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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef DBDRIVERSQLITE3_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define DBDRIVERSQLITE3_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include " rtabmap/core/DBDriver.h" </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 5</ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < opencv2/features2d/features2d.hpp> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < opencv2/features.hpp> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "keyword" > typedef</ span > < span class = "keyword" > struct </ span > sqlite3_stmt sqlite3_stmt;</ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "keyword" > typedef</ span > < span class = "keyword" > struct </ span > sqlite3 sqlite3;</ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span > </ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > </ div >
< div class = "foldopen" id = "foldopen00070" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html" > 70</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > {</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1" > 76</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1" > DBDriverSqlite3</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriverSqlite3.html" > ~DBDriverSqlite3</ a > ();</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > </ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec" > 80</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55" > 85</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55" > isInMemory</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > getUrl().empty() || _dbInMemory;}</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137" > 90</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137" > setDbInMemory</ a > (< span class = "keywordtype" > bool</ span > dbInMemory);</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d" > 110</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d" > setJournalMode</ a > (< span class = "keywordtype" > int</ span > journalMode);</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > </ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c" > 123</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c" > setCacheSize</ a > (< span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > cacheSize);</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > </ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b" > 140</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b" > setSynchronous</ a > (< span class = "keywordtype" > int</ span > synchronous);</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > </ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062" > 156</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062" > setTempStore</ a > (< span class = "keywordtype" > int</ span > tempStore);</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > </ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > connectDatabaseQuery(< span class = "keyword" > const</ span > std::string & url, < span class = "keywordtype" > bool</ span > overwritten = < span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > readOnly = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > disconnectDatabaseQuery(< span class = "keywordtype" > bool</ span > save = < span class = "keyword" > true</ span > , < span class = "keyword" > const</ span > std::string & outputUrl = < span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isConnectedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > getMemoryUsedQuery() < span class = "keyword" > const</ span > ; < span class = "comment" > // In bytes</ span ></ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getDatabaseVersionQuery(std::string & version) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00164" name = "l00164" ></ a >< span class = "lineno" > 164</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getNodesMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00165" name = "l00165" ></ a >< span class = "lineno" > 165</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getLinksMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00166" name = "l00166" ></ a >< span class = "lineno" > 166</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getImagesMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" > 167</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getDepthImagesMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getCalibrationsMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getGridsMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getLaserScansMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getUserDataMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getWordsMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00173" name = "l00173" ></ a >< span class = "lineno" > 173</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getFeaturesMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00174" name = "l00174" ></ a >< span class = "lineno" > 174</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > long</ span > getStatisticsMemoryUsedQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00175" name = "l00175" ></ a >< span class = "lineno" > 175</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getLastNodesSizeQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00176" name = "l00176" ></ a >< span class = "lineno" > 176</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getLastDictionarySizeQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" > 177</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getTotalNodesSizeQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > int</ span > getTotalDictionarySizeQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > getLastParametersQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keyword" > virtual</ span > std::map< std::string, float> getStatisticsQuery(< span class = "keywordtype" > int</ span > nodeId, < span class = "keywordtype" > double</ span > & stamp, std::vector< int> * wmState) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keyword" > virtual</ span > std::map< int, std::pair< std::map< std::string, float> , < span class = "keywordtype" > double</ span > > > getAllStatisticsQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > < span class = "keyword" > virtual</ span > std::map< int, std::vector< int> > getAllStatisticsWmStatesQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > </ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > executeNoResultQuery(< span class = "keyword" > const</ span > std::string & sql) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > </ div >
< div class = "line" >< a id = "l00186" name = "l00186" ></ a >< span class = "lineno" > 186</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getWeightQuery(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & weight) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00187" name = "l00187" ></ a >< span class = "lineno" > 187</ span > </ div >
< div class = "line" >< a id = "l00188" name = "l00188" ></ a >< span class = "lineno" > 188</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveQuery(< span class = "keyword" > const</ span > std::list< Signature *> & signatures);</ div >
< div class = "line" >< a id = "l00189" name = "l00189" ></ a >< span class = "lineno" > 189</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveQuery(< span class = "keyword" > const</ span > std::list< VisualWord *> & words) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00190" name = "l00190" ></ a >< span class = "lineno" > 190</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateQuery(< span class = "keyword" > const</ span > std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > updateTimestamp) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00191" name = "l00191" ></ a >< span class = "lineno" > 191</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateQuery(< span class = "keyword" > const</ span > std::list< VisualWord *> & words, < span class = "keywordtype" > bool</ span > updateTimestamp) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00192" name = "l00192" ></ a >< span class = "lineno" > 192</ span > </ div >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" > 193</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > addLinkQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateLinkQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span > </ div >
< div class = "line" >< a id = "l00196" name = "l00196" ></ a >< span class = "lineno" > 196</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateOccupancyGridQuery(</ div >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" > 197</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" > 198</ span > < span class = "keyword" > const</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" > 199</ span > < span class = "keyword" > const</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > < span class = "keyword" > const</ span > cv::Mat & empty,</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > < span class = "keyword" > const</ span > cv::Point3f & viewpoint) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > </ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateCalibrationQuery(</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & models,</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" > 208</ span > </ div >
< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > updateDepthImageQuery(</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > < span class = "keyword" > const</ span > std::string & format) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > </ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > < span class = "keywordtype" > void</ span > updateLaserScanQuery(</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > </ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > addStatisticsQuery(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & statistics, < span class = "keywordtype" > bool</ span > saveWmState) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > savePreviewImageQuery(< span class = "keyword" > const</ span > cv::Mat & image) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > < span class = "keyword" > virtual</ span > cv::Mat loadPreviewImageQuery() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveOptimizedPosesQuery(< span class = "keyword" > const</ span > std::map< int, Transform> & optimizedPoses, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & lastlocalizationPose) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keyword" > virtual</ span > std::map< int, Transform> loadOptimizedPosesQuery(< a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > * lastlocalizationPose = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > save2DMapQuery(< span class = "keyword" > const</ span > cv::Mat & map, < span class = "keywordtype" > float</ span > xMin, < span class = "keywordtype" > float</ span > yMin, < span class = "keywordtype" > float</ span > cellSize) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keyword" > virtual</ span > cv::Mat load2DMapQuery(< span class = "keywordtype" > float</ span > & xMin, < span class = "keywordtype" > float</ span > & yMin, < span class = "keywordtype" > float</ span > & cellSize) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveOptimizedMeshQuery(</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > < span class = "keyword" > const</ span > cv::Mat & cloud,</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keyword" > const</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > & polygons,</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > & texCoords,</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > < span class = "keyword" > const</ span > std::vector< std::vector< Eigen::Vector2f> > & texCoords,</ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > #endif</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" > 233</ span > < span class = "keyword" > const</ span > cv::Mat & textures) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" > 234</ span > < span class = "keyword" > virtual</ span > cv::Mat loadOptimizedMeshQuery(</ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" > 235</ span > std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX> > > * polygons,</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" > 236</ span > #< span class = "keywordflow" > if</ span > PCL_VERSION_COMPARE(> =, 1, 8, 0)</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > std::vector< std::vector< Eigen::Vector2f, Eigen::aligned_allocator< Eigen::Vector2f> > > * texCoords,</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > #< span class = "keywordflow" > else</ span ></ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > std::vector< std::vector< Eigen::Vector2f> > * texCoords,</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > #endif</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > cv::Mat * textures) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > </ div >
< div class = "line" >< a id = "l00243" name = "l00243" ></ a >< span class = "lineno" > 243</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > saveFlannIndexQuery(< span class = "keyword" > const</ span > std::vector< unsigned char> & indexData) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00244" name = "l00244" ></ a >< span class = "lineno" > 244</ span > </ div >
< div class = "line" >< a id = "l00245" name = "l00245" ></ a >< span class = "lineno" > 245</ span > < span class = "comment" > // Load objects</ span ></ div >
< div class = "line" >< a id = "l00246" name = "l00246" ></ a >< span class = "lineno" > 246</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadQuery(< a class = "code hl_class" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a > & dictionary, < span class = "keywordtype" > bool</ span > lastStateOnly = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > idsOnly = < span class = "keyword" > false</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00247" name = "l00247" ></ a >< span class = "lineno" > 247</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadLastNodesQuery(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > loadWordIdsOnly) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00248" name = "l00248" ></ a >< span class = "lineno" > 248</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadSignaturesQuery(< span class = "keyword" > const</ span > std::list< int> & ids, std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > loadWordIdsOnly) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00249" name = "l00249" ></ a >< span class = "lineno" > 249</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadWordsQuery(< span class = "keyword" > const</ span > std::set< int> & wordIds, std::list< VisualWord *> & vws) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00250" name = "l00250" ></ a >< span class = "lineno" > 250</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadLinksQuery(< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, Link> & links, < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = Link::kUndef) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00251" name = "l00251" ></ a >< span class = "lineno" > 251</ span > </ div >
< div class = "line" >< a id = "l00252" name = "l00252" ></ a >< span class = "lineno" > 252</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > loadNodeDataQuery(std::list< Signature *> & signatures, < span class = "keywordtype" > bool</ span > images=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData=< span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid=< span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" > 253</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getCalibrationQuery(< span class = "keywordtype" > int</ span > signatureId, std::vector< CameraModel> & models, std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getLaserScanInfoQuery(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & info) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > getNodeInfoQuery(< span class = "keywordtype" > int</ span > signatureId, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, < span class = "keywordtype" > int</ span > & mapId, < span class = "keywordtype" > int</ span > & weight, std::string & label, < span class = "keywordtype" > double</ span > & stamp, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & groundTruthPose, std::vector< float> & velocity, < a class = "code hl_class" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps, < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLocalFeaturesQuery(< span class = "keywordtype" > int</ span > signatureId, std::multimap< int, int> & words, std::vector< cv::KeyPoint> & keypoints, std::vector< cv::Point3f> & points, cv::Mat & descriptors) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00257" name = "l00257" ></ a >< span class = "lineno" > 257</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLastNodeIdsQuery(std::set< int> & ids) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00258" name = "l00258" ></ a >< span class = "lineno" > 258</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllNodeIdsQuery(std::set< int> & ids, < span class = "keywordtype" > bool</ span > ignoreChildren, < span class = "keywordtype" > bool</ span > ignoreBadSignatures, < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00259" name = "l00259" ></ a >< span class = "lineno" > 259</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllOdomPosesQuery(std::map< int, Transform> & poses, < span class = "keywordtype" > bool</ span > ignoreChildren, < span class = "keywordtype" > bool</ span > ignoreIntermediateNodes) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00260" name = "l00260" ></ a >< span class = "lineno" > 260</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllLinksQuery(std::multimap< int, Link> & links, < span class = "keywordtype" > bool</ span > ignoreNullLinks, < span class = "keywordtype" > bool</ span > withLandmarks) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00261" name = "l00261" ></ a >< span class = "lineno" > 261</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getLastIdQuery(< span class = "keyword" > const</ span > std::string & tableName, < span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > , < span class = "keyword" > const</ span > std::string & fieldName=< span class = "stringliteral" > " id" </ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00262" name = "l00262" ></ a >< span class = "lineno" > 262</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getInvertedIndexNiQuery(< span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > & ni) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00263" name = "l00263" ></ a >< span class = "lineno" > 263</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getNodesObservingLandmarkQuery(< span class = "keywordtype" > int</ span > landmarkId, std::map< int, Link> & nodes) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00264" name = "l00264" ></ a >< span class = "lineno" > 264</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getNodeIdByLabelQuery(< span class = "keyword" > const</ span > std::string & label, < span class = "keywordtype" > int</ span > & < span class = "keywordtype" > id</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00265" name = "l00265" ></ a >< span class = "lineno" > 265</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > void</ span > getAllLabelsQuery(std::map< int, std::string> & labels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00266" name = "l00266" ></ a >< span class = "lineno" > 266</ span > </ div >
< div class = "line" >< a id = "l00267" name = "l00267" ></ a >< span class = "lineno" > 267</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00268" name = "l00268" ></ a >< span class = "lineno" > 268</ span > std::string queryStepNode() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" > 269</ span > std::string queryStepImage() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00270" name = "l00270" ></ a >< span class = "lineno" > 270</ span > std::string queryStepDepth() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" > 271</ span > std::string queryStepCalibrationUpdate() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00272" name = "l00272" ></ a >< span class = "lineno" > 272</ span > std::string queryStepDepthUpdate() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00273" name = "l00273" ></ a >< span class = "lineno" > 273</ span > std::string queryStepScanUpdate() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00274" name = "l00274" ></ a >< span class = "lineno" > 274</ span > std::string queryStepSensorData() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00275" name = "l00275" ></ a >< span class = "lineno" > 275</ span > std::string queryStepLinkUpdate() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00276" name = "l00276" ></ a >< span class = "lineno" > 276</ span > std::string queryStepLink() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00277" name = "l00277" ></ a >< span class = "lineno" > 277</ span > std::string queryStepWordsChanged() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00278" name = "l00278" ></ a >< span class = "lineno" > 278</ span > std::string queryStepKeypoint() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00279" name = "l00279" ></ a >< span class = "lineno" > 279</ span > std::string queryStepGlobalDescriptor() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" > 280</ span > std::string queryStepOccupancyGridUpdate() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > < span class = "keywordtype" > void</ span > stepNode(sqlite3_stmt * ppStmt, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > * s) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > < span class = "keywordtype" > void</ span > stepImage(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > , < span class = "keyword" > const</ span > cv::Mat & imageBytes) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > < span class = "keywordtype" > void</ span > stepDepth(sqlite3_stmt * ppStmt, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span > < span class = "keywordtype" > void</ span > stepCalibrationUpdate(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > std::vector< CameraModel> & models, < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoModels) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00285" name = "l00285" ></ a >< span class = "lineno" > 285</ span > < span class = "keywordtype" > void</ span > stepDepthUpdate(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > cv::Mat & image, < span class = "keyword" > const</ span > std::string & format) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00286" name = "l00286" ></ a >< span class = "lineno" > 286</ span > < span class = "keywordtype" > void</ span > stepScanUpdate(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & image) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00287" name = "l00287" ></ a >< span class = "lineno" > 287</ span > < span class = "keywordtype" > void</ span > stepSensorData(sqlite3_stmt * ppStmt, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & sensorData) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00288" name = "l00288" ></ a >< span class = "lineno" > 288</ span > < span class = "keywordtype" > void</ span > stepLink(sqlite3_stmt * ppStmt, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00289" name = "l00289" ></ a >< span class = "lineno" > 289</ span > < span class = "keywordtype" > void</ span > stepWordsChanged(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > signatureId, < span class = "keywordtype" > int</ span > oldWordId, < span class = "keywordtype" > int</ span > newWordId) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00290" name = "l00290" ></ a >< span class = "lineno" > 290</ span > < span class = "keywordtype" > void</ span > stepKeypoint(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > nodeID, < span class = "keywordtype" > int</ span > wordId, < span class = "keyword" > const</ span > cv::KeyPoint & kp, < span class = "keyword" > const</ span > cv::Point3f & pt, < span class = "keyword" > const</ span > cv::Mat & descriptor) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00291" name = "l00291" ></ a >< span class = "lineno" > 291</ span > < span class = "keywordtype" > void</ span > stepGlobalDescriptor(sqlite3_stmt * ppStmt, < span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptor.html" > GlobalDescriptor</ a > & descriptor) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00292" name = "l00292" ></ a >< span class = "lineno" > 292</ span > < span class = "keywordtype" > void</ span > stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,</ div >
< div class = "line" >< a id = "l00293" name = "l00293" ></ a >< span class = "lineno" > 293</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" > 294</ span > < span class = "keyword" > const</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > < span class = "keyword" > const</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" > 296</ span > < span class = "keyword" > const</ span > cv::Mat & empty,</ div >
< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00298" name = "l00298" ></ a >< span class = "lineno" > 298</ span > < span class = "keyword" > const</ span > cv::Point3f & viewpoint) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" > 299</ span > </ div >
< div class = "line" >< a id = "l00300" name = "l00300" ></ a >< span class = "lineno" > 300</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" > 301</ span > < span class = "keywordtype" > void</ span > loadWordsQuery(std::list< Signature *> & signatures) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00302" name = "l00302" ></ a >< span class = "lineno" > 302</ span > < span class = "keywordtype" > void</ span > loadWordIdsQuery(std::list< Signature *> & signatures) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" > 303</ span > < span class = "keywordtype" > void</ span > loadLinksQuery(std::list< Signature *> & signatures) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" > 304</ span > < span class = "keywordtype" > int</ span > loadOrSaveDb(sqlite3 *pInMemory, < span class = "keyword" > const</ span > std::string & fileName, < span class = "keywordtype" > int</ span > isSave) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > </ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943" > 307</ a ></ span > sqlite3 * < a class = "code hl_variable" href = "classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943" > _ppDb</ a > ; </ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8" > 308</ a ></ span > std::string < a class = "code hl_variable" href = "classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8" > _version</ a > ; </ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > </ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > _memoryUsedEstimate;</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > < span class = "keywordtype" > bool</ span > _dbInMemory;</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _cacheSize;</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > int</ span > _journalMode;</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keywordtype" > int</ span > _synchronous;</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keywordtype" > int</ span > _tempStore;</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" > 317</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00318" name = "l00318" ></ a >< span class = "lineno" > 318</ span > </ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" > 319</ span > }</ div >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" > 320</ span > </ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* DBDRIVERSQLITE3_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html" > rtabmap::DBDriverSqlite3</ a ></ div >< div class = "ttdoc" > SQLite3 implementation of DBDriver for RTAB-Map map databases.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriverSqlite3_8h_source.html#l00070" > DBDriverSqlite3.h:70</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a0722fcddc772af1cc03a7fe8b410d137" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137" > rtabmap::DBDriverSqlite3::setDbInMemory</ a ></ div >< div class = "ttdeci" > void setDbInMemory(bool dbInMemory)</ div >< div class = "ttdoc" > Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mo...</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a073748d5c4dac2e01966147c022ea943" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a073748d5c4dac2e01966147c022ea943" > rtabmap::DBDriverSqlite3::_ppDb</ a ></ div >< div class = "ttdeci" > sqlite3 * _ppDb</ div >< div class = "ttdoc" > Open SQLite connection (null when disconnected)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriverSqlite3_8h_source.html#l00307" > DBDriverSqlite3.h:307</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a0aa18124e40d2ac53e0e1b450d7399b8" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a0aa18124e40d2ac53e0e1b450d7399b8" > rtabmap::DBDriverSqlite3::_version</ a ></ div >< div class = "ttdeci" > std::string _version</ div >< div class = "ttdoc" > Schema version read from the database.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriverSqlite3_8h_source.html#l00308" > DBDriverSqlite3.h:308</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a187e2bbb52ae7f32a0fc79540f0f104b" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a187e2bbb52ae7f32a0fc79540f0f104b" > rtabmap::DBDriverSqlite3::setSynchronous</ a ></ div >< div class = "ttdeci" > void setSynchronous(int synchronous)</ div >< div class = "ttdoc" > Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a471f26a35b093bbd5a59766735a94fd1" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1" > rtabmap::DBDriverSqlite3::DBDriverSqlite3</ a ></ div >< div class = "ttdeci" > DBDriverSqlite3(const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Construct driver with optional SQLite-specific parameters.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_a8f4adea749a2d30340715002056f9062" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#a8f4adea749a2d30340715002056f9062" > rtabmap::DBDriverSqlite3::setTempStore</ a ></ div >< div class = "ttdeci" > void setTempStore(int tempStore)</ div >< div class = "ttdoc" > Set where SQLite stores temporary tables and indices (PRAGMA temp_store).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_ab1933c0cad6c69c3ae788854731cdeec" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec" > rtabmap::DBDriverSqlite3::parseParameters</ a ></ div >< div class = "ttdeci" > virtual void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_ae3c445bedd62088bb20e76eda6cfe64d" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d" > rtabmap::DBDriverSqlite3::setJournalMode</ a ></ div >< div class = "ttdeci" > void setJournalMode(int journalMode)</ div >< div class = "ttdoc" > Set SQLite rollback journal mode (PRAGMA journal_mode).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_af9cf8fda0fcc032efb44981d908b4e55" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55" > rtabmap::DBDriverSqlite3::isInMemory</ a ></ div >< div class = "ttdeci" > virtual bool isInMemory() const</ div >< div class = "ttdoc" > True when the database runs in RAM instead of on disk.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriverSqlite3_8h_source.html#l00085" > DBDriverSqlite3.h:85</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriverSqlite3_html_afc148e17cf8cc6ed4565c5519b06fc5c" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriverSqlite3.html#afc148e17cf8cc6ed4565c5519b06fc5c" > rtabmap::DBDriverSqlite3::setCacheSize</ a ></ div >< div class = "ttdeci" > void setCacheSize(unsigned int cacheSize)</ div >< div class = "ttdoc" > Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html" > rtabmap::DBDriver</ a ></ div >< div class = "ttdoc" > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00071" > DBDriver.h:72</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GPS_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GPS.html" > rtabmap::GPS</ a ></ div >< div class = "ttdoc" > WGS84 GPS fix attached to a sensor sample or graph node.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GPS_8h_source.html#l00046" > GPS.h:47</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GlobalDescriptor_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GlobalDescriptor.html" > rtabmap::GlobalDescriptor</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GlobalDescriptor_8h_source.html#l00035" > GlobalDescriptor.h:36</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html" > rtabmap::Link</ a ></ div >< div class = "ttdoc" > Directed constraint between two nodes in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00054" > Link.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > rtabmap::Link::Type</ a ></ div >< div class = "ttdeci" > Type</ div >< div class = "ttdoc" > Link category and filter sentinels.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00064" > Link.h:64</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Signature_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Signature.html" > rtabmap::Signature</ a ></ div >< div class = "ttdoc" > Represents a node in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Signature_8h_source.html#l00083" > Signature.h:84</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Statistics_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Statistics.html" > rtabmap::Statistics</ a ></ div >< div class = "ttdoc" > Collects and manages runtime statistics for RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Statistics_8h_source.html#l00107" > Statistics.h:108</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1VWDictionary_html" >< div class = "ttname" >< a href = "classrtabmap_1_1VWDictionary.html" > rtabmap::VWDictionary</ a ></ div >< div class = "ttdoc" > Manages a dictionary of visual words for visual place recognition and loop closure detection.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "VWDictionary_8h_source.html#l00065" > VWDictionary.h:66</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a" >< div class = "ttname" >< a href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > rtabmap::EnvSensors</ a ></ div >< div class = "ttdeci" > std::map< EnvSensor::Type, EnvSensor > EnvSensors</ div >< div class = "ttdoc" > Map of environmental readings keyed by EnvSensor::Type (at most one per type).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EnvSensor_8h_source.html#l00114" > EnvSensor.h:114</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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