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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 GRAPH_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define GRAPH_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < map> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < rtabmap/core/Parameters.h> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #include < rtabmap/core/Link.h> </ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < rtabmap/core/GPS.h> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include < rtabmap/core/CameraModel.h> </ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span > </ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "keyword" > class </ span > Memory;</ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span > </ div >
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< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span >< span class = "keyword" > namespace </ span > graph {</ div >
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< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > </ div >
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< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46" > 80</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46" > exportPoses</ a > (</ div >
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< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keyword" > const</ span > std::string & filePath,</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keywordtype" > int</ span > format,</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" > 84</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & constraints = std::multimap< int, Link> (),</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > < span class = "keyword" > const</ span > std::map< int, double> & stamps = std::map< int, double> (),</ div >
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< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters = < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > ());</ div >
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< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > </ div >
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< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e" > 110</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e" > importPoses</ a > (</ div >
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< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < span class = "keyword" > const</ span > std::string & filePath,</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keywordtype" > int</ span > format,</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > std::multimap< int, Link> * constraints = 0,</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > std::map< int, double> * stamps = 0);</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > </ div >
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< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2" > 123</ a ></ span >< span class = "keywordtype" > bool</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2" > exportGPS</ a > (</ div >
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< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keyword" > const</ span > std::string & filePath,</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < span class = "keyword" > const</ span > std::map< int, GPS> & gpsValues,</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > rgba = 0xFFFFFFFF);</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > </ div >
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< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67" > 144</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67" > calcKittiSequenceErrors</ a > (</ div >
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< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < span class = "keyword" > const</ span > std::vector< Transform> & poses_gt,</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < span class = "keyword" > const</ span > std::vector< Transform> & poses_result,</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > < span class = "keywordtype" > float</ span > & t_err,</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keywordtype" > float</ span > & r_err);</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > </ div >
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< div class = "line" >< a id = "l00167" name = "l00167" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215" > 167</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215" > calcRelativeErrors</ a > (</ div >
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< div class = "line" >< a id = "l00168" name = "l00168" ></ a >< span class = "lineno" > 168</ span > < span class = "keyword" > const</ span > std::vector< Transform> & poses_gt,</ div >
< div class = "line" >< a id = "l00169" name = "l00169" ></ a >< span class = "lineno" > 169</ span > < span class = "keyword" > const</ span > std::vector< Transform> & poses_result,</ div >
< div class = "line" >< a id = "l00170" name = "l00170" ></ a >< span class = "lineno" > 170</ span > < span class = "keywordtype" > float</ span > & t_err,</ div >
< div class = "line" >< a id = "l00171" name = "l00171" ></ a >< span class = "lineno" > 171</ span > < span class = "keywordtype" > float</ span > & r_err);</ div >
< div class = "line" >< a id = "l00172" name = "l00172" ></ a >< span class = "lineno" > 172</ span > </ div >
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< div class = "line" >< a id = "l00208" name = "l00208" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88" > 208</ a ></ span >< a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88" > calcRMSE</ a > (</ div >
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< div class = "line" >< a id = "l00209" name = "l00209" ></ a >< span class = "lineno" > 209</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & groundTruth,</ div >
< div class = "line" >< a id = "l00210" name = "l00210" ></ a >< span class = "lineno" > 210</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00211" name = "l00211" ></ a >< span class = "lineno" > 211</ span > < span class = "keywordtype" > float</ span > & translational_rmse,</ div >
< div class = "line" >< a id = "l00212" name = "l00212" ></ a >< span class = "lineno" > 212</ span > < span class = "keywordtype" > float</ span > & translational_mean,</ div >
< div class = "line" >< a id = "l00213" name = "l00213" ></ a >< span class = "lineno" > 213</ span > < span class = "keywordtype" > float</ span > & translational_median,</ div >
< div class = "line" >< a id = "l00214" name = "l00214" ></ a >< span class = "lineno" > 214</ span > < span class = "keywordtype" > float</ span > & translational_std,</ div >
< div class = "line" >< a id = "l00215" name = "l00215" ></ a >< span class = "lineno" > 215</ span > < span class = "keywordtype" > float</ span > & translational_min,</ div >
< div class = "line" >< a id = "l00216" name = "l00216" ></ a >< span class = "lineno" > 216</ span > < span class = "keywordtype" > float</ span > & translational_max,</ div >
< div class = "line" >< a id = "l00217" name = "l00217" ></ a >< span class = "lineno" > 217</ span > < span class = "keywordtype" > float</ span > & rotational_rmse,</ div >
< div class = "line" >< a id = "l00218" name = "l00218" ></ a >< span class = "lineno" > 218</ span > < span class = "keywordtype" > float</ span > & rotational_mean,</ div >
< div class = "line" >< a id = "l00219" name = "l00219" ></ a >< span class = "lineno" > 219</ span > < span class = "keywordtype" > float</ span > & rotational_median,</ div >
< div class = "line" >< a id = "l00220" name = "l00220" ></ a >< span class = "lineno" > 220</ span > < span class = "keywordtype" > float</ span > & rotational_std,</ div >
< div class = "line" >< a id = "l00221" name = "l00221" ></ a >< span class = "lineno" > 221</ span > < span class = "keywordtype" > float</ span > & rotational_min,</ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" > 222</ span > < span class = "keywordtype" > float</ span > & rotational_max,</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keywordtype" > bool</ span > align2D = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > </ div >
< div class = "foldopen" id = "foldopen00231" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html" > 231</ a ></ span >< span class = "keyword" > struct </ span >< a class = "code hl_struct" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html" > MaxGraphErrors</ a ></ div >
< div class = "line" >< a id = "l00232" name = "l00232" ></ a >< span class = "lineno" > 232</ span > {</ div >
< div class = "line" >< a id = "l00233" name = "l00233" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c" > 233</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c" > linear</ a > =-1.0f; </ div >
< div class = "line" >< a id = "l00234" name = "l00234" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b" > 234</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b" > angular</ a > =-1.0f; </ div >
< div class = "line" >< a id = "l00235" name = "l00235" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9" > 235</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9" > linearRatio</ a > =-1.0f; </ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80" > 236</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80" > angularRatio</ a > =-1.0f; </ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321" > 237</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321" > linearLink</ a > ; </ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" >< a class = "line" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6" > 238</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > < a class = "code hl_variable" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6" > angularLink</ a > ; </ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > </ div >
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< div class = "line" >< a id = "l00265" name = "l00265" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e" > 265</ a ></ span >< a class = "code hl_struct" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html" > MaxGraphErrors</ a > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e" > computeMaxGraphErrors</ a > (</ div >
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< div class = "line" >< a id = "l00266" name = "l00266" ></ a >< span class = "lineno" > 266</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00267" name = "l00267" ></ a >< span class = "lineno" > 267</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00268" name = "l00268" ></ a >< span class = "lineno" > 268</ span > < span class = "keywordtype" > bool</ span > for3DoF = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00269" name = "l00269" ></ a >< span class = "lineno" > 269</ span > </ div >
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< div class = "line" >< a id = "l00280" name = "l00280" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b" > 280</ a ></ span > std::vector< double> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b" > getMaxOdomInf</ a > (< span class = "keyword" > const</ span > std::multimap< int, Link> & links);</ div >
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< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" > 281</ span > </ div >
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< div class = "line" >< a id = "l00296" name = "l00296" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > 296</ a ></ span > std::multimap< int, Link> ::iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
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< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" > 297</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00298" name = "l00298" ></ a >< span class = "lineno" > 298</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" > 299</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00300" name = "l00300" ></ a >< span class = "lineno" > 300</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > ,</ div >
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< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" > 301</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > );</ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#ad91079c9cdd934c8ba8927d3c52b40e5" > 304</ a ></ span > std::multimap< int, std::pair< int, Link::Type> > ::iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > std::multimap< < span class = "keywordtype" > int</ span > , std::pair< int, Link::Type> > & links,</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > );</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a06ed3112247c13dcf494665c1d9df327" > 312</ a ></ span > std::multimap< int, int> ::iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" > 313</ span > std::multimap< int, int> & links,</ div >
< div class = "line" >< a id = "l00314" name = "l00314" ></ a >< span class = "lineno" > 314</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" > 315</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00316" name = "l00316" ></ a >< span class = "lineno" > 316</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a7695c60c6bb375057586449674d42eea" > 319</ a ></ span > std::multimap< int, Link> ::const_iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
< div class = "line" >< a id = "l00320" name = "l00320" ></ a >< span class = "lineno" > 320</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" > 321</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00322" name = "l00322" ></ a >< span class = "lineno" > 322</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00323" name = "l00323" ></ a >< span class = "lineno" > 323</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00324" name = "l00324" ></ a >< span class = "lineno" > 324</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > );</ div >
< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a8200ae3a6bd27ee2cee4b71d85ace3e9" > 327</ a ></ span > std::multimap< int, std::pair< int, Link::Type> > ::const_iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" > 328</ span > < span class = "keyword" > const</ span > std::multimap< < span class = "keywordtype" > int</ span > , std::pair< int, Link::Type> > & links,</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > type = < a class = "code hl_enumvalue" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > Link::kUndef</ a > );</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#aecdcc01682092f4c89257d070aa2a437" > 335</ a ></ span > std::multimap< int, int> ::const_iterator RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > findLink</ a > (</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > < span class = "keyword" > const</ span > std::multimap< int, int> & links,</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" > 337</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00338" name = "l00338" ></ a >< span class = "lineno" > 338</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00339" name = "l00339" ></ a >< span class = "lineno" > 339</ span > < span class = "keywordtype" > bool</ span > checkBothWays = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00340" name = "l00340" ></ a >< span class = "lineno" > 340</ span > </ div >
< div class = "line" >< a id = "l00352" name = "l00352" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82" > 352</ a ></ span > std::list< Link> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82" > findLinks</ a > (</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" > 353</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keywordtype" > int</ span > from);</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > </ div >
< div class = "line" >< a id = "l00365" name = "l00365" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2" > 365</ a ></ span > std::multimap< int, Link> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2" > filterDuplicateLinks</ a > (</ div >
< div class = "line" >< a id = "l00366" name = "l00366" ></ a >< span class = "lineno" > 366</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links);</ div >
< div class = "line" >< a id = "l00367" name = "l00367" ></ a >< span class = "lineno" > 367</ span > </ div >
< div class = "line" >< a id = "l00380" name = "l00380" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300" > 380</ a ></ span > std::multimap< int, Link> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300" > filterLinks</ a > (</ div >
< div class = "line" >< a id = "l00381" name = "l00381" ></ a >< span class = "lineno" > 381</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
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< div class = "line" >< a id = "l00382" name = "l00382" ></ a >< span class = "lineno" > 382</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > filteredType,</ div >
< div class = "line" >< a id = "l00383" name = "l00383" ></ a >< span class = "lineno" > 383</ span > < span class = "keywordtype" > bool</ span > inverted = < span class = "keyword" > false</ span > );</ div >
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< div class = "line" >< a id = "l00386" name = "l00386" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#af4dffb2a3eced519378d18bca8fa4419" > 386</ a ></ span > std::map< int, Link> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300" > filterLinks</ a > (</ div >
< div class = "line" >< a id = "l00387" name = "l00387" ></ a >< span class = "lineno" > 387</ span > < span class = "keyword" > const</ span > std::map< int, Link> & links,</ div >
< div class = "line" >< a id = "l00388" name = "l00388" ></ a >< span class = "lineno" > 388</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e" > Link::Type</ a > filteredType,</ div >
< div class = "line" >< a id = "l00389" name = "l00389" ></ a >< span class = "lineno" > 389</ span > < span class = "keywordtype" > bool</ span > inverted = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00390" name = "l00390" ></ a >< span class = "lineno" > 390</ span > </ div >
< div class = "line" >< a id = "l00406" name = "l00406" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de" > 406</ a ></ span > std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de" > frustumPosesFiltering</ a > (</ div >
< div class = "line" >< a id = "l00407" name = "l00407" ></ a >< span class = "lineno" > 407</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00408" name = "l00408" ></ a >< span class = "lineno" > 408</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & cameraPose,</ div >
< div class = "line" >< a id = "l00409" name = "l00409" ></ a >< span class = "lineno" > 409</ span > < span class = "keywordtype" > float</ span > horizontalFOV = 45.0f,</ div >
< div class = "line" >< a id = "l00410" name = "l00410" ></ a >< span class = "lineno" > 410</ span > < span class = "keywordtype" > float</ span > verticalFOV = 45.0f,</ div >
< div class = "line" >< a id = "l00411" name = "l00411" ></ a >< span class = "lineno" > 411</ span > < span class = "keywordtype" > float</ span > nearClipPlaneDistance = 0.1f,</ div >
< div class = "line" >< a id = "l00412" name = "l00412" ></ a >< span class = "lineno" > 412</ span > < span class = "keywordtype" > float</ span > farClipPlaneDistance = 100.0f,</ div >
< div class = "line" >< a id = "l00413" name = "l00413" ></ a >< span class = "lineno" > 413</ span > < span class = "keywordtype" > bool</ span > negative = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00414" name = "l00414" ></ a >< span class = "lineno" > 414</ span > </ div >
< div class = "line" >< a id = "l00429" name = "l00429" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506" > 429</ a ></ span > std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506" > radiusPosesFiltering</ a > (</ div >
< div class = "line" >< a id = "l00430" name = "l00430" ></ a >< span class = "lineno" > 430</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00431" name = "l00431" ></ a >< span class = "lineno" > 431</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00432" name = "l00432" ></ a >< span class = "lineno" > 432</ span > < span class = "keywordtype" > float</ span > angle,</ div >
< div class = "line" >< a id = "l00433" name = "l00433" ></ a >< span class = "lineno" > 433</ span > < span class = "keywordtype" > bool</ span > keepLatest = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00434" name = "l00434" ></ a >< span class = "lineno" > 434</ span > </ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155" > 446</ a ></ span > std::multimap< int, int> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155" > radiusPosesClustering</ a > (</ div >
< div class = "line" >< a id = "l00447" name = "l00447" ></ a >< span class = "lineno" > 447</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" > 448</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00449" name = "l00449" ></ a >< span class = "lineno" > 449</ span > < span class = "keywordtype" > float</ span > angle);</ div >
< div class = "line" >< a id = "l00450" name = "l00450" ></ a >< span class = "lineno" > 450</ span > </ div >
< div class = "line" >< a id = "l00467" name = "l00467" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f" > 467</ a ></ span >< span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f" > reduceGraph</ a > (</ div >
< div class = "line" >< a id = "l00468" name = "l00468" ></ a >< span class = "lineno" > 468</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00469" name = "l00469" ></ a >< span class = "lineno" > 469</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00470" name = "l00470" ></ a >< span class = "lineno" > 470</ span > std::multimap< int, int> & hyperNodes,</ div >
< div class = "line" >< a id = "l00471" name = "l00471" ></ a >< span class = "lineno" > 471</ span > std::multimap< int, Link> & hyperLinks);</ div >
< div class = "line" >< a id = "l00472" name = "l00472" ></ a >< span class = "lineno" > 472</ span > </ div >
< div class = "line" >< a id = "l00486" name = "l00486" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea" > 486</ a ></ span > std::list< std::pair< int, Transform> > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea" > computePath</ a > (</ div >
< div class = "line" >< a id = "l00487" name = "l00487" ></ a >< span class = "lineno" > 487</ span > < span class = "keyword" > const</ span > std::map< int, rtabmap::Transform> & poses,</ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" > 488</ span > < span class = "keyword" > const</ span > std::multimap< int, int> & links,</ div >
< div class = "line" >< a id = "l00489" name = "l00489" ></ a >< span class = "lineno" > 489</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00490" name = "l00490" ></ a >< span class = "lineno" > 490</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00491" name = "l00491" ></ a >< span class = "lineno" > 491</ span > < span class = "keywordtype" > bool</ span > updateNewCosts = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00492" name = "l00492" ></ a >< span class = "lineno" > 492</ span > </ div >
< div class = "line" >< a id = "l00506" name = "l00506" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2" > 506</ a ></ span > std::list< int> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea" > computePath</ a > (</ div >
< div class = "line" >< a id = "l00507" name = "l00507" ></ a >< span class = "lineno" > 507</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links,</ div >
< div class = "line" >< a id = "l00508" name = "l00508" ></ a >< span class = "lineno" > 508</ span > < span class = "keywordtype" > int</ span > from,</ div >
< div class = "line" >< a id = "l00509" name = "l00509" ></ a >< span class = "lineno" > 509</ span > < span class = "keywordtype" > int</ span > to,</ div >
< div class = "line" >< a id = "l00510" name = "l00510" ></ a >< span class = "lineno" > 510</ span > < span class = "keywordtype" > bool</ span > updateNewCosts = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00511" name = "l00511" ></ a >< span class = "lineno" > 511</ span > < span class = "keywordtype" > bool</ span > useSameCostForAllLinks = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00512" name = "l00512" ></ a >< span class = "lineno" > 512</ span > </ div >
< div class = "line" >< a id = "l00545" name = "l00545" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142" > 545</ a ></ span > std::list< std::pair< int, Transform> > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea" > computePath</ a > (</ div >
< div class = "line" >< a id = "l00546" name = "l00546" ></ a >< span class = "lineno" > 546</ span > < span class = "keywordtype" > int</ span > fromId,</ div >
< div class = "line" >< a id = "l00547" name = "l00547" ></ a >< span class = "lineno" > 547</ span > < span class = "keywordtype" > int</ span > toId,</ div >
< div class = "line" >< a id = "l00548" name = "l00548" ></ a >< span class = "lineno" > 548</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * memory,</ div >
< div class = "line" >< a id = "l00549" name = "l00549" ></ a >< span class = "lineno" > 549</ span > < span class = "keywordtype" > bool</ span > lookInDatabase = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00550" name = "l00550" ></ a >< span class = "lineno" > 550</ span > < span class = "keywordtype" > bool</ span > updateNewCosts = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00551" name = "l00551" ></ a >< span class = "lineno" > 551</ span > < span class = "keywordtype" > float</ span > linearVelocity = 0.0f,</ div >
< div class = "line" >< a id = "l00552" name = "l00552" ></ a >< span class = "lineno" > 552</ span > < span class = "keywordtype" > float</ span > angularVelocity = 0.0f,</ div >
< div class = "line" >< a id = "l00553" name = "l00553" ></ a >< span class = "lineno" > 553</ span > < span class = "keywordtype" > bool</ span > ignoreDirectLinks = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00554" name = "l00554" ></ a >< span class = "lineno" > 554</ span > </ div >
< div class = "line" >< a id = "l00565" name = "l00565" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c" > 565</ a ></ span >< span class = "keywordtype" > int</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c" > findNearestNode</ a > (</ div >
< div class = "line" >< a id = "l00566" name = "l00566" ></ a >< span class = "lineno" > 566</ span > < span class = "keyword" > const</ span > std::map< int, rtabmap::Transform> & poses,</ div >
< div class = "line" >< a id = "l00567" name = "l00567" ></ a >< span class = "lineno" > 567</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & targetPose,</ div >
< div class = "line" >< a id = "l00568" name = "l00568" ></ a >< span class = "lineno" > 568</ span > < span class = "keywordtype" > float</ span > * distance = 0);</ div >
< div class = "line" >< a id = "l00569" name = "l00569" ></ a >< span class = "lineno" > 569</ span > </ div >
< div class = "line" >< a id = "l00584" name = "l00584" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157" > 584</ a ></ span > std::map< int, float> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157" > findNearestNodes</ a > (</ div >
< div class = "line" >< a id = "l00585" name = "l00585" ></ a >< span class = "lineno" > 585</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00586" name = "l00586" ></ a >< span class = "lineno" > 586</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00587" name = "l00587" ></ a >< span class = "lineno" > 587</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00588" name = "l00588" ></ a >< span class = "lineno" > 588</ span > < span class = "keywordtype" > float</ span > angle = 0.0f,</ div >
< div class = "line" >< a id = "l00589" name = "l00589" ></ a >< span class = "lineno" > 589</ span > < span class = "keywordtype" > int</ span > k=0);</ div >
< div class = "line" >< a id = "l00599" name = "l00599" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f" > 599</ a ></ span > std::map< int, float> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157" > findNearestNodes</ a > (</ div >
< div class = "line" >< a id = "l00600" name = "l00600" ></ a >< span class = "lineno" > 600</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & targetPose,</ div >
< div class = "line" >< a id = "l00601" name = "l00601" ></ a >< span class = "lineno" > 601</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00602" name = "l00602" ></ a >< span class = "lineno" > 602</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00603" name = "l00603" ></ a >< span class = "lineno" > 603</ span > < span class = "keywordtype" > float</ span > angle = 0.0f,</ div >
< div class = "line" >< a id = "l00604" name = "l00604" ></ a >< span class = "lineno" > 604</ span > < span class = "keywordtype" > int</ span > k=0);</ div >
< div class = "line" >< a id = "l00609" name = "l00609" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf" > 609</ a ></ span > std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf" > findNearestPoses</ a > (</ div >
< div class = "line" >< a id = "l00610" name = "l00610" ></ a >< span class = "lineno" > 610</ span > < span class = "keywordtype" > int</ span > nodeId,</ div >
< div class = "line" >< a id = "l00611" name = "l00611" ></ a >< span class = "lineno" > 611</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00612" name = "l00612" ></ a >< span class = "lineno" > 612</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00613" name = "l00613" ></ a >< span class = "lineno" > 613</ span > < span class = "keywordtype" > float</ span > angle = 0.0f,</ div >
< div class = "line" >< a id = "l00614" name = "l00614" ></ a >< span class = "lineno" > 614</ span > < span class = "keywordtype" > int</ span > k=0);</ div >
< div class = "line" >< a id = "l00617" name = "l00617" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95" > 617</ a ></ span > std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf" > findNearestPoses</ a > (</ div >
< div class = "line" >< a id = "l00618" name = "l00618" ></ a >< span class = "lineno" > 618</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & targetPose,</ div >
< div class = "line" >< a id = "l00619" name = "l00619" ></ a >< span class = "lineno" > 619</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00620" name = "l00620" ></ a >< span class = "lineno" > 620</ span > < span class = "keywordtype" > float</ span > radius,</ div >
< div class = "line" >< a id = "l00621" name = "l00621" ></ a >< span class = "lineno" > 621</ span > < span class = "keywordtype" > float</ span > angle = 0.0f,</ div >
< div class = "line" >< a id = "l00622" name = "l00622" ></ a >< span class = "lineno" > 622</ span > < span class = "keywordtype" > int</ span > k=0);</ div >
< div class = "line" >< a id = "l00623" name = "l00623" ></ a >< span class = "lineno" > 623</ span > </ div >
< div class = "line" >< a id = "l00625" name = "l00625" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f" > 625</ a ></ span > RTABMAP_DEPRECATED std::map< int, float> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157" > findNearestNodes</ a > (< span class = "keyword" > const</ span > std::map< int, rtabmap::Transform> & nodes, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a > & targetPose, < span class = "keywordtype" > int</ span > k);</ div >
< div class = "line" >< a id = "l00627" name = "l00627" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e" > 627</ a ></ span > RTABMAP_DEPRECATED std::map< int, float> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e" > getNodesInRadius</ a > (< span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > std::map< int, Transform> & nodes, < span class = "keywordtype" > float</ span > radius);</ div >
< div class = "line" >< a id = "l00629" name = "l00629" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620" > 629</ a ></ span > RTABMAP_DEPRECATED std::map< int, float> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e" > getNodesInRadius</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & targetPose, < span class = "keyword" > const</ span > std::map< int, Transform> & nodes, < span class = "keywordtype" > float</ span > radius);</ div >
< div class = "line" >< a id = "l00631" name = "l00631" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043" > 631</ a ></ span > RTABMAP_DEPRECATED std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043" > getPosesInRadius</ a > (< span class = "keywordtype" > int</ span > nodeId, < span class = "keyword" > const</ span > std::map< int, Transform> & nodes, < span class = "keywordtype" > float</ span > radius, < span class = "keywordtype" > float</ span > angle = 0.0f);</ div >
< div class = "line" >< a id = "l00633" name = "l00633" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f" > 633</ a ></ span > RTABMAP_DEPRECATED std::map< int, Transform> RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043" > getPosesInRadius</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & targetPose, < span class = "keyword" > const</ span > std::map< int, Transform> & nodes, < span class = "keywordtype" > float</ span > radius, < span class = "keywordtype" > float</ span > angle = 0.0f);</ div >
< div class = "line" >< a id = "l00634" name = "l00634" ></ a >< span class = "lineno" > 634</ span > </ div >
< div class = "line" >< a id = "l00643" name = "l00643" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39" > 643</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39" > computePathLength</ a > (</ div >
< div class = "line" >< a id = "l00644" name = "l00644" ></ a >< span class = "lineno" > 644</ span > < span class = "keyword" > const</ span > std::vector< std::pair< int, Transform> > & path);</ div >
< div class = "line" >< a id = "l00645" name = "l00645" ></ a >< span class = "lineno" > 645</ span > </ div >
< div class = "line" >< a id = "l00655" name = "l00655" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277" > 655</ a ></ span >< span class = "keywordtype" > float</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39" > computePathLength</ a > (</ div >
< div class = "line" >< a id = "l00656" name = "l00656" ></ a >< span class = "lineno" > 656</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & path);</ div >
< div class = "line" >< a id = "l00657" name = "l00657" ></ a >< span class = "lineno" > 657</ span > </ div >
< div class = "line" >< a id = "l00670" name = "l00670" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094" > 670</ a ></ span > std::list< std::map< int, Transform> > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094" > getPaths</ a > (</ div >
< div class = "line" >< a id = "l00671" name = "l00671" ></ a >< span class = "lineno" > 671</ span > std::map< int, Transform> poses,</ div >
< div class = "line" >< a id = "l00672" name = "l00672" ></ a >< span class = "lineno" > 672</ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & links);</ div >
< div class = "line" >< a id = "l00673" name = "l00673" ></ a >< span class = "lineno" > 673</ span > </ div >
< div class = "line" >< a id = "l00681" name = "l00681" ></ a >< span class = "lineno" >< a class = "line" href = "namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410" > 681</ a ></ span >< span class = "keywordtype" > void</ span > RTABMAP_CORE_EXPORT < a class = "code hl_function" href = "namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410" > computeMinMax</ a > (< span class = "keyword" > const</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00682" name = "l00682" ></ a >< span class = "lineno" > 682</ span > cv::Vec3f & min,</ div >
< div class = "line" >< a id = "l00683" name = "l00683" ></ a >< span class = "lineno" > 683</ span > cv::Vec3f & max);</ div >
< div class = "line" >< a id = "l00684" name = "l00684" ></ a >< span class = "lineno" > 684</ span > </ div >
< div class = "line" >< a id = "l00685" name = "l00685" ></ a >< span class = "lineno" > 685</ span > } < span class = "comment" > /* namespace graph */</ span ></ div >
< div class = "line" >< a id = "l00686" name = "l00686" ></ a >< span class = "lineno" > 686</ span > </ div >
< div class = "line" >< a id = "l00687" name = "l00687" ></ a >< span class = "lineno" > 687</ span > } < span class = "comment" > /* namespace rtabmap */</ span ></ div >
< div class = "line" >< a id = "l00688" name = "l00688" ></ a >< span class = "lineno" > 688</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* GRAPH_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1Link_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html" > rtabmap::Link</ a ></ div >< div class = "ttdoc" > Directed constraint between two nodes in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00054" > Link.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_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 >
2026-08-02 07:56:38 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4" > rtabmap::Link::kUndef</ a ></ div >< div class = "ttdeci" > @ kUndef</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00080" > Link.h:79</ a ></ div ></ div >
2026-08-02 01:36:11 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1Memory_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Memory.html" > rtabmap::Memory</ a ></ div >< div class = "ttdoc" > Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Memory_8h_source.html#l00101" > Memory.h:102</ 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 >
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< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a0a04ab5289c258725555d6c18a076094" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094" > rtabmap::graph::getPaths</ a ></ div >< div class = "ttdeci" > std::list< std::map< int, Transform > > RTABMAP_CORE_EXPORT getPaths(std::map< int, Transform > poses, const std::multimap< int, Link > & links)</ div >< div class = "ttdoc" > Splits poses into chains connected only by neighbor links.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a1906b8b4ad4b7ffc955d22c4996b1506" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506" > rtabmap::graph::radiusPosesFiltering</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > RTABMAP_CORE_EXPORT radiusPosesFiltering(const std::map< int, Transform > & poses, float radius, float angle, bool keepLatest=true)</ div >< div class = "ttdoc" > Subsamples poses that are spatially (and optionally angularly) redundant.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a308c9331cd3dd36a776517e64b33bd82" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82" > rtabmap::graph::findLinks</ a ></ div >< div class = "ttdeci" > std::list< Link > RTABMAP_CORE_EXPORT findLinks(const std::multimap< int, Link > & links, int from)</ div >< div class = "ttdoc" > Lists all links incident on node from.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a39f8c9011cb5b7652003df9275c88410" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410" > rtabmap::graph::computeMinMax</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT computeMinMax(const std::map< int, Transform > & poses, cv::Vec3f & min, cv::Vec3f & max)</ div >< div class = "ttdoc" > Axis-aligned bounding box of pose positions.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a3c9effdb0d7c235dc1b8d7e3f8487c67" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67" > rtabmap::graph::calcKittiSequenceErrors</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(const std::vector< Transform > & poses_gt, const std::vector< Transform > & poses_result, float & t_err, float & r_err)</ div >< div class = "ttdoc" > KITTI odometry benchmark error over fixed trajectory segments.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a3cd2009752bc8e39ec00f7f08cfd4a39" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39" > rtabmap::graph::computePathLength</ a ></ div >< div class = "ttdeci" > float RTABMAP_CORE_EXPORT computePathLength(const std::vector< std::pair< int, Transform > > & path)</ div >< div class = "ttdoc" > Path length along an ordered list of poses.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a3d6e74a018b07cd52151e3e168f6384c" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c" > rtabmap::graph::findNearestNode</ a ></ div >< div class = "ttdeci" > int RTABMAP_CORE_EXPORT findNearestNode(const std::map< int, rtabmap::Transform > & poses, const rtabmap::Transform & targetPose, float *distance=0)</ div >< div class = "ttdoc" > Id of the nearest pose to targetPose.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a4691b760dfafe6d93de514c96fa55e0e" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e" > rtabmap::graph::computeMaxGraphErrors</ a ></ div >< div class = "ttdeci" > MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(const std::map< int, Transform > & poses, const std::multimap< int, Link > & links, bool for3DoF=false)</ div >< div class = "ttdoc" > Finds the worst pose-graph constraint residuals after optimization.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a592918d54b32d6f13236de85958da300" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300" > rtabmap::graph::filterLinks</ a ></ div >< div class = "ttdeci" > std::multimap< int, Link > RTABMAP_CORE_EXPORT filterLinks(const std::multimap< int, Link > & links, Link::Type filteredType, bool inverted=false)</ div >< div class = "ttdoc" > Filters links by type or self-reference.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a5c0eb890db7dba1c353d57595ccbdc6e" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e" > rtabmap::graph::importPoses</ a ></ div >< div class = "ttdeci" > bool RTABMAP_CORE_EXPORT importPoses(const std::string & filePath, int format, std::map< int, Transform > & poses, std::multimap< int, Link > *constraints=0, std::map< int, double > *stamps=0)</ div >< div class = "ttdoc" > Loads poses (and optional constraints) from disk.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a5c36e32a4acd10ac3cdbbf7d73591f88" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88" > rtabmap::graph::calcRMSE</ a ></ div >< div class = "ttdeci" > Transform RTABMAP_CORE_EXPORT calcRMSE(const std::map< int, Transform > & groundTruth, const std::map< int, Transform > & poses, float & translational_rmse, float & translational_mean, float & translational_median, float & translational_std, float & translational_min, float & translational_max, float & rotational_rmse, float & rotational_mean, float & rotational_median, float & rotational_std, float & rotational_min, float & rotational_max, bool align2D=false)</ div >< div class = "ttdoc" > Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a5d11e3cccfeca97d570c528858863dd2" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2" > rtabmap::graph::filterDuplicateLinks</ a ></ div >< div class = "ttdeci" > std::multimap< int, Link > RTABMAP_CORE_EXPORT filterDuplicateLinks(const std::multimap< int, Link > & links)</ div >< div class = "ttdoc" > Removes duplicate undirected links.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a5ec6c3883f73181d9458c5905c0aa0ea" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea" > rtabmap::graph::computePath</ a ></ div >< div class = "ttdeci" > std::list< std::pair< int, Transform > > RTABMAP_CORE_EXPORT computePath(const std::map< int, rtabmap::Transform > & poses, const std::multimap< int, int > & links, int from, int to, bool updateNewCosts=false)</ div >< div class = "ttdoc" > A* shortest path on a pose graph with Euclidean edge costs.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a6c009c4c819abe37ec2ca6d041edd92b" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b" > rtabmap::graph::getMaxOdomInf</ a ></ div >< div class = "ttdeci" > std::vector< double > RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap< int, Link > & links)</ div >< div class = "ttdoc" > Maximum information-matrix diagonal over odometry neighbor links.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a8213a5876c86611ee4c832981eb1e7de" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de" > rtabmap::graph::frustumPosesFiltering</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map< int, Transform > & poses, const Transform & cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)</ div >< div class = "ttdoc" > Keeps poses inside (or outside) a camera frustum.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a83c41a7cdd595ae6f76d3f1c5140c215" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215" > rtabmap::graph::calcRelativeErrors</ a ></ div >< div class = "ttdeci" > void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector< Transform > & poses_gt, const std::vector< Transform > & poses_result, float & t_err, float & r_err)</ div >< div class = "ttdoc" > Mean frame-to-frame relative pose error (RPE-style, one step).</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a8cd823f440a4512407ef78d76ff1dbbf" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf" > rtabmap::graph::findNearestPoses</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map< int, Transform > & poses, float radius, float angle=0.0f, int k=0)</ div >< div class = "ttdoc" > Like findNearestNodes(int,const std::map< int,Transform>& ,float,float,int) but returns full Transform ...</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a92dfe14b22f897e11bf5bf3f7a7c9157" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157" > rtabmap::graph::findNearestNodes</ a ></ div >< div class = "ttdeci" > std::map< int, float > RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map< int, Transform > & poses, float radius, float angle=0.0f, int k=0)</ div >< div class = "ttdoc" > Spatial neighbors of a node (KD-tree radius or k-NN search).</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_a96a6c2e8348e3d9cfd8b1770d17da9b2" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2" > rtabmap::graph::exportGPS</ a ></ div >< div class = "ttdeci" > bool RTABMAP_CORE_EXPORT exportGPS(const std::string & filePath, const std::map< int, GPS > & gpsValues, unsigned int rgba=0xFFFFFFFF)</ div >< div class = "ttdoc" > Exports GPS samples to a PLY point cloud.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_aaa0b06795dea514ad1d5fdd4626d32ec" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec" > rtabmap::graph::findLink</ a ></ div >< div class = "ttdeci" > std::multimap< int, Link > ::iterator RTABMAP_CORE_EXPORT findLink(std::multimap< int, Link > & links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)</ div >< div class = "ttdoc" > Finds the first link from from to to in a multimap keyed by source id.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_aabda884597e6b8df053d04ee56cfaf6f" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f" > rtabmap::graph::reduceGraph</ a ></ div >< div class = "ttdeci" > void reduceGraph(const std::map< int, Transform > & poses, const std::multimap< int, Link > & links, std::multimap< int, int > & hyperNodes, std::multimap< int, Link > & hyperLinks)</ div >< div class = "ttdoc" > Reduces a pose graph into hyper-nodes and hyper-links.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_acaf3e4ffcfc830747c3c3cb02a8ea155" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155" > rtabmap::graph::radiusPosesClustering</ a ></ div >< div class = "ttdeci" > std::multimap< int, int > RTABMAP_CORE_EXPORT radiusPosesClustering(const std::map< int, Transform > & poses, float radius, float angle)</ div >< div class = "ttdoc" > Radius-neighbor clustering of poses.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_ae487257302634dff8248188e2ed69043" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043" > rtabmap::graph::getPosesInRadius</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map< int, Transform > & nodes, float radius, float angle=0.0f)</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_af5622dec3112ea0b5154056bde132d46" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46" > rtabmap::graph::exportPoses</ a ></ div >< div class = "ttdeci" > bool RTABMAP_CORE_EXPORT exportPoses(const std::string & filePath, int format, const std::map< int, Transform > & poses, const std::multimap< int, Link > & constraints=std::multimap< int, Link > (), const std::map< int, double > & stamps=std::map< int, double > (), const ParametersMap & parameters=ParametersMap())</ div >< div class = "ttdoc" > Writes poses (and optional constraints) to disk.</ div ></ div >
< div class = "ttc" id = "anamespacertabmap_1_1graph_html_af9e81a0b31730adb292591b79f45c87e" >< div class = "ttname" >< a href = "namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e" > rtabmap::graph::getNodesInRadius</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map< int, Transform > & nodes, float radius)</ div ></ div >
2026-08-02 01:36:11 +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#l00039" > BayesFilter.h:39</ a ></ div ></ div >
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< div class = "ttc" id = "anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55" >< div class = "ttname" >< a href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ div >< div class = "ttdeci" > std::map< std::string, std::string > ParametersMap</ div >< div class = "ttdoc" > Parameter keys mapped to their values, as used by every configurable class (see Parameters).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Parameters_8h_source.html#l00044" > Parameters.h:44</ a ></ div ></ div >
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< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html" > rtabmap::graph::MaxGraphErrors</ a ></ div >< div class = "ttdoc" > Largest pose-graph constraint violations after optimization.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00231" > Graph.h:232</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a08918b252e5814477beff38b423df39b" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b" > rtabmap::graph::MaxGraphErrors::angular</ a ></ div >< div class = "ttdeci" > float angular</ div >< div class = "ttdoc" > Absolute angular error (rad) of the worst link.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00234" > Graph.h:234</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a2a49ed004369d9a6670781d7f3b3cae9" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9" > rtabmap::graph::MaxGraphErrors::linearRatio</ a ></ div >< div class = "ttdeci" > float linearRatio</ div >< div class = "ttdoc" > linear / sqrt(trans variance) of the worst link.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00235" > Graph.h:235</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a81e053c54198c0c57dba6ef65d1c3a8c" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a81e053c54198c0c57dba6ef65d1c3a8c" > rtabmap::graph::MaxGraphErrors::linear</ a ></ div >< div class = "ttdeci" > float linear</ div >< div class = "ttdoc" > Absolute linear error (m) of the worst link.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00233" > Graph.h:233</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a95dc5269dfe47ed56b315cebe3389ab6" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a95dc5269dfe47ed56b315cebe3389ab6" > rtabmap::graph::MaxGraphErrors::angularLink</ a ></ div >< div class = "ttdeci" > Link angularLink</ div >< div class = "ttdoc" > Link with largest angularRatio.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00238" > Graph.h:238</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a97bead9a8191f2746e2586a965ca3c80" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80" > rtabmap::graph::MaxGraphErrors::angularRatio</ a ></ div >< div class = "ttdeci" > float angularRatio</ div >< div class = "ttdoc" > angular / sqrt(rot variance) of the worst link.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00236" > Graph.h:236</ a ></ div ></ div >
< div class = "ttc" id = "astructrtabmap_1_1graph_1_1MaxGraphErrors_html_ae51dd46bd7d7f6779b681eb906654321" >< div class = "ttname" >< a href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321" > rtabmap::graph::MaxGraphErrors::linearLink</ a ></ div >< div class = "ttdeci" > Link linearLink</ div >< div class = "ttdoc" > Link with largest linearRatio.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Graph_8h_source.html#l00237" > Graph.h:237</ a ></ div ></ div >
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