<trclass="memdesc:a24d85beaf52fd03ad67c6d9d417efd79"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds a statistic value to the data map. <br/></td></tr>
<trclass="memdesc:a4fa0c5aafea26effea2ed63d5bf3a31f"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the reference image ID (current/last processed signature ID) <br/></td></tr>
<trclass="memdesc:a12bfc3ce8eb232a6ac3942af504bedef"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the timestamp for these statistics. <br/></td></tr>
<trclass="memdesc:ae5de0aae15a10ed18cc30c2656bd4d6a"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the last signature data (deprecated) <br/></td></tr>
<trclass="memdesc:a55748a17bc6348a83dc184fb1b2631fd"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Adds signature data to the statistics. <br/></td></tr>
<trclass="memdesc:ad23568ea07d4ad167fcbd83a9083a2ef"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets all signature data at once. <br/></td></tr>
<trclass="memdesc:ac4761222db6faee6c34c53c1d4d00ec2"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the constraint graph (links between nodes) <br/></td></tr>
<trclass="memitem:a3c80bf518d943d9b86e5088a9269b455"id="r_a3c80bf518d943d9b86e5088a9269b455"><tdclass="memItemLeft"align="right"valign="top">void </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1Statistics.html#a3c80bf518d943d9b86e5088a9269b455">setLocalPath</a> (const std::vector< int >&<aclass="el"href="classrtabmap_1_1Statistics.html#a82f7c8f962fd5fcea9a5d4fc087cb2ce">localPath</a>)</td></tr>
<trclass="memdesc:a3c80bf518d943d9b86e5088a9269b455"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the local path (sequence of node IDs) <br/></td></tr>
<trclass="memdesc:a845a35143a149c9670fb46938594fcb9"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the current goal node ID. <br/></td></tr>
<trclass="memitem:aa43870ba13369f23c122bff62f6654c8"id="r_aa43870ba13369f23c122bff62f6654c8"><tdclass="memItemLeft"align="right"valign="top">void </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1Statistics.html#aa43870ba13369f23c122bff62f6654c8">setWmState</a> (const std::vector< int >&state)</td></tr>
<trclass="memdesc:aa43870ba13369f23c122bff62f6654c8"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Sets the working memory state. <br/></td></tr>
<trclass="memdesc:a582cb4d6d0b3034062d508a6cac77081"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the last signature data. <br/></td></tr>
<trclass="memdesc:a30275a92af2f9fb08f3955c5b9e8b661"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the constraint graph. <br/></td></tr>
<trclass="memdesc:a472f50deace411e1fbbef95f4fb698de"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns raw likelihood values. <br/></td></tr>
<trclass="memdesc:adae0424da0557be95b6968eecdbc628e"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the current goal node ID. <br/></td></tr>
<trclass="memitem:a0b0bb69d788a142a7b51ae2e916798b6"id="r_a0b0bb69d788a142a7b51ae2e916798b6"><tdclass="memItemLeft"align="right"valign="top">const std::vector< int >& </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1Statistics.html#a0b0bb69d788a142a7b51ae2e916798b6">wmState</a> () const</td></tr>
<trclass="memdesc:a0b0bb69d788a142a7b51ae2e916798b6"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the working memory state. <br/></td></tr>
<trclass="memdesc:ab5c8be76435cdfb98c656ccc236f029a"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the statistics data map. <br/></td></tr>
<trclass="memdesc:a917322822da5565f5c7438849f307c4f"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the default statistics data map. <br/></td></tr>
<trclass="memdesc:ab34cfba17216b060f57e106d7c169685"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Serializes a statistics data map to a string. <br/></td></tr>
<trclass="memdesc:a167ea0c3bc76865e90624323e72399c7"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Deserializes a statistics data map from a string. <br/></td></tr>
<divclass="textblock"><p>Collects and manages runtime statistics for RTAB-Map. </p>
<p>The <aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> class provides a comprehensive system for collecting, storing, and managing various runtime statistics about RTAB-Map's operation. <aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are organized into groups such as:</p><ul>
<li><b><aclass="el"href="classrtabmap_1_1Memory.html"title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a></b>: Working memory size, database usage, signature management</li>
<li><b>Timing</b>: Performance measurements for various operations</li>
<li><b>Keypoint</b>: Visual word dictionary and feature statistics</li>
<li><b>Gt</b>: Ground truth comparison statistics</li>
</ul>
<p><aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are stored in a map with keys in the format "Group/Name/Unit" (e.g., "Timing/Total time/ms"). This hierarchical naming allows for easy categorization and plotting.</p>
<p>The class supports two modes:</p><ul>
<li><b>Basic mode</b> (<code><aclass="el"href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122"title="Returns whether extended statistics mode is enabled.">extended()</a> == false</code>): Only stores loop closure and last signature ID fields</li>
<li><b>Extended mode</b> (<code><aclass="el"href="classrtabmap_1_1Statistics.html#a1e1ba8f7429fa212aa32897877dec122"title="Returns whether extended statistics mode is enabled.">extended()</a> == true</code>): Stores all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information</li>
</ul>
<p><aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> can be serialized to/from strings for storage in databases or transmission over networks.</p>
<dlclass="section note"><dt>Note</dt><dd><aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> are typically created by RTAB-Map's core components (<aclass="el"href="classrtabmap_1_1Rtabmap.html"title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">Rtabmap</a>, <aclass="el"href="classrtabmap_1_1Memory.html"title="Three-tiered memory management (STM, WM, LTM) for RTAB-Map.">Memory</a>, etc.) and can be retrieved for analysis, visualization, or debugging purposes. </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00107">107</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<p>Creates a new <aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object in basic mode (extended = false). Initializes all ID fields to 0 or -1, and timestamp to 0.0.</p>
<dlclass="section note"><dt>Note</dt><dd>The first <aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object constructed will initialize the default data map. </dd></dl>
</div>
</div>
<h2class="groupheader">Member Function Documentation</h2>
<p>Returns a map containing all predefined statistics with their default values (0.0). This map is initialized when the first <aclass="el"href="classrtabmap_1_1Statistics.html"title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> object is constructed.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the default statistics data map </dd></dl>
<p>Serializes a statistics data map to a string. </p>
<p>Converts a statistics data map into a serialized string format suitable for storage or transmission. The format is: "key1:value1;key2:value2;..." where values are formatted as numbers with dots (not commas) as decimal separators (independent of the system's locale).</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The statistics data map to serialize </td></tr>
</table>
</dd>
</dl>
<dlclass="section return"><dt>Returns</dt><dd>Serialized string representation of the data</dd></dl>
<dlclass="section note"><dt>Note</dt><dd>Empty maps result in empty strings </dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1Statistics.html#a167ea0c3bc76865e90624323e72399c7"title="Deserializes a statistics data map from a string.">deserializeData()</a></dd></dl>
<p>Deserializes a statistics data map from a string. </p>
<p>Parses a serialized statistics string back into a data map. The string format should be: "key1:value1;key2:value2;..." as produced by <aclass="el"href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685"title="Serializes a statistics data map to a string.">serializeData()</a>.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The serialized string to parse </td></tr>
</table>
</dd>
</dl>
<dlclass="section return"><dt>Returns</dt><dd>Deserialized statistics data map</dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685"title="Serializes a statistics data map to a string.">serializeData()</a></dd></dl>
<p>Adds or updates a statistic in the internal data map. The name should follow the format "Group/Name/Unit" (e.g., "Timing/Total time/ms").</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">name</td><td>The statistic name in the format "Group/Name/Unit" </td></tr>
<tr><tdclass="paramname">value</td><td>The statistic value to store</td></tr>
</table>
</dd>
</dl>
<dlclass="section note"><dt>Note</dt><dd>If a statistic with the same name already exists, it will be overwritten. </dd>
<dd>
Use the static methods generated by RTABMAP_STATS() to get standardized names: <divclass="fragment"><divclass="line">statistics.addStatistic(Statistics::kTimingTotal(), 500.0f);</div>
<p>Sets whether extended statistics mode is enabled. </p>
<p>In basic mode (extended = false), only loop closure and last signature ID fields are filled. In extended mode (extended = true), all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information are stored.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">extended</td><td>True to enable extended mode, false for basic mode </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00367">367</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets the reference image ID (current/last processed signature ID) </p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">id</td><td>The signature ID </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00373">373</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">id</td><td>The map ID associated with the reference image </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00379">379</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">id</td><td>The signature ID where a loop closure was detected (0 if none) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00385">385</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">id</td><td>The map ID associated with the loop closure </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00391">391</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">id</td><td>The signature ID where proximity was detected (0 if none) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00397">397</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">id</td><td>The map ID associated with the proximity detection </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00403">403</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">stamp</td><td>The timestamp (typically in seconds since epoch) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00409">409</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="deprecated"><dt><b><aclass="el"href="deprecated.html#_deprecated000015">Deprecated:</a></b></dt><dd>Use <aclass="el"href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd"title="Adds signature data to the statistics.">addSignatureData()</a> instead </dd></dl>
<p>This method is deprecated. Use <aclass="el"href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd"title="Adds signature data to the statistics.">addSignatureData()</a> instead, which allows storing multiple signatures. </p>
<p>Adds a signature to the internal signatures data map. Multiple signatures can be stored, indexed by their ID.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The signature to add</td></tr>
</table>
</dd>
</dl>
<dlclass="section note"><dt>Note</dt><dd>If a signature with the same ID already exists, it will be overwritten. </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00430">430</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">data</td><td>Map of signature IDs to <aclass="el"href="classrtabmap_1_1Signature.html"title="Represents a node in RTAB-Map's pose graph.">Signature</a> objects </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00436">436</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets the complete pose graph, mapping node IDs to their <aclass="el"href="classrtabmap_1_1Transform.html"title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> poses. Used in extended mode for visualization and analysis.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">poses</td><td>Map of node IDs to their poses </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00446">446</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets the constraint graph (links between nodes) </p>
<p>Sets the complete constraint graph, mapping node IDs to their <aclass="el"href="classrtabmap_1_1Link.html"title="Directed constraint between two nodes in RTAB-Map's pose graph.">Link</a> constraints. Used in extended mode for visualization and analysis.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">constraints</td><td>Multimap of node IDs to their links (a node can have multiple links) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00456">456</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>The map correction transform represents the transformation from the map fixed frame to the odometry fixed frame. This transform is typically updated after graph optimization to transform the odometry pose in map frame.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">mapCorrection</td><td>The pose of odometry frame in map coordinate system </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00467">467</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00476">476</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>The covariance matrix representing the uncertainty in the current localization estimate.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">covariance</td><td>The covariance matrix (typically 6x6 for 3D pose) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00485">485</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">labels</td><td>Map of node IDs to their string labels </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00491">491</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">weights</td><td>Map of node IDs to their integer weights </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00497">497</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets posterior probabilities for loop closure hypotheses. </p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">posterior</td><td>Map of node IDs to their posterior probabilities </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00504">504</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets likelihood values for loop closure hypotheses. </p>
<p>Likelihood values represent how well each hypothesis matches the current observation.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">likelihood</td><td>Map of node IDs to their likelihood values </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00513">513</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets raw likelihood values (before normalization) </p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">rawLikelihood</td><td>Map of node IDs to their raw likelihood values </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00519">519</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Sets the local path (sequence of node IDs) </p>
<p>The local path represents the sequence of next nodes to visit for path planning.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">localPath</td><td>Vector of node IDs in order of next nodes to visit </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00528">528</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<tr><tdclass="paramname">goal</td><td>The goal node ID (0 if no goal) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00534">534</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Maps original node IDs to reduced IDs, used for memory optimization.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">reducedIds</td><td>Map of original IDs to reduced IDs </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00543">543</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>The working memory state is a vector of node IDs currently in working memory.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">state</td><td>Vector of node IDs in working memory </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00552">552</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Cached odometry poses during localization mode.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">poses</td><td>Map of node IDs to their cached odometry poses </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00561">561</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Cached odometry constraints (links) between nodes.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">constraints</td><td>Multimap of node IDs to their cached odometry links </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00570">570</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Returns whether extended statistics mode is enabled. </p>
<dlclass="section return"><dt>Returns</dt><dd>True if extended mode, false if basic mode </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00578">578</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The signature ID (0 if not set) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00584">584</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The map ID (-1 if not set) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00590">590</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The signature ID where loop closure was detected (0 if none) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00596">596</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The map ID associated with the loop closure (-1 if not set) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00602">602</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The signature ID where proximity was detected (0 if none) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00608">608</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The map ID associated with the proximity detection (-1 if not set) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00614">614</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The timestamp (0.0 if not set) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00620">620</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Returns the most recently added signature (by ID). If no signatures are stored, returns a dummy empty signature.</p>
<dlclass="section return"><dt>Returns</dt><dd>Reference to the last signature data </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00630">630</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of signature IDs to <aclass="el"href="classrtabmap_1_1Signature.html"title="Represents a node in RTAB-Map's pose graph.">Signature</a> objects </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00636">636</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to poses </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00642">642</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the multimap of node IDs to links </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00648">648</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Returns the transform from the map fixed frame to the odometry fixed frame.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map correction transform </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00657">657</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the loop closure transform </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00663">663</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Returns the localization covariance matrix. </p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the covariance matrix (may be empty) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00669">669</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to labels </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00675">675</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to weights </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00681">681</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to posterior probabilities </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00687">687</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to likelihood values </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00693">693</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to raw likelihood values </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00699">699</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the vector of node IDs </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00705">705</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>The goal node ID (0 if no goal) </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00711">711</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of original IDs to reduced IDs </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00717">717</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the vector of node IDs in working memory </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00723">723</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the map of node IDs to cached odometry poses </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00729">729</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the multimap of node IDs to cached odometry links </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00735">735</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
<p>Returns the map containing all plottable statistics in the format "Group/Name/Unit" -> value. This is the main data structure for storing numeric statistics.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the statistics data map</dd></dl>
<dlclass="section note"><dt>Note</dt><dd>Use <aclass="el"href="classrtabmap_1_1Statistics.html#a24d85beaf52fd03ad67c6d9d417efd79"title="Adds a statistic value to the data map.">addStatistic()</a> to add values to this map </dd>
<dd>
Use <aclass="el"href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685"title="Serializes a statistics data map to a string.">serializeData()</a> to convert this map to a string for storage </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="Statistics_8h_source.html#l00748">748</a> of file <aclass="el"href="Statistics_8h_source.html">Statistics.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<liclass="footer">Generated by <ahref="https://www.doxygen.org/index.html"><imgclass="footer"src="doxygen.svg"width="104"height="31"alt="doxygen"/></a> 1.9.8 </li>
