<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
<divclass="line"><aid="l00012"name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00016"name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<divclass="line"><aid="l00017"name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<divclass="line"><aid="l00018"name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<divclass="line"><aid="l00019"name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<divclass="line"><aid="l00023"name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<divclass="line"><aid="l00024"name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00115"name="l00115"></a><spanclass="lineno"> 115</span><spanclass="keywordflow">return</span><spanclass="stringliteral">"BRUTE FORCE GPU"</span>;</div>
<divclass="line"><aid="l00352"name="l00352"></a><spanclass="lineno"> 352</span><spanclass="comment">// Re-index all the words from scratch. The index then contains the words in</span></div>
<divclass="line"><aid="l00353"name="l00353"></a><spanclass="lineno"> 353</span><spanclass="comment">// the same order than the one built by update() on a dictionary freshly</span></div>
<divclass="line"><aid="l00354"name="l00354"></a><spanclass="lineno"> 354</span><spanclass="comment">// loaded from a database, which is required to serialize it (the serialized</span></div>
<divclass="line"><aid="l00355"name="l00355"></a><spanclass="lineno"> 355</span><spanclass="comment">// index is matched against the words in that order when deserialized).</span></div>
<divclass="ttc"id="aclassrtabmap_1_1FlannIndex_html"><divclass="ttname"><ahref="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><divclass="ttdoc">Nearest neighbor index over a set of features.</div><divclass="ttdef"><b>Definition</b><ahref="FlannIndex_8h_source.html#l00055">FlannIndex.h:56</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><divclass="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a085d69ef577600000f397bd63abeaf69"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a085d69ef577600000f397bd63abeaf69">rtabmap::VWDictionary::getNextId</a></div><divclass="ttdeci">int getNextId()</div><divclass="ttdoc">Get the next available visual word ID.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a0a29d849a7c2b626407f453e5cb4b526"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a0a29d849a7c2b626407f453e5cb4b526">rtabmap::VWDictionary::deserializeIndex</a></div><divclass="ttdeci">bool deserializeIndex(const unsigned char *data, size_t size)</div><divclass="ttdoc">Deserialize the search index from raw bytes.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a117282f59ed918808d8116cd1f92f412"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a117282f59ed918808d8116cd1f92f412">rtabmap::VWDictionary::getUnusedWordsSize</a></div><divclass="ttdeci">unsigned int getUnusedWordsSize() const</div><divclass="ttdoc">Get the count of unused visual words.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00417">VWDictionary.h:417</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a1ba7cb31f8658980849ffd9ce76b3cb8"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a1ba7cb31f8658980849ffd9ce76b3cb8">rtabmap::VWDictionary::exportDictionary</a></div><divclass="ttdeci">void exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) const</div><divclass="ttdoc">Export the dictionary to files.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a2864c406b3792dbfb7c8c334b6e44d41"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a2864c406b3792dbfb7c8c334b6e44d41">rtabmap::VWDictionary::serializeIndex</a></div><divclass="ttdeci">std::vector< unsigned char > serializeIndex() const</div><divclass="ttdoc">Serialize the search index to a byte vector.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a293c09f00caf84bb991d73983a5f22c8"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a293c09f00caf84bb991d73983a5f22c8">rtabmap::VWDictionary::getNotIndexedWordsCount</a></div><divclass="ttdeci">unsigned int getNotIndexedWordsCount() const</div><divclass="ttdoc">Get the count of words not yet indexed in the search tree.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00270">VWDictionary.h:270</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a2998a6b11e102a2253ac592acf076841"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a2998a6b11e102a2253ac592acf076841">rtabmap::VWDictionary::addNewWords</a></div><divclass="ttdeci">virtual std::list< int > addNewWords(const cv::Mat &descriptors, int signatureId)</div><divclass="ttdoc">Add new visual words from descriptors.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a2dbfec55a8921f52b642bf0dceea0c37"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a2dbfec55a8921f52b642bf0dceea0c37">rtabmap::VWDictionary::ID_START</a></div><divclass="ttdeci">static const int ID_START</div><divclass="ttdoc">Starting ID for visual words (typically 1)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00091">VWDictionary.h:91</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a33c8904edf3d0af65dfd2a6d817416fa"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a33c8904edf3d0af65dfd2a6d817416fa">rtabmap::VWDictionary::deleteUnusedWords</a></div><divclass="ttdeci">void deleteUnusedWords()</div><divclass="ttdoc">Delete all unused visual words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a3af1cce90b50dcb0f9dcd77e1fb08aad"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a3af1cce90b50dcb0f9dcd77e1fb08aad">rtabmap::VWDictionary::deserializeIndex</a></div><divclass="ttdeci">bool deserializeIndex(const std::vector< unsigned char >&data)</div><divclass="ttdoc">Deserialize the search index from a byte vector.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a454639bff3d95b2f9dd346413981d5c5"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a454639bff3d95b2f9dd346413981d5c5">rtabmap::VWDictionary::getNndrRatio</a></div><divclass="ttdeci">float getNndrRatio() const</div><divclass="ttdoc">Get the Nearest Neighbor Distance Ratio (NNDR) threshold.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00264">VWDictionary.h:264</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a5222c6a21307f0e4b9346c87db166b44"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a5222c6a21307f0e4b9346c87db166b44">rtabmap::VWDictionary::_totalActiveReferences</a></div><divclass="ttdeci">int _totalActiveReferences</div><divclass="ttdoc">Total count of active word-to-signature references.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00480">VWDictionary.h:480</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a566aaf19cdc098587e88393e4140b351"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a566aaf19cdc098587e88393e4140b351">rtabmap::VWDictionary::clear</a></div><divclass="ttdeci">void clear(bool printWarningsIfNotEmpty=true)</div><divclass="ttdoc">Clear all visual words and reset the dictionary.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a5cf9981cf11f8f93280b7d0c195159e1"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a5cf9981cf11f8f93280b7d0c195159e1">rtabmap::VWDictionary::getWord</a></div><divclass="ttdeci">const VisualWord * getWord(int id) const</div><divclass="ttdoc">Get a visual word by ID.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a5f3712744b9f7beb5da186a842f7d74a"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a5f3712744b9f7beb5da186a842f7d74a">rtabmap::VWDictionary::setFixedDictionary</a></div><divclass="ttdeci">void setFixedDictionary(const std::string &dictionaryPath)</div><divclass="ttdoc">Set the dictionary to fixed mode and load from file.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a63ec6a9b915eb939c2650e623feb0576"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a63ec6a9b915eb939c2650e623feb0576">rtabmap::VWDictionary::getIndexMemoryUsed</a></div><divclass="ttdeci">unsigned int getIndexMemoryUsed() const</div><divclass="ttdoc">Get the memory used by the search index.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a64b0aee7f33cbd4df26e2d0c14329e9d"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a64b0aee7f33cbd4df26e2d0c14329e9d">rtabmap::VWDictionary::getUnusedWordIds</a></div><divclass="ttdeci">std::vector< int > getUnusedWordIds() const</div><divclass="ttdoc">Get IDs of all unused visual words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a65a99ae457b1c779233de57d190ca8da"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a65a99ae457b1c779233de57d190ca8da">rtabmap::VWDictionary::getLastIndexedWordId</a></div><divclass="ttdeci">int getLastIndexedWordId() const</div><divclass="ttdoc">Get the ID of the last indexed word.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a6a0610e87964c3881dc70cae6cd9123c"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a6a0610e87964c3881dc70cae6cd9123c">rtabmap::VWDictionary::getIndexedWordsCount</a></div><divclass="ttdeci">unsigned int getIndexedWordsCount() const</div><divclass="ttdoc">Get the count of words currently indexed in the search tree.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a706e209f6228c02730dd8ea501ab5369"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a706e209f6228c02730dd8ea501ab5369">rtabmap::VWDictionary::isIncremental</a></div><divclass="ttdeci">bool isIncremental() const</div><divclass="ttdoc">Check if the dictionary is in incremental mode.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00321">VWDictionary.h:321</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a7092a6a6af93772ce89793c5e54a17cc"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a7092a6a6af93772ce89793c5e54a17cc">rtabmap::VWDictionary::nnStrategyName</a></div><divclass="ttdeci">static std::string nnStrategyName(NNStrategy strategy)</div><divclass="ttdoc">Get the name of a nearest neighbor strategy.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00103">VWDictionary.h:103</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a7a506e15bf83d16cc98aaa34057216f4"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary::removeWords</a></div><divclass="ttdeci">void removeWords(const std::vector< VisualWord * >&words)</div><divclass="ttdoc">Remove words from the dictionary.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a83b1966a141848baeec5112c30bacf0f"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a83b1966a141848baeec5112c30bacf0f">rtabmap::VWDictionary::ID_INVALID</a></div><divclass="ttdeci">static const int ID_INVALID</div><divclass="ttdoc">Invalid visual word ID (typically 0)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00096">VWDictionary.h:96</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a844ae27eb6d1f0674c8f7777451812c5"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a844ae27eb6d1f0674c8f7777451812c5">rtabmap::VWDictionary::update</a></div><divclass="ttdeci">virtual void update()</div><divclass="ttdoc">Update the search index with newly added words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a89893faef6c96e3b19bfeab86094af81"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a89893faef6c96e3b19bfeab86094af81">rtabmap::VWDictionary::parseParameters</a></div><divclass="ttdeci">virtual void parseParameters(const ParametersMap &parameters)</div><divclass="ttdoc">Parse and apply parameters from a parameters map.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655">rtabmap::VWDictionary::NNStrategy</a></div><divclass="ttdeci">NNStrategy</div><divclass="ttdoc">Nearest neighbor search strategies for descriptor matching.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00077">VWDictionary.h:77</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a1745dd334296b8a41cf0c88dcc8a7d5d">rtabmap::VWDictionary::kNNBruteForce</a></div><divclass="ttdeci">@ kNNBruteForce</div><divclass="ttdoc">Brute force CPU search.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00081">VWDictionary.h:81</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a306c8d555b740267fa80a1ee673ef7c7">rtabmap::VWDictionary::kNNNanoFlannKdTree</a></div><divclass="ttdeci">@ kNNNanoFlannKdTree</div><divclass="ttdoc">nanoflann kd-tree index (float descriptors only, incremental)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00084">VWDictionary.h:84</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a602d99d5bdef453a39339a0b45979451">rtabmap::VWDictionary::kNNBruteForceGPU</a></div><divclass="ttdeci">@ kNNBruteForceGPU</div><divclass="ttdoc">Brute force GPU-accelerated search (requires CUDA)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00082">VWDictionary.h:82</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a89ab72d0bccd61bb11abbd1edf1e6992">rtabmap::VWDictionary::kNNFlannLSH</a></div><divclass="ttdeci">@ kNNFlannLSH</div><divclass="ttdoc">FLANN Locality-Sensitive Hashing (ideal for binary descriptors)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00080">VWDictionary.h:80</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655a994442dbb17b48ba9a9315edee24a7a1">rtabmap::VWDictionary::kNNFlannKdTreeSingle</a></div><divclass="ttdeci">@ kNNFlannKdTreeSingle</div><divclass="ttdoc">FLANN single exact kd-tree index (rebuilt whenever a word is added, for an index built once)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00083">VWDictionary.h:83</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9466840dd5ad3dc914543a97421c3655aaa1ea80fc9ca8809ad9b959e2e1564c5">rtabmap::VWDictionary::kNNFlannKdTree</a></div><divclass="ttdeci">@ kNNFlannKdTree</div><divclass="ttdoc">FLANN kd-tree index (fast for high-dimensional descriptors)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00079">VWDictionary.h:79</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a98447a880fdcf91709f00d00cfd4e54d"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a98447a880fdcf91709f00d00cfd4e54d">rtabmap::VWDictionary::getTotalActiveReferences</a></div><divclass="ttdeci">int getTotalActiveReferences() const</div><divclass="ttdoc">Get the total number of active word-to-signature references.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00282">VWDictionary.h:282</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_a9f016aa45f3b3d5618d104fb799ca998"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#a9f016aa45f3b3d5618d104fb799ca998">rtabmap::VWDictionary::isIncrementalFlann</a></div><divclass="ttdeci">bool isIncrementalFlann() const</div><divclass="ttdoc">Check if FLANN index is updated incrementally.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00327">VWDictionary.h:327</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_aa0bcdf4002305d36bb072c019d475f13"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#aa0bcdf4002305d36bb072c019d475f13">rtabmap::VWDictionary::isModified</a></div><divclass="ttdeci">bool isModified() const</div><divclass="ttdoc">Check if the dictionary has been modified since last save.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_aada11cf01b586ac8205f8bff0b1ab295"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#aada11cf01b586ac8205f8bff0b1ab295">rtabmap::VWDictionary::findNN</a></div><divclass="ttdeci">std::vector< int > findNN(const cv::Mat &descriptors) const</div><divclass="ttdoc">Find nearest neighbor visual word IDs for descriptors.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ab14ef6e8fb979dce23f9a40a1faf8dff"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ab14ef6e8fb979dce23f9a40a1faf8dff">rtabmap::VWDictionary::setIncrementalDictionary</a></div><divclass="ttdeci">void setIncrementalDictionary()</div><divclass="ttdoc">Set the dictionary to incremental mode.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ab1ec0db96328164864953f25d463bcbb"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ab1ec0db96328164864953f25d463bcbb">rtabmap::VWDictionary::getNNStrategy</a></div><divclass="ttdeci">NNStrategy getNNStrategy() const</div><divclass="ttdoc">Get the current nearest neighbor search strategy.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00315">VWDictionary.h:315</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ab47b5ecb12c822474004f0ad77dbb388"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ab47b5ecb12c822474004f0ad77dbb388">rtabmap::VWDictionary::getUnusedWords</a></div><divclass="ttdeci">std::vector< VisualWord * > getUnusedWords() const</div><divclass="ttdoc">Get all unused visual words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_abbd007a028847ecbbdd50e3480ba95e3"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#abbd007a028847ecbbdd50e3480ba95e3">rtabmap::VWDictionary::getUnusedWord</a></div><divclass="ttdeci">VisualWord * getUnusedWord(int id) const</div><divclass="ttdoc">Get an unused visual word by ID.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ac2f21a98b70e91ab2e8a07151c508d1c"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ac2f21a98b70e91ab2e8a07151c508d1c">rtabmap::VWDictionary::findNN</a></div><divclass="ttdeci">std::vector< int > findNN(const std::list< VisualWord * >&vws) const</div><divclass="ttdoc">Find nearest neighbor visual word IDs for a list of visual words.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ac4a70358ca2db8e63c67a30383a1d34b"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ac4a70358ca2db8e63c67a30383a1d34b">rtabmap::VWDictionary::removeAllWordRef</a></div><divclass="ttdeci">void removeAllWordRef(int wordId, int signatureId)</div><divclass="ttdoc">Remove all references from a visual word to a signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ac5177a75f402538b50ec6c36bdbc7307"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ac5177a75f402538b50ec6c36bdbc7307">rtabmap::VWDictionary::getMemoryUsed</a></div><divclass="ttdeci">unsigned long getMemoryUsed() const</div><divclass="ttdoc">Get the total memory used by the dictionary.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_ad464ad961b0e4d4cd6dd7895e9ff3d59"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#ad464ad961b0e4d4cd6dd7895e9ff3d59">rtabmap::VWDictionary::addWord</a></div><divclass="ttdeci">virtual void addWord(VisualWord *vw)</div><divclass="ttdoc">Add an existing visual word to the dictionary.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_adcb4739e09e27b20125880e9d3026383"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#adcb4739e09e27b20125880e9d3026383">rtabmap::VWDictionary::_visualWords</a></div><divclass="ttdeci">std::map< int, VisualWord * > _visualWords</div><divclass="ttdoc">Map of visual word ID to VisualWord pointer.</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00474">VWDictionary.h:474</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_aea2f0d043d043df37258dc225c62edec"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#aea2f0d043d043df37258dc225c62edec">rtabmap::VWDictionary::addWordRef</a></div><divclass="ttdeci">bool addWordRef(int wordId, int signatureId)</div><divclass="ttdoc">Add a reference from a visual word to a signature.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1VWDictionary_html_af0b676e13c7dba437147520335289e97"><divclass="ttname"><ahref="classrtabmap_1_1VWDictionary.html#af0b676e13c7dba437147520335289e97">rtabmap::VWDictionary::setLastWordId</a></div><divclass="ttdeci">void setLastWordId(int id)</div><divclass="ttdoc">Set the last word ID (used when loading from database)</div><divclass="ttdef"><b>Definition</b><ahref="VWDictionary_8h_source.html#l00245">VWDictionary.h:245</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1VisualWord_html"><divclass="ttname"><ahref="classrtabmap_1_1VisualWord.html">rtabmap::VisualWord</a></div><divclass="ttdoc">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</div><divclass="ttdef"><b>Definition</b><ahref="VisualWord_8h_source.html#l00049">VisualWord.h:50</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><divclass="ttname"><ahref="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><divclass="ttdeci">std::map< std::string, std::string > ParametersMap</div><divclass="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><divclass="ttdef"><b>Definition</b><ahref="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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