aa9707a6993f734fe29f6af5d" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > asyncSave</ b > (< a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > *vw)</ td ></ tr >
< tr class = "memdesc:a88eee22aa9707a6993f734fe29f6af5d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Queue a visual word for deferred save; ownership is transferred. < br /></ td ></ tr >
< tr class = "separator:a88eee22aa9707a6993f734fe29f6af5d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab4a0036162994c2ef76d4236e2a7ea0a" id = "r_ab4a0036162994c2ef76d4236e2a7ea0a" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" > emptyTrashes</ a > (bool async=false)</ td ></ tr >
< tr class = "memdesc:ab4a0036162994c2ef76d4236e2a7ea0a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Flush queued signatures and visual words to the database. < br /></ td ></ tr >
< tr class = "separator:ab4a0036162994c2ef76d4236e2a7ea0a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ada0df079a28dd5c2cc37baf2f3f8e79d" id = "r_ada0df079a28dd5c2cc37baf2f3f8e79d" >< td class = "memItemLeft" align = "right" valign = "top" > double  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#ada0df079a28dd5c2cc37baf2f3f8e79d" > getEmptyTrashesTime</ a > () const</ td ></ tr >
< tr class = "separator:ada0df079a28dd5c2cc37baf2f3f8e79d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab635aa1b5087868f3bc3e27cc3bd92ab" id = "r_ab635aa1b5087868f3bc3e27cc3bd92ab" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#ab635aa1b5087868f3bc3e27cc3bd92ab" > setTimestampUpdateEnabled</ a > (bool enabled)</ td ></ tr >
< tr class = "separator:ab635aa1b5087868f3bc3e27cc3bd92ab" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abbf62fc6967cf618e6b2aece44f45230" id = "r_abbf62fc6967cf618e6b2aece44f45230" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#abbf62fc6967cf618e6b2aece44f45230" > generateGraph</ a > (const std::string & fileName, const std::set< int > & ids=std::set< int > (), const std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & otherSignatures=std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > ())</ td ></ tr >
< tr class = "memdesc:abbf62fc6967cf618e6b2aece44f45230" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Export the pose graph to a Graphviz DOT file for visualization. < br /></ td ></ tr >
< tr class = "separator:abbf62fc6967cf618e6b2aece44f45230" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a835fc23bd4f6532af71f3aadfb8037d8" id = "r_a835fc23bd4f6532af71f3aadfb8037d8" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a835fc23bd4f6532af71f3aadfb8037d8" > executeNoResult</ a > (const std::string & sql) const</ td ></ tr >
< tr class = "memdesc:a835fc23bd4f6532af71f3aadfb8037d8" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Run a SQL statement that does not return result rows. < br /></ td ></ tr >
< tr class = "separator:a835fc23bd4f6532af71f3aadfb8037d8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Direct database updates</ div ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupText" >< p > Write node or link data immediately (not via the async trash). </ p >
</ div ></ td ></ tr >
< tr class = "memitem:acfb5fed58aad744050c392a8d346926b" id = "r_acfb5fed58aad744050c392a8d346926b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "acfb5fed58aad744050c392a8d346926b" name = "acfb5fed58aad744050c392a8d346926b" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > addLink</ b > (const < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > & link)</ td ></ tr >
< tr class = "memdesc:acfb5fed58aad744050c392a8d346926b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Insert or replace a link in the database. < br /></ td ></ tr >
< tr class = "separator:acfb5fed58aad744050c392a8d346926b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7c3c7536423a956e74d3f609ee814717" id = "r_a7c3c7536423a956e74d3f609ee814717" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a7c3c7536423a956e74d3f609ee814717" name = "a7c3c7536423a956e74d3f609ee814717" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > removeLink</ b > (int from, int to)</ td ></ tr >
< tr class = "memdesc:a7c3c7536423a956e74d3f609ee814717" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Remove a link between two nodes. < br /></ td ></ tr >
< tr class = "separator:a7c3c7536423a956e74d3f609ee814717" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a94eb69c07a44343c008654b1401dce80" id = "r_a94eb69c07a44343c008654b1401dce80" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a94eb69c07a44343c008654b1401dce80" name = "a94eb69c07a44343c008654b1401dce80" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateLink</ b > (const < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > & link)</ td ></ tr >
< tr class = "memdesc:a94eb69c07a44343c008654b1401dce80" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Update an existing link in the database. < br /></ td ></ tr >
< tr class = "separator:a94eb69c07a44343c008654b1401dce80" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2f5e8e0b367e49cfbba7c96b28306a61" id = "r_a2f5e8e0b367e49cfbba7c96b28306a61" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a2f5e8e0b367e49cfbba7c96b28306a61" > updateOccupancyGrid</ a > (int nodeId, const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float cellSize, const cv::Point3f & viewpoint)</ td ></ tr >
< tr class = "memdesc:a2f5e8e0b367e49cfbba7c96b28306a61" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Update occupancy grid cells for a node. < br /></ td ></ tr >
< tr class = "separator:a2f5e8e0b367e49cfbba7c96b28306a61" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6d59931a9496cf1b23568f79fc421cc1" id = "r_a6d59931a9496cf1b23568f79fc421cc1" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6d59931a9496cf1b23568f79fc421cc1" name = "a6d59931a9496cf1b23568f79fc421cc1" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateCalibration</ b > (int nodeId, const std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > & models, const std::vector< < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > > & stereoModels)</ td ></ tr >
< tr class = "memdesc:a6d59931a9496cf1b23568f79fc421cc1" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Update camera calibration stored for a node. < br /></ td ></ tr >
< tr class = "separator:a6d59931a9496cf1b23568f79fc421cc1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3a02d595356e2dd0ed8b8933a6c4e811" id = "r_a3a02d595356e2dd0ed8b8933a6c4e811" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811" > updateDepthImage</ a > (int nodeId, const cv::Mat & image, const std::string & format)</ td ></ tr >
< tr class = "memdesc:a3a02d595356e2dd0ed8b8933a6c4e811" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Update the depth image stored for a node. < br /></ td ></ tr >
< tr class = "separator:a3a02d595356e2dd0ed8b8933a6c4e811" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7d167e53d447d77dd3fe35665f8a661b" id = "r_a7d167e53d447d77dd3fe35665f8a661b" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b" > updateLaserScan</ a > (int nodeId, const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan)</ td ></ tr >
< tr class = "memdesc:a7d167e53d447d77dd3fe35665f8a661b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Update the laser scan stored for a node. < br /></ td ></ tr >
< tr class = "separator:a7d167e53d447d77dd3fe35665f8a661b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Session exports and map artifacts</ div ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupText" >< p >< a class = "el" href = "classrtabmap_1_1Statistics.html" title = "Collects and manages runtime statistics for RTAB-Map." > Statistics</ a > , preview image, optimized poses, 2D map, mesh and FLANN index. </ p >
</ div ></ td ></ tr >
< tr class = "memitem:a898f008bec52ee82902f21824e9c7e1d" id = "r_a898f008bec52ee82902f21824e9c7e1d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a898f008bec52ee82902f21824e9c7e1d" name = "a898f008bec52ee82902f21824e9c7e1d" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > addInfoAfterRun</ b > (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters) const</ td ></ tr >
< tr class = "separator:a898f008bec52ee82902f21824e9c7e1d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4dbccd0dabf72da724488692b1713832" id = "r_a4dbccd0dabf72da724488692b1713832" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832" > addStatistics</ a > (const < a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & statistics, bool saveWmState) const</ td ></ tr >
< tr class = "memdesc:a4dbccd0dabf72da724488692b1713832" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Append a < a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > record for a processed node. < br /></ td ></ tr >
< tr class = "separator:a4dbccd0dabf72da724488692b1713832" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8323a53d20e4ade6b1c7b268c473a170" id = "r_a8323a53d20e4ade6b1c7b268c473a170" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170" > savePreviewImage</ a > (const cv::Mat & image) const</ td ></ tr >
< tr class = "memdesc:a8323a53d20e4ade6b1c7b268c473a170" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Save the map preview thumbnail in the Admin table. < br /></ td ></ tr >
< tr class = "separator:a8323a53d20e4ade6b1c7b268c473a170" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa1423596308a8baf123ecbc7fdfc1e82" id = "r_aa1423596308a8baf123ecbc7fdfc1e82" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa1423596308a8baf123ecbc7fdfc1e82" name = "aa1423596308a8baf123ecbc7fdfc1e82" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadPreviewImage</ b > () const</ td ></ tr >
< tr class = "memdesc:aa1423596308a8baf123ecbc7fdfc1e82" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Load and uncompress the map preview thumbnail from the Admin table. < br /></ td ></ tr >
< tr class = "separator:aa1423596308a8baf123ecbc7fdfc1e82" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab91ad40e4273485e5f0951fac32c22e4" id = "r_ab91ad40e4273485e5f0951fac32c22e4" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab91ad40e4273485e5f0951fac32c22e4" name = "ab91ad40e4273485e5f0951fac32c22e4" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveOptimizedPoses</ b > (const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & optimizedPoses, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & lastlocalizationPose) const</ td ></ tr >
< tr class = "memdesc:ab91ad40e4273485e5f0951fac32c22e4" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Persist graph-optimized poses and last localization pose. < br /></ td ></ tr >
< tr class = "separator:ab91ad40e4273485e5f0951fac32c22e4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6ef8c39b350634d21b57b1c07b029e55" id = "r_a6ef8c39b350634d21b57b1c07b029e55" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6ef8c39b350634d21b57b1c07b029e55" name = "a6ef8c39b350634d21b57b1c07b029e55" ></ a >
std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadOptimizedPoses</ b > (< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > *lastlocalizationPose=0) const</ td ></ tr >
< tr class = "memdesc:a6ef8c39b350634d21b57b1c07b029e55" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Load optimized poses; optional last localization pose output. < br /></ td ></ tr >
< tr class = "separator:a6ef8c39b350634d21b57b1c07b029e55" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5bed0d1f92c1cc864dedf99b99a44037" id = "r_a5bed0d1f92c1cc864dedf99b99a44037" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5bed0d1f92c1cc864dedf99b99a44037" name = "a5bed0d1f92c1cc864dedf99b99a44037" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > save2DMap</ b > (const cv::Mat & map, float xMin, float yMin, float cellSize) const</ td ></ tr >
< tr class = "memdesc:a5bed0d1f92c1cc864dedf99b99a44037" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Save the assembled 2D occupancy grid and its origin metadata. < br /></ td ></ tr >
< tr class = "separator:a5bed0d1f92c1cc864dedf99b99a44037" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa3d68850f4bb114e897e37af6b1c858a" id = "r_aa3d68850f4bb114e897e37af6b1c858a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa3d68850f4bb114e897e37af6b1c858a" name = "aa3d68850f4bb114e897e37af6b1c858a" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > load2DMap</ b > (float & xMin, float & yMin, float & cellSize) const</ td ></ tr >
< tr class = "memdesc:aa3d68850f4bb114e897e37af6b1c858a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Load the 2D map and fill origin/cell size outputs. < br /></ td ></ tr >
< tr class = "separator:aa3d68850f4bb114e897e37af6b1c858a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a22d5643353b8d49bcc94c5a4abbc9a39" id = "r_a22d5643353b8d49bcc94c5a4abbc9a39" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a22d5643353b8d49bcc94c5a4abbc9a39" > saveOptimizedMesh</ a > (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</ td ></ tr >
< tr class = "memdesc:a22d5643353b8d49bcc94c5a4abbc9a39" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Persist the global optimized 3D mesh to the database. < br /></ td ></ tr >
< tr class = "separator:a22d5643353b8d49bcc94c5a4abbc9a39" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac012fb9b51432dab5436fb6fff7fbd8a" id = "r_ac012fb9b51432dab5436fb6fff7fbd8a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac012fb9b51432dab5436fb6fff7fbd8a" name = "ac012fb9b51432dab5436fb6fff7fbd8a" ></ a >
cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadOptimizedMesh</ b > (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const</ td ></ tr >
< tr class = "separator:ac012fb9b51432dab5436fb6fff7fbd8a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a33c2abff50e61f35efbbdbe530963fea" id = "r_a33c2abff50e61f35efbbdbe530963fea" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a33c2abff50e61f35efbbdbe530963fea" > saveFlannIndex</ a > (const std::vector< unsigned char > & indexData) const</ td ></ tr >
< tr class = "memdesc:a33c2abff50e61f35efbbdbe530963fea" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Persist the visual word dictionary FLANN index (serialized blob). < br /></ td ></ tr >
< tr class = "separator:a33c2abff50e61f35efbbdbe530963fea" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Connection and database introspection</ div ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupText" >< p > Mutex-protected wrappers around protected < code > *Query</ code > () methods. </ p >
</ div ></ td ></ tr >
< tr class = "memitem:ac6c0a2260ba2c3cc030136c9609142f5" id = "r_ac6c0a2260ba2c3cc030136c9609142f5" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac6c0a2260ba2c3cc030136c9609142f5" name = "ac6c0a2260ba2c3cc030136c9609142f5" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > openConnection</ b > (const std::string & url, bool overwritten=false, bool readOnly=false)</ td ></ tr >
< tr class = "memdesc:ac6c0a2260ba2c3cc030136c9609142f5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Open or create the database at < code > url</ code > (empty < code > url</ code > uses an in-memory database). < br /></ td ></ tr >
< tr class = "separator:ac6c0a2260ba2c3cc030136c9609142f5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abb644a203d148d0b29db41aea04c949f" id = "r_abb644a203d148d0b29db41aea04c949f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abb644a203d148d0b29db41aea04c949f" name = "abb644a203d148d0b29db41aea04c949f" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > closeConnection</ b > (bool save=true, const std::string & outputUrl="" )</ td ></ tr >
< tr class = "memdesc:abb644a203d148d0b29db41aea04c949f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Close the connection; optionally flush trashes and save in-memory DB to < code > outputUrl</ code > . < br /></ td ></ tr >
< tr class = "separator:abb644a203d148d0b29db41aea04c949f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7b1222cf6e75d7365b5b90c37bca2a85" id = "r_a7b1222cf6e75d7365b5b90c37bca2a85" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85" > isConnected</ a > () const</ td ></ tr >
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< tr class = "memitem:a618043a677e3990eeb7706795bd60f6e" id = "r_a618043a677e3990eeb7706795bd60f6e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a618043a677e3990eeb7706795bd60f6e" name = "a618043a677e3990eeb7706795bd60f6e" ></ a >
unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a9adb7be1463016917f24a3db5f1e8264" id = "r_a9adb7be1463016917f24a3db5f1e8264" >< td class = "memItemLeft" align = "right" valign = "top" > std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a9adb7be1463016917f24a3db5f1e8264" > getDatabaseVersion</ a > () const</ td ></ tr >
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long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodesMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a4e18f1e6b3b789906d9227e11d62468b" id = "r_a4e18f1e6b3b789906d9227e11d62468b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a4e18f1e6b3b789906d9227e11d62468b" name = "a4e18f1e6b3b789906d9227e11d62468b" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLinksMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:ac2d82949007b523b28ce02a293e4832c" id = "r_ac2d82949007b523b28ce02a293e4832c" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac2d82949007b523b28ce02a293e4832c" name = "ac2d82949007b523b28ce02a293e4832c" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getImagesMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:ad13f88401a1bd493186679cd3f66478f" id = "r_ad13f88401a1bd493186679cd3f66478f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ad13f88401a1bd493186679cd3f66478f" name = "ad13f88401a1bd493186679cd3f66478f" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getDepthImagesMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a1e028b3c503d5147674589d481dd32db" id = "r_a1e028b3c503d5147674589d481dd32db" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a1e028b3c503d5147674589d481dd32db" name = "a1e028b3c503d5147674589d481dd32db" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getCalibrationsMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a5dfbea3149dbc7658d06424c29e13b60" id = "r_a5dfbea3149dbc7658d06424c29e13b60" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5dfbea3149dbc7658d06424c29e13b60" name = "a5dfbea3149dbc7658d06424c29e13b60" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getGridsMemoryUsed</ b > () const</ td ></ tr >
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long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLaserScansMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:af29b2ac7474f39de793d7ad076cca904" id = "r_af29b2ac7474f39de793d7ad076cca904" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af29b2ac7474f39de793d7ad076cca904" name = "af29b2ac7474f39de793d7ad076cca904" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getUserDataMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a561c5c8e79deeafdda012a90c3b9ee1f" id = "r_a561c5c8e79deeafdda012a90c3b9ee1f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a561c5c8e79deeafdda012a90c3b9ee1f" name = "a561c5c8e79deeafdda012a90c3b9ee1f" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getWordsMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:aab68e45bc262a6ee9f1d65be55eb79cc" id = "r_aab68e45bc262a6ee9f1d65be55eb79cc" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aab68e45bc262a6ee9f1d65be55eb79cc" name = "aab68e45bc262a6ee9f1d65be55eb79cc" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getFeaturesMemoryUsed</ b > () const</ td ></ tr >
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< tr class = "memitem:a2491adf7299140eeef41f8d7e8c545f7" id = "r_a2491adf7299140eeef41f8d7e8c545f7" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a2491adf7299140eeef41f8d7e8c545f7" name = "a2491adf7299140eeef41f8d7e8c545f7" ></ a >
long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getStatisticsMemoryUsed</ b > () const</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastNodesSize</ b > () const</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastDictionarySize</ b > () const</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTotalNodesSize</ b > () const</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTotalDictionarySize</ b > () const</ td ></ tr >
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< tr class = "memitem:a6e3b98f37e0d62bd25a80f7807966acd" id = "r_a6e3b98f37e0d62bd25a80f7807966acd" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6e3b98f37e0d62bd25a80f7807966acd" name = "a6e3b98f37e0d62bd25a80f7807966acd" ></ a >
< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastParameters</ b > () const</ td ></ tr >
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< tr class = "memitem:a81ce18eb2852589e68c19f2a6d479a6b" id = "r_a81ce18eb2852589e68c19f2a6d479a6b" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a81ce18eb2852589e68c19f2a6d479a6b" name = "a81ce18eb2852589e68c19f2a6d479a6b" ></ a >
std::map< std::string, float >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getStatistics</ b > (int nodeId, double & stamp, std::vector< int > *wmState=0) const</ td ></ tr >
< tr class = "separator:a81ce18eb2852589e68c19f2a6d479a6b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a89e168fa08b30e1f48125ca8cb79db22" id = "r_a89e168fa08b30e1f48125ca8cb79db22" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a89e168fa08b30e1f48125ca8cb79db22" name = "a89e168fa08b30e1f48125ca8cb79db22" ></ a >
std::map< int, std::pair< std::map< std::string, float > , double > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllStatistics</ b > () const</ td ></ tr >
< tr class = "separator:a89e168fa08b30e1f48125ca8cb79db22" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aaf5484d62a10d4ca7363f1b29036e8e4" id = "r_aaf5484d62a10d4ca7363f1b29036e8e4" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aaf5484d62a10d4ca7363f1b29036e8e4" name = "aaf5484d62a10d4ca7363f1b29036e8e4" ></ a >
std::map< int, std::vector< int > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllStatisticsWmStates</ b > () const</ td ></ tr >
< tr class = "separator:aaf5484d62a10d4ca7363f1b29036e8e4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupHeader" > Load and query</ div ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupText" >< p > Load signatures, words, links and node metadata from the database. </ p >
</ div ></ td ></ tr >
< tr class = "memitem:a86f2fa102eb4269cd2cc6093f4b848d8" id = "r_a86f2fa102eb4269cd2cc6093f4b848d8" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a86f2fa102eb4269cd2cc6093f4b848d8" name = "a86f2fa102eb4269cd2cc6093f4b848d8" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > load</ b > (< a class = "el" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a > & dictionary, bool lastStateOnly=true, bool idsOnly=false) const</ td ></ tr >
< tr class = "separator:a86f2fa102eb4269cd2cc6093f4b848d8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aeb034e015bb81a24b4a7dc9bc9903bb2" id = "r_aeb034e015bb81a24b4a7dc9bc9903bb2" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aeb034e015bb81a24b4a7dc9bc9903bb2" name = "aeb034e015bb81a24b4a7dc9bc9903bb2" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadLastNodes</ b > (std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool loadWordIdsOnly=false) const</ td ></ tr >
< tr class = "separator:aeb034e015bb81a24b4a7dc9bc9903bb2" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0a713d7a6dabdcfbb8d733dba2a20120" id = "r_a0a713d7a6dabdcfbb8d733dba2a20120" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a0a713d7a6dabdcfbb8d733dba2a20120" name = "a0a713d7a6dabdcfbb8d733dba2a20120" ></ a >
< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadSignature</ b > (int id, bool *loadedFromTrash=0)</ td ></ tr >
< tr class = "memdesc:a0a713d7a6dabdcfbb8d733dba2a20120" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Load one signature by id; caller must delete the returned pointer. < br /></ td ></ tr >
< tr class = "separator:a0a713d7a6dabdcfbb8d733dba2a20120" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aedd6cce596ad8f6693a3ff412f375f1f" id = "r_aedd6cce596ad8f6693a3ff412f375f1f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aedd6cce596ad8f6693a3ff412f375f1f" name = "aedd6cce596ad8f6693a3ff412f375f1f" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadSignatures</ b > (const std::list< int > & ids, std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false)</ td ></ tr >
< tr class = "separator:aedd6cce596ad8f6693a3ff412f375f1f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:abe5837cd7a9544113de53b9b9f072d4a" id = "r_abe5837cd7a9544113de53b9b9f072d4a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abe5837cd7a9544113de53b9b9f072d4a" name = "abe5837cd7a9544113de53b9b9f072d4a" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadWords</ b > (const std::set< int > & wordIds, std::list< < a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > * > & vws)</ td ></ tr >
< tr class = "separator:abe5837cd7a9544113de53b9b9f072d4a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac45bb42a45bfe75bb845b716fedcd853" id = "r_ac45bb42a45bfe75bb845b716fedcd853" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac45bb42a45bfe75bb845b716fedcd853" name = "ac45bb42a45bfe75bb845b716fedcd853" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadNodeData</ b > (< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > & signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</ td ></ tr >
< tr class = "separator:ac45bb42a45bfe75bb845b716fedcd853" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aafe9f077eb93b63b1a61017af1287c9a" id = "r_aafe9f077eb93b63b1a61017af1287c9a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aafe9f077eb93b63b1a61017af1287c9a" name = "aafe9f077eb93b63b1a61017af1287c9a" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadNodeData</ b > (std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</ td ></ tr >
< tr class = "separator:aafe9f077eb93b63b1a61017af1287c9a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a327d33aeacb2c59185f2c6df35f26693" id = "r_a327d33aeacb2c59185f2c6df35f26693" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a327d33aeacb2c59185f2c6df35f26693" name = "a327d33aeacb2c59185f2c6df35f26693" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodeData</ b > (int signatureId, < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const</ td ></ tr >
< tr class = "separator:a327d33aeacb2c59185f2c6df35f26693" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6f97d302ead75f54be80947864be1f7a" id = "r_a6f97d302ead75f54be80947864be1f7a" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6f97d302ead75f54be80947864be1f7a" name = "a6f97d302ead75f54be80947864be1f7a" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getCalibration</ b > (int signatureId, std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > & models, std::vector< < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > > & stereoModels) const</ td ></ tr >
< tr class = "separator:a6f97d302ead75f54be80947864be1f7a" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad69ff590647bf2fa43980b3b07d5af2d" id = "r_ad69ff590647bf2fa43980b3b07d5af2d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ad69ff590647bf2fa43980b3b07d5af2d" name = "ad69ff590647bf2fa43980b3b07d5af2d" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLaserScanInfo</ b > (int signatureId, < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & info) const</ td ></ tr >
< tr class = "separator:ad69ff590647bf2fa43980b3b07d5af2d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a964959deeb8effabec6b1377925f1f41" id = "r_a964959deeb8effabec6b1377925f1f41" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a964959deeb8effabec6b1377925f1f41" name = "a964959deeb8effabec6b1377925f1f41" ></ a >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodeInfo</ b > (int signatureId, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, int & mapId, int & weight, std::string & label, double & stamp, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & groundTruthPose, std::vector< float > & velocity, < a class = "el" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps, < a class = "el" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) const</ td ></ tr >
< tr class = "separator:a964959deeb8effabec6b1377925f1f41" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a28d67e0d43ead127bb93a7eff5e377b0" id = "r_a28d67e0d43ead127bb93a7eff5e377b0" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a28d67e0d43ead127bb93a7eff5e377b0" name = "a28d67e0d43ead127bb93a7eff5e377b0" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLocalFeatures</ b > (int signatureId, std::multimap< int, int > & words, std::vector< cv::KeyPoint > & keypoints, std::vector< cv::Point3f > & points, cv::Mat & descriptors) const</ td ></ tr >
< tr class = "separator:a28d67e0d43ead127bb93a7eff5e377b0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aab00d50127b8b5bb92f8605e35aaca4d" id = "r_aab00d50127b8b5bb92f8605e35aaca4d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aab00d50127b8b5bb92f8605e35aaca4d" name = "aab00d50127b8b5bb92f8605e35aaca4d" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadLinks</ b > (int signatureId, std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, < a class = "el" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type=< a class = "el" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > ) const</ td ></ tr >
< tr class = "memdesc:aab00d50127b8b5bb92f8605e35aaca4d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Load outgoing links from < code > signatureId</ code > , optionally filtered by < code > type</ code > . < br /></ td ></ tr >
< tr class = "separator:aab00d50127b8b5bb92f8605e35aaca4d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ab3d5cf217da174f6c7d038ff64408a21" id = "r_ab3d5cf217da174f6c7d038ff64408a21" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ab3d5cf217da174f6c7d038ff64408a21" name = "ab3d5cf217da174f6c7d038ff64408a21" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getWeight</ b > (int signatureId, int & weight) const</ td ></ tr >
< tr class = "separator:ab3d5cf217da174f6c7d038ff64408a21" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a952f8efa1f34b1f8bbce96b36c2fa371" id = "r_a952f8efa1f34b1f8bbce96b36c2fa371" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a952f8efa1f34b1f8bbce96b36c2fa371" name = "a952f8efa1f34b1f8bbce96b36c2fa371" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastNodeIds</ b > (std::set< int > & ids) const</ td ></ tr >
< tr class = "separator:a952f8efa1f34b1f8bbce96b36c2fa371" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aebe66df25ecbd37437dadb5ec0588ffa" id = "r_aebe66df25ecbd37437dadb5ec0588ffa" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aebe66df25ecbd37437dadb5ec0588ffa" name = "aebe66df25ecbd37437dadb5ec0588ffa" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllNodeIds</ b > (std::set< int > & ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const</ td ></ tr >
< tr class = "separator:aebe66df25ecbd37437dadb5ec0588ffa" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ae17b06f603d813a01122cad5414ace3e" id = "r_ae17b06f603d813a01122cad5414ace3e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ae17b06f603d813a01122cad5414ace3e" name = "ae17b06f603d813a01122cad5414ace3e" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllOdomPoses</ b > (std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const</ td ></ tr >
< tr class = "separator:ae17b06f603d813a01122cad5414ace3e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6b8ac5c830686b6a666d0ecf01b569f1" id = "r_a6b8ac5c830686b6a666d0ecf01b569f1" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a6b8ac5c830686b6a666d0ecf01b569f1" name = "a6b8ac5c830686b6a666d0ecf01b569f1" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllLinks</ b > (std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, bool ignoreNullLinks=true, bool withLandmarks=false) const</ td ></ tr >
< tr class = "separator:a6b8ac5c830686b6a666d0ecf01b569f1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a51effc2b152b177fa9f91d219487ff0e" id = "r_a51effc2b152b177fa9f91d219487ff0e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a51effc2b152b177fa9f91d219487ff0e" name = "a51effc2b152b177fa9f91d219487ff0e" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastNodeId</ b > (int & id) const</ td ></ tr >
< tr class = "separator:a51effc2b152b177fa9f91d219487ff0e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aba43b53a98817d34015a19850ead770f" id = "r_aba43b53a98817d34015a19850ead770f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aba43b53a98817d34015a19850ead770f" name = "aba43b53a98817d34015a19850ead770f" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastMapId</ b > (int & mapId) const</ td ></ tr >
< tr class = "separator:aba43b53a98817d34015a19850ead770f" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acd7bd8d39e782633f8146cb322f12082" id = "r_acd7bd8d39e782633f8146cb322f12082" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "acd7bd8d39e782633f8146cb322f12082" name = "acd7bd8d39e782633f8146cb322f12082" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastWordId</ b > (int & id) const</ td ></ tr >
< tr class = "separator:acd7bd8d39e782633f8146cb322f12082" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:adbf2871e1f6811a462cc9b540a83c835" id = "r_adbf2871e1f6811a462cc9b540a83c835" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "adbf2871e1f6811a462cc9b540a83c835" name = "adbf2871e1f6811a462cc9b540a83c835" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getInvertedIndexNi</ b > (int signatureId, int & ni) const</ td ></ tr >
< tr class = "separator:adbf2871e1f6811a462cc9b540a83c835" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ade0e3efdb1616b95e08e1ac87ec56505" id = "r_ade0e3efdb1616b95e08e1ac87ec56505" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ade0e3efdb1616b95e08e1ac87ec56505" name = "ade0e3efdb1616b95e08e1ac87ec56505" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodesObservingLandmark</ b > (int landmarkId, std::map< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & nodes) const</ td ></ tr >
< tr class = "separator:ade0e3efdb1616b95e08e1ac87ec56505" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac5e8f1fae336521636e7a4225ac9cd3e" id = "r_ac5e8f1fae336521636e7a4225ac9cd3e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac5e8f1fae336521636e7a4225ac9cd3e" name = "ac5e8f1fae336521636e7a4225ac9cd3e" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodeIdByLabel</ b > (const std::string & label, int & id) const</ td ></ tr >
< tr class = "separator:ac5e8f1fae336521636e7a4225ac9cd3e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a29c0a104f08c19a1bd5d8c577204915d" id = "r_a29c0a104f08c19a1bd5d8c577204915d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a29c0a104f08c19a1bd5d8c577204915d" name = "a29c0a104f08c19a1bd5d8c577204915d" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllLabels</ b > (std::map< int, std::string > & labels) const</ td ></ tr >
< tr class = "separator:a29c0a104f08c19a1bd5d8c577204915d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id = "r_a05a92f95e2a8900f27b09ddf907b97be" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a05a92f95e2a8900f27b09ddf907b97be" > UThread</ a > (< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > priority=kPNormal)</ td ></ tr >
< tr class = "separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id = "r_a437580d224111e60cbe2626f0e4cb12e" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a437580d224111e60cbe2626f0e4cb12e" > ~UThread</ a > ()</ td ></ tr >
< tr class = "separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id = "r_a051e9adcf24f92b9c8e31acd06bad88c" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c" > start</ a > ()</ td ></ tr >
< tr class = "separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id = "r_a8dfefcfd68b453da08ddba9836f35965" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a8dfefcfd68b453da08ddba9836f35965" > kill</ a > ()</ td ></ tr >
< tr class = "separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id = "r_acf33c0e4b656af76da100e7d4f69ed1d" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d" > join</ a > (bool killFirst=false)</ td ></ tr >
< tr class = "separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id = "r_a80418be3a80a01ddd05a863b58787b43" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a80418be3a80a01ddd05a863b58787b43" > setPriority</ a > (< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > priority)</ td ></ tr >
< tr class = "separator:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id = "r_aabcf31acae6ca5b8503ec320acbc11f8" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8" > setAffinity</ a > (int cpu=0)</ td ></ tr >
< tr class = "separator:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id = "r_ac80eff7d48382fd230141ca286370d33" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#ac80eff7d48382fd230141ca286370d33" > isCreating</ a > () const</ td ></ tr >
< tr class = "separator:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id = "r_a38e2b22f0616ed4128312baff9cfeba9" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a38e2b22f0616ed4128312baff9cfeba9" > isRunning</ a > () const</ td ></ tr >
< tr class = "separator:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id = "r_a2c4554ad881c0532239a0930c2ebfe24" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a2c4554ad881c0532239a0930c2ebfe24" > isIdle</ a > () const</ td ></ tr >
< tr class = "separator:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id = "r_a3a0d0de0f78eab72512941ccd048477b" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a3a0d0de0f78eab72512941ccd048477b" > isKilled</ a > () const</ td ></ tr >
< tr class = "separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id = "r_a4f404f03046fa89dced06514f040b2af" >< td class = "memItemLeft" align = "right" valign = "top" > Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a4f404f03046fa89dced06514f040b2af" > getThreadHandle</ a > () const</ td ></ tr >
< tr class = "separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" id = "r_a40e8ea82c06ed20bb6266a6a42a8f51f" >< td class = "memItemLeft" align = "right" valign = "top" > unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a40e8ea82c06ed20bb6266a6a42a8f51f" > getThreadId</ a > () const</ td ></ tr >
< tr class = "separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (unsigned long & ThreadId, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (unsigned long & ThreadId, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a1f75e440b35243ccad645052bc4a12f9" id = "r_a1f75e440b35243ccad645052bc4a12f9" >< td class = "memItemLeft" align = "right" valign = "top" > static < a class = "el" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > *  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9" > create</ a > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a1f75e440b35243ccad645052bc4a12f9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Factory: returns a SQLite database driver (< a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > ). < br /></ td ></ tr >
< tr class = "separator:a1f75e440b35243ccad645052bc4a12f9" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id = "r_a6fa5e2358a86c5185371fd14305021aa" >< td class = "memItemLeft" align = "right" valign = "top" > static unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a6fa5e2358a86c5185371fd14305021aa" > currentThreadId</ a > ()</ td ></ tr >
< tr class = "separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1584a3a80d86181ff66784cf0f8c2392" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392" > Join</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_aec2af3352538bb8e45916c468e6960dc" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc" > Kill</ a > (Handle H)</ td ></ tr >
< tr class = "separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a591f5bfcea463cfaa2249bbcdd3ab522" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522" > Detach</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1d704989d9a19f552ac0387c143cad95" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95" > Join</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a4a83aaa66db8ee6f07482130091690e3" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3" > Kill</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a094155ec7163e19480ed2181ef8032ed" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed" > Detach</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a5f90eb62bb559d42611dbe7ffe11328e" id = "r_a5f90eb62bb559d42611dbe7ffe11328e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5f90eb62bb559d42611dbe7ffe11328e" name = "a5f90eb62bb559d42611dbe7ffe11328e" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > DBDriver</ b > (const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters=< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ())</ td ></ tr >
< tr class = "memdesc:a5f90eb62bb559d42611dbe7ffe11328e" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Protected constructor for subclasses. < br /></ td ></ tr >
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< tr >< td colspan = "2" >< div class = "groupHeader" > Backend implementation (subclass responsibility)</ div ></ td ></ tr >
< tr >< td colspan = "2" >< div class = "groupText" >< p > Pure virtual SQL/backend hooks invoked by public wrappers above. </ p >
</ div ></ td ></ tr >
< tr class = "memitem:ad26be8fe4acdd961b33d1c459a6c3379" id = "r_ad26be8fe4acdd961b33d1c459a6c3379" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ad26be8fe4acdd961b33d1c459a6c3379" name = "ad26be8fe4acdd961b33d1c459a6c3379" ></ a >
virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > connectDatabaseQuery</ b > (const std::string & url, bool overwritten=false, bool readOnly=false)=0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > disconnectDatabaseQuery</ b > (bool save=true, const std::string & outputUrl="" )=0</ td ></ tr >
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virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > isConnectedQuery</ b > () const =0</ td ></ tr >
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virtual unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getMemoryUsedQuery</ b > () const =0</ td ></ tr >
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virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getDatabaseVersionQuery</ b > (std::string & version) const =0</ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodesMemoryUsedQuery</ b > () const =0</ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLinksMemoryUsedQuery</ b > () const =0</ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getImagesMemoryUsedQuery</ b > () const =0</ td ></ tr >
< tr class = "separator:a13e190d86e59f06d063b94922f43fa46" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getDepthImagesMemoryUsedQuery</ b > () const =0</ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getCalibrationsMemoryUsedQuery</ b > () const =0</ td ></ tr >
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< tr class = "memitem:abef713749cb8e00ca04432c07fdb49fd" id = "r_abef713749cb8e00ca04432c07fdb49fd" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "abef713749cb8e00ca04432c07fdb49fd" name = "abef713749cb8e00ca04432c07fdb49fd" ></ a >
virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getGridsMemoryUsedQuery</ b > () const =0</ td ></ tr >
< tr class = "separator:abef713749cb8e00ca04432c07fdb49fd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a248f90e1e9b574fed13826e808f49594" id = "r_a248f90e1e9b574fed13826e808f49594" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a248f90e1e9b574fed13826e808f49594" name = "a248f90e1e9b574fed13826e808f49594" ></ a >
virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLaserScansMemoryUsedQuery</ b > () const =0</ td ></ tr >
< tr class = "separator:a248f90e1e9b574fed13826e808f49594" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a036fa10f8e92580b611d6ec08509fc94" id = "r_a036fa10f8e92580b611d6ec08509fc94" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a036fa10f8e92580b611d6ec08509fc94" name = "a036fa10f8e92580b611d6ec08509fc94" ></ a >
virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getUserDataMemoryUsedQuery</ b > () const =0</ td ></ tr >
< tr class = "separator:a036fa10f8e92580b611d6ec08509fc94" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9a4283525413989a45996c857a308e41" id = "r_a9a4283525413989a45996c857a308e41" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a9a4283525413989a45996c857a308e41" name = "a9a4283525413989a45996c857a308e41" ></ a >
virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getWordsMemoryUsedQuery</ b > () const =0</ td ></ tr >
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< tr class = "memitem:af94bc681de38ef87da52d4db9e008160" id = "r_af94bc681de38ef87da52d4db9e008160" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af94bc681de38ef87da52d4db9e008160" name = "af94bc681de38ef87da52d4db9e008160" ></ a >
virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getFeaturesMemoryUsedQuery</ b > () const =0</ td ></ tr >
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virtual long  </ td >< td class = "memItemRight" valign = "bottom" >< b > getStatisticsMemoryUsedQuery</ b > () const =0</ td ></ tr >
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< tr class = "memitem:a13c56a9fc9bc141bb353fa859dd3df07" id = "r_a13c56a9fc9bc141bb353fa859dd3df07" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a13c56a9fc9bc141bb353fa859dd3df07" name = "a13c56a9fc9bc141bb353fa859dd3df07" ></ a >
virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastNodesSizeQuery</ b > () const =0</ td ></ tr >
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< tr class = "memitem:ac32cf7ef31c75ffcaece1d2f98928996" id = "r_ac32cf7ef31c75ffcaece1d2f98928996" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac32cf7ef31c75ffcaece1d2f98928996" name = "ac32cf7ef31c75ffcaece1d2f98928996" ></ a >
virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastDictionarySizeQuery</ b > () const =0</ td ></ tr >
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virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTotalNodesSizeQuery</ b > () const =0</ td ></ tr >
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< tr class = "memitem:a8a95a9b7db5e7446ef71c044b23a2f8f" id = "r_a8a95a9b7db5e7446ef71c044b23a2f8f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a8a95a9b7db5e7446ef71c044b23a2f8f" name = "a8a95a9b7db5e7446ef71c044b23a2f8f" ></ a >
virtual int  </ td >< td class = "memItemRight" valign = "bottom" >< b > getTotalDictionarySizeQuery</ b > () const =0</ td ></ tr >
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virtual < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastParametersQuery</ b > () const =0</ td ></ tr >
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virtual std::map< std::string, float >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getStatisticsQuery</ b > (int nodeId, double & stamp, std::vector< int > *wmState) const =0</ td ></ tr >
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virtual std::map< int, std::pair< std::map< std::string, float > , double > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllStatisticsQuery</ b > () const =0</ td ></ tr >
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virtual std::map< int, std::vector< int > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllStatisticsWmStatesQuery</ b > () const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > executeNoResultQuery</ b > (const std::string & sql) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getWeightQuery</ b > (int signatureId, int & weight) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveQuery</ b > (const std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures)=0</ td ></ tr >
< tr class = "separator:ae6b56ad911296d1e23b921081c5963f8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveQuery</ b > (const std::list< < a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > * > & words) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateQuery</ b > (const std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool updateTimestamp) const =0</ td ></ tr >
< tr class = "separator:aef6afd53ae425e7042c4408dc8be6da7" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateQuery</ b > (const std::list< < a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > * > & words, bool updateTimestamp) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > addLinkQuery</ b > (const < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > & link) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateLinkQuery</ b > (const < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > & link) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateOccupancyGridQuery</ b > (int nodeId, const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float cellSize, const cv::Point3f & viewpoint) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateCalibrationQuery</ b > (int nodeId, const std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > & models, const std::vector< < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > > & stereoModels) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateDepthImageQuery</ b > (int nodeId, const cv::Mat & image, const std::string & format) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > updateLaserScanQuery</ b > (int nodeId, const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > addStatisticsQuery</ b > (const < a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & statistics, bool saveWmState) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePreviewImageQuery</ b > (const cv::Mat & image) const =0</ td ></ tr >
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virtual cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadPreviewImageQuery</ b > () const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveOptimizedPosesQuery</ b > (const std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & optimizedPoses, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & lastlocalizationPose) const =0</ td ></ tr >
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virtual std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadOptimizedPosesQuery</ b > (< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > *lastlocalizationPose=0) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > save2DMapQuery</ b > (const cv::Mat & map, float xMin, float yMin, float cellSize) const =0</ td ></ tr >
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virtual cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > load2DMapQuery</ b > (float & xMin, float & yMin, float & cellSize) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveOptimizedMeshQuery</ b > (const cv::Mat & cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & polygons, const std::vector< std::vector< Eigen::Vector2f > > & texCoords, const cv::Mat & textures) const =0</ td ></ tr >
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virtual cv::Mat  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadOptimizedMeshQuery</ b > (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > saveFlannIndexQuery</ b > (const std::vector< unsigned char > & indexData) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadQuery</ b > (< a class = "el" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a > & dictionary, bool lastStateOnly=true, bool idsOnly=false) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadLastNodesQuery</ b > (std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool loadWordIdsOnly) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadSignaturesQuery</ b > (const std::list< int > & ids, std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool loadWordIdsOnly) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadWordsQuery</ b > (const std::set< int > & wordIds, std::list< < a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > * > & vws) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadLinksQuery</ b > (int signatureId, std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, < a class = "el" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type=< a class = "el" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > ) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > loadNodeDataQuery</ b > (std::list< < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0</ td ></ tr >
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virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getCalibrationQuery</ b > (int signatureId, std::vector< < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > > & models, std::vector< < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > > & stereoModels) const =0</ td ></ tr >
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virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLaserScanInfoQuery</ b > (int signatureId, < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & info) const =0</ td ></ tr >
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virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodeInfoQuery</ b > (int signatureId, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, int & mapId, int & weight, std::string & label, double & stamp, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & groundTruthPose, std::vector< float > & velocity, < a class = "el" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps, < a class = "el" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLocalFeaturesQuery</ b > (int signatureId, std::multimap< int, int > & words, std::vector< cv::KeyPoint > & keypoints, std::vector< cv::Point3f > & points, cv::Mat & descriptors) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastNodeIdsQuery</ b > (std::set< int > & ids) const =0</ td ></ tr >
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virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllNodeIdsQuery</ b > (std::set< int > & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const =0</ td ></ tr >
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< tr class = "memitem:af3d020ffa5dc515969562f2148c77616" id = "r_af3d020ffa5dc515969562f2148c77616" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "af3d020ffa5dc515969562f2148c77616" name = "af3d020ffa5dc515969562f2148c77616" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllOdomPosesQuery</ b > (std::map< int, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > > & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const =0</ td ></ tr >
< tr class = "separator:af3d020ffa5dc515969562f2148c77616" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac40e8ddb4de755c77af3d0a18b580ddd" id = "r_ac40e8ddb4de755c77af3d0a18b580ddd" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ac40e8ddb4de755c77af3d0a18b580ddd" name = "ac40e8ddb4de755c77af3d0a18b580ddd" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllLinksQuery</ b > (std::multimap< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & links, bool ignoreNullLinks, bool withLandmarks) const =0</ td ></ tr >
< tr class = "separator:ac40e8ddb4de755c77af3d0a18b580ddd" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa1fe877cef0082829098c0248f584073" id = "r_aa1fe877cef0082829098c0248f584073" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa1fe877cef0082829098c0248f584073" name = "aa1fe877cef0082829098c0248f584073" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getLastIdQuery</ b > (const std::string & tableName, int & id, const std::string & fieldName=" id" ) const =0</ td ></ tr >
< tr class = "separator:aa1fe877cef0082829098c0248f584073" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad154b0744a10c57a2914c0628fc51cb8" id = "r_ad154b0744a10c57a2914c0628fc51cb8" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "ad154b0744a10c57a2914c0628fc51cb8" name = "ad154b0744a10c57a2914c0628fc51cb8" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getInvertedIndexNiQuery</ b > (int signatureId, int & ni) const =0</ td ></ tr >
< tr class = "separator:ad154b0744a10c57a2914c0628fc51cb8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2d222c0c27d74217483b1de07cbf3a69" id = "r_a2d222c0c27d74217483b1de07cbf3a69" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a2d222c0c27d74217483b1de07cbf3a69" name = "a2d222c0c27d74217483b1de07cbf3a69" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodesObservingLandmarkQuery</ b > (int landmarkId, std::map< int, < a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a > > & nodes) const =0</ td ></ tr >
< tr class = "separator:a2d222c0c27d74217483b1de07cbf3a69" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a13305cb7202d0770472884ca848e74e3" id = "r_a13305cb7202d0770472884ca848e74e3" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a13305cb7202d0770472884ca848e74e3" name = "a13305cb7202d0770472884ca848e74e3" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getNodeIdByLabelQuery</ b > (const std::string & label, int & id) const =0</ td ></ tr >
< tr class = "separator:a13305cb7202d0770472884ca848e74e3" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a62e59283e1cf8f042bc21e565db4418e" id = "r_a62e59283e1cf8f042bc21e565db4418e" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a62e59283e1cf8f042bc21e565db4418e" name = "a62e59283e1cf8f042bc21e565db4418e" ></ a >
virtual void  </ td >< td class = "memItemRight" valign = "bottom" >< b > getAllLabelsQuery</ b > (std::map< int, std::string > & labels) const =0</ td ></ tr >
< tr class = "separator:a62e59283e1cf8f042bc21e565db4418e" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThread')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id = "r_a731ef4dd5a8d15abcc06e7cfa53cd153" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > { < br />
   < b > kPLow</ b >
, < b > kPBelowNormal</ b >
, < b > kPNormal</ b >
, < b > kPAboveNormal</ b >
, < br />
   < b > kPRealTime</ b >
< br />
}</ td ></ tr >
< tr class = "separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_types_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Protected Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a33cd70cb0291ebd0a95016e89b4d5b6c" >< td class = "memItemLeft" align = "right" valign = "top" > static Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c" > Self</ a > ()</ td ></ tr >
< tr class = "separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afed28b5b5bb00d4addbb0cd7f2ce0ce2" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2" > Self</ a > ()</ td ></ tr >
< tr class = "separator:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). </ p >
< p >< a class = "el" href = "classrtabmap_1_1DBDriver.html" title = "Abstract database driver for RTAB-Map maps (signatures, links, words, statistics)." > DBDriver</ a > is the persistence layer used by < a class = "el" href = "classrtabmap_1_1Memory.html" > Memory</ a > , < a class = "el" href = "classrtabmap_1_1DBReader.html" > DBReader</ a > and tools that read or write < code ></ code > .db files. The default implementation is < a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > , created by < a class = "el" href = "classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9" > create()</ a > .</ p >
< p > The driver extends < a class = "el" href = "UThreadNode_8h.html#a82fc8ffe23f95d50f934eb27afd351d6" > UThreadNode</ a > . Pending < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > and < a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a > objects are queued with < a class = "el" href = "classrtabmap_1_1DBDriver.html#ad1510e157f3ab8df3284528369a6d88f" > asyncSave()</ a > and flushed to the database by < a class = "el" href = "classrtabmap_1_1DBDriver.html#ab4a0036162994c2ef76d4236e2a7ea0a" > emptyTrashes()</ a > (also called from the background thread on < a class = "el" href = "classrtabmap_1_1DBDriver.html#abb644a203d148d0b29db41aea04c949f" > closeConnection()</ a > ).</ p >
< p > Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses implement SQL-specific logic in protected < code > *Query</ code > () virtual methods.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" title = "SQLite3 implementation of DBDriver for RTAB-Map map databases." > DBDriverSqlite3</ a > </ dd >
< dd >
< a class = "el" href = "classrtabmap_1_1Memory.html" title = "Three-tiered memory management (STM, WM, LTM) for RTAB-Map." > Memory</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00071" > 71</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a1f75e440b35243ccad645052bc4a12f9" name = "a1f75e440b35243ccad645052bc4a12f9" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1f75e440b35243ccad645052bc4a12f9" > ◆  </ a ></ span > create()</ h2 >
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< td class = "memname" > static < a class = "el" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * rtabmap::DBDriver::create </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em > = < code >< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ()</ code ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > static</ span ></ span > </ td >
</ tr >
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</ div >< div class = "memdoc" >
< p > Factory: returns a SQLite database driver (< a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > ). </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > parameters</ td >< td > Optional driver parameters (e.g. < a class = "el" href = "classrtabmap_1_1Parameters.html#a4356a08f2a4153665ff049e73000c303" > Parameters::kDbTargetVersion()</ a > ). </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > New driver instance; caller owns the pointer. </ dd ></ dl >
</ div >
</ div >
< a id = "a3c73e045d9bdf8cad1c58efc9d930427" name = "a3c73e045d9bdf8cad1c58efc9d930427" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3c73e045d9bdf8cad1c58efc9d930427" > ◆  </ a ></ span > parseParameters()</ h2 >
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< td class = "memname" > virtual void rtabmap::DBDriver::parseParameters </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > &  </ td >
< td class = "paramname" >< em > parameters</ em ></ td >< td > )</ td >
< td ></ td >
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< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Parse driver parameters from the map (e.g. target schema version). </ p >
< p > Reimplemented in < a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec" > rtabmap::DBDriverSqlite3</ a > .</ p >
</ div >
</ div >
< a id = "a0ecd6182f404d8e6822b66a54f1d248a" name = "a0ecd6182f404d8e6822b66a54f1d248a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a0ecd6182f404d8e6822b66a54f1d248a" > ◆  </ a ></ span > isInMemory()</ h2 >
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< td class = "memname" > virtual bool rtabmap::DBDriver::isInMemory </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
< p > True when no database file URL was set at open time. </ p >
< dl class = "section note" >< dt > Note</ dt >< dd >< a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > overrides this when < a class = "el" href = "classrtabmap_1_1Parameters.html#af89c7aa5e4d7dea98fe2cd05e231346d" > Parameters::kDbSqlite3InMemory()</ a > is enabled. </ dd ></ dl >
< p > Reimplemented in < a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55" > rtabmap::DBDriverSqlite3</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00090" > 90</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
</ div >
</ div >
< a id = "a79365611bce06aeda0d078641be89cab" name = "a79365611bce06aeda0d078641be89cab" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a79365611bce06aeda0d078641be89cab" > ◆  </ a ></ span > getUrl()</ h2 >
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< tr >
< td class = "memname" > const std::string & rtabmap::DBDriver::getUrl </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > Database file path last passed to < a class = "el" href = "classrtabmap_1_1DBDriver.html#ac6c0a2260ba2c3cc030136c9609142f5" > openConnection()</ a > . </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00092" > 92</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
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</ div >
< a id = "a456bc49e8e60e0c754078a4b09e3f1a1" name = "a456bc49e8e60e0c754078a4b09e3f1a1" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a456bc49e8e60e0c754078a4b09e3f1a1" > ◆  </ a ></ span > getTargetVersion()</ h2 >
< div class = "memitem" >
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< td class = "mlabels-left" >
< table class = "memname" >
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< td class = "memname" > const std::string & rtabmap::DBDriver::getTargetVersion </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > Target schema version for new databases (from parameters). </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00094" > 94</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
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</ div >
</ div >
< a id = "ad1510e157f3ab8df3284528369a6d88f" name = "ad1510e157f3ab8df3284528369a6d88f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad1510e157f3ab8df3284528369a6d88f" > ◆  </ a ></ span > asyncSave()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::asyncSave </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > *  </ td >
< td class = "paramname" >< em > s</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Queue a signature for deferred save; ownership is transferred. </ p >
< dl class = "section note" >< dt > Note</ dt >< dd > Only the < em > compressed</ em > sensor buffers are written (< a class = "el" href = "classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" title = "Returns the compressed RGB/grayscale image." > SensorData::imageCompressed()</ a > , depthOrRightCompressed(), laserScanCompressed(), ...). Raw matrices are ignored, so a signature carrying only raw data is stored with empty payloads. < a class = "el" href = "classrtabmap_1_1Memory.html" title = "Three-tiered memory management (STM, WM, LTM) for RTAB-Map." > Memory</ a > compresses before saving; a caller driving the driver directly should compress first with < a class = "el" href = "namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99" > compressImage2()</ a > / < a class = "el" href = "namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b" > compressData2()</ a > , or pass the compressed buffers to < a class = "el" href = "classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24" > SensorData::setRGBDImage()</ a > / setLaserScan(), which treat a 1-row CV_8UC1 matrix as already compressed. </ dd ></ dl >
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</ div >
</ div >
< a id = "ab4a0036162994c2ef76d4236e2a7ea0a" name = "ab4a0036162994c2ef76d4236e2a7ea0a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab4a0036162994c2ef76d4236e2a7ea0a" > ◆  </ a ></ span > emptyTrashes()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::emptyTrashes </ td >
< td > (</ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > async</ em > = < code > false</ code ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Flush queued signatures and visual words to the database. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > async</ td >< td > If true, signal the background thread instead of flushing synchronously. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "ada0df079a28dd5c2cc37baf2f3f8e79d" name = "ada0df079a28dd5c2cc37baf2f3f8e79d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ada0df079a28dd5c2cc37baf2f3f8e79d" > ◆  </ a ></ span > getEmptyTrashesTime()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "mlabels" >
< tr >
< td class = "mlabels-left" >
< table class = "memname" >
< tr >
< td class = "memname" > double rtabmap::DBDriver::getEmptyTrashesTime </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
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< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00116" > 116</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
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</ div >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab635aa1b5087868f3bc3e27cc3bd92ab" > ◆  </ a ></ span > setTimestampUpdateEnabled()</ h2 >
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< td class = "memname" > void rtabmap::DBDriver::setTimestampUpdateEnabled </ td >
< td > (</ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > enabled</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
</ table >
</ td >
< td class = "mlabels-right" >
< span class = "mlabels" >< span class = "mlabel" > inline</ span ></ span > </ td >
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</ div >< div class = "memdoc" >
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< p class = "definition" > Definition at line < a class = "el" href = "DBDriver_8h_source.html#l00117" > 117</ a > of file < a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a > .</ p >
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</ div >
</ div >
< a id = "abbf62fc6967cf618e6b2aece44f45230" name = "abbf62fc6967cf618e6b2aece44f45230" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#abbf62fc6967cf618e6b2aece44f45230" > ◆  </ a ></ span > generateGraph()</ h2 >
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< td class = "memname" > void rtabmap::DBDriver::generateGraph </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > fileName</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::set< int > &  </ td >
< td class = "paramname" >< em > ids</ em > = < code > std::set<  int > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::map< int, < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a > * > &  </ td >
< td class = "paramname" >< em > otherSignatures</ em > = < code > std::map<  int,  < a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a >   * > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Export the pose graph to a Graphviz DOT file for visualization. </ p >
< p > Reads nodes and links from the database (and optionally from < code > otherSignatures</ code > not yet persisted) and writes < code > fileName</ code > . Does not modify the database. If < code > ids</ code > is empty, all node ids are included. </ p >
</ div >
</ div >
< a id = "a2f5e8e0b367e49cfbba7c96b28306a61" name = "a2f5e8e0b367e49cfbba7c96b28306a61" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a2f5e8e0b367e49cfbba7c96b28306a61" > ◆  </ a ></ span > updateOccupancyGrid()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
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< td class = "memname" > void rtabmap::DBDriver::updateOccupancyGrid </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > nodeId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > ground</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > obstacles</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > empty</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > cellSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Point3f &  </ td >
< td class = "paramname" >< em > viewpoint</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Update occupancy grid cells for a node. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > ground</ td >< td > Ground cells (raw < code > CV_32FC2/< code > CV_32FC3</ code > ,</ code > or compressed < code > CV_8UC1</ code > 1× </ td ></ tr >
< tr >< td class = "paramname" > obstacles</ td >< td > Obstacle cells (same formats as < code > ground</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > empty</ td >< td > Empty cells (same formats as < code > ground</ code > ; ignored on DB schema < 0.16.0). Raw mats are compressed internally via < a class = "el" href = "classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b" > SensorData::setOccupancyGrid()</ a > before writing. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a3a02d595356e2dd0ed8b8933a6c4e811" name = "a3a02d595356e2dd0ed8b8933a6c4e811" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a3a02d595356e2dd0ed8b8933a6c4e811" > ◆  </ a ></ span > updateDepthImage()</ h2 >
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< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::updateDepthImage </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > nodeId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > image</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > format</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Update the depth image stored for a node. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > image</ td >< td > Raw depth image, or pre-compressed blob (< code > CV_8UC1</ code > , single row). </ td ></ tr >
< tr >< td class = "paramname" > format</ td >< td > Compression format when < code > image</ code > is raw (e.g. < code > ".png"</ code > ); ignored if already compressed. Uncompressed images are compressed with < a class = "el" href = "namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99" > compressImage2()</ a > before writing. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a7d167e53d447d77dd3fe35665f8a661b" name = "a7d167e53d447d77dd3fe35665f8a661b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7d167e53d447d77dd3fe35665f8a661b" > ◆  </ a ></ span > updateLaserScan()</ h2 >
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< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::updateLaserScan </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > nodeId</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > &  </ td >
< td class = "paramname" >< em > scan</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Update the laser scan stored for a node. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > scan</ td >< td > Uncompressed scan, or already compressed (< a class = "el" href = "classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9" > LaserScan::isCompressed()</ a > ). Uncompressed data is compressed with < a class = "el" href = "namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b" > compressData2()</ a > before writing. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a4dbccd0dabf72da724488692b1713832" name = "a4dbccd0dabf72da724488692b1713832" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a4dbccd0dabf72da724488692b1713832" > ◆  </ a ></ span > addStatistics()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::addStatistics </ td >
< td > (</ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > &  </ td >
< td class = "paramname" >< em > statistics</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > saveWmState</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Append a < a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > record for a processed node. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > statistics</ td >< td > Metrics for < a class = "el" href = "classrtabmap_1_1Statistics.html#a4ba41e262e2af21bfb2c9d1b6e493d6d" > Statistics::refImageId()</ a > (insert skipped if id ≤ 0 or data empty). </ td ></ tr >
< tr >< td class = "paramname" > saveWmState</ td >< td > If true and schema ≥ 0.16.2, also store compressed working-memory state. </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a8323a53d20e4ade6b1c7b268c473a170" name = "a8323a53d20e4ade6b1c7b268c473a170" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8323a53d20e4ade6b1c7b268c473a170" > ◆  </ a ></ span > savePreviewImage()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::savePreviewImage </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > image</ em ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Save the map preview thumbnail in the Admin table. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > image</ td >< td > Raw image or JPEG-compressed blob (< code > CV_8UC1</ code > , single row); empty clears it. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Requires database schema ≥ 0.12.0. </ dd ></ dl >
</ div >
</ div >
< a id = "a22d5643353b8d49bcc94c5a4abbc9a39" name = "a22d5643353b8d49bcc94c5a4abbc9a39" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a22d5643353b8d49bcc94c5a4abbc9a39" > ◆  </ a ></ span > saveOptimizedMesh()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::saveOptimizedMesh </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &  </ td >
< td class = "paramname" >< em > polygons</ em > = < code > std::vector<  std::vector<  std::vector<  RTABMAP_PCL_INDEX > > > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< std::vector< Eigen::Vector2f > > &  </ td >
< td class = "paramname" >< em > texCoords</ em > = < code > std::vector<  std::vector<  Eigen::Vector2f > > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > textures</ em > = < code > cv::Mat()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Persist the global optimized 3D mesh to the database. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > cloud</ td >< td > Point cloud (< code > CV_32FC1</ code > or < code > CV_32FC3</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > polygons</ td >< td > Optional per-texture polygon index lists (texture → polygon → vertex indices). </ td ></ tr >
< tr >< td class = "paramname" > texCoords</ td >< td > Optional UV coordinates per texture (one per polygon vertex). </ td ></ tr >
< tr >< td class = "paramname" > textures</ td >< td > Optional concatenated square texture images (same size per texture). </ td ></ tr >
</ table >
</ dd >
</ dl >
</ div >
</ div >
< a id = "a33c2abff50e61f35efbbdbe530963fea" name = "a33c2abff50e61f35efbbdbe530963fea" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a33c2abff50e61f35efbbdbe530963fea" > ◆  </ a ></ span > saveFlannIndex()</ h2 >
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< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::DBDriver::saveFlannIndex </ td >
< td > (</ td >
< td class = "paramtype" > const std::vector< unsigned char > &  </ td >
< td class = "paramname" >< em > indexData</ em ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Persist the visual word dictionary FLANN index (serialized blob). </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > indexData</ td >< td > Serialized index from < a class = "el" href = "classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41" > VWDictionary::serializeIndex()</ a > ; pass empty to clear. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Requires database schema ≥ 0.23.0. Used when < a class = "el" href = "classrtabmap_1_1Parameters.html#a866886411343233d86d96d574ea1c524" > Parameters::kKpFlannIndexSaved()</ a > is enabled. </ dd ></ dl >
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</ div >
< a id = "a7b1222cf6e75d7365b5b90c37bca2a85" name = "a7b1222cf6e75d7365b5b90c37bca2a85" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a7b1222cf6e75d7365b5b90c37bca2a85" > ◆  </ a ></ span > isConnected()</ h2 >
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< td class = "memname" > bool rtabmap::DBDriver::isConnected </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > True if a database connection is active. </ dd ></ dl >
</ div >
</ div >
< a id = "a9adb7be1463016917f24a3db5f1e8264" name = "a9adb7be1463016917f24a3db5f1e8264" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9adb7be1463016917f24a3db5f1e8264" > ◆  </ a ></ span > getDatabaseVersion()</ h2 >
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< div class = "memproto" >
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< td class = "memname" > std::string rtabmap::DBDriver::getDatabaseVersion </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< dl class = "section return" >< dt > Returns</ dt >< dd > Schema version string stored in the database (e.g. "0.21.0"). </ dd ></ dl >
</ div >
</ div >
< a id = "a835fc23bd4f6532af71f3aadfb8037d8" name = "a835fc23bd4f6532af71f3aadfb8037d8" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a835fc23bd4f6532af71f3aadfb8037d8" > ◆  </ a ></ span > executeNoResult()</ h2 >
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< div class = "memproto" >
< table class = "memname" >
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< td class = "memname" > void rtabmap::DBDriver::executeNoResult </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > sql</ em ></ td >< td > )</ td >
< td > const</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Run a SQL statement that does not return result rows. </ p >
< p > Executes < code > sql</ code > on the open database (e.g. < code > INSERT</ code > , < code > UPDATE</ code > , < code > DELETE</ code > , < code > CREATE</ code > , < code > PRAGMA</ code > ). Thread-safe wrapper around the backend's SQL execution.</ p >
< p > For reads, use the dedicated < a class = "el" href = "classrtabmap_1_1DBDriver.html#a0a713d7a6dabdcfbb8d733dba2a20120" > loadSignature()</ a > , < a class = "el" href = "classrtabmap_1_1DBDriver.html#aab00d50127b8b5bb92f8605e35aaca4d" > loadLinks()</ a > and related query methods instead of raw SQL.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > sql</ td >< td > Complete SQL statement (SQLite syntax for < a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > ). </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > The connection must be open (< a class = "el" href = "classrtabmap_1_1DBDriver.html#a7b1222cf6e75d7365b5b90c37bca2a85" > isConnected()</ a > ). On failure the driver aborts with an assertion (SQLite backend). </ dd ></ dl >
< dl class = "section warning" >< dt > Warning</ dt >< dd >< code > sql</ code > is passed verbatim; sanitize any user-controlled values before calling. </ dd ></ dl >
</ div >
</ div >
< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "DBDriver_8h_source.html" > DBDriver.h</ a ></ li >
</ ul >
</ div > <!-- contents -->
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a ></ li >
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