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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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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 >
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< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef RTABMAP_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define RTABMAP_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 " rtabmap/core/Parameters.h" </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include " rtabmap/core/SensorData.h" </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include " rtabmap/core/Statistics.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/ProgressState.h" </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include " rtabmap/core/Graph.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 = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < stack> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < set> </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > </ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > {</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > </ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > class </ span > EpipolarGeometry;</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > class </ span > Memory;</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span >< span class = "keyword" > class </ span > BayesFilter;</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span >< span class = "keyword" > class </ span > Signature;</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span >< span class = "keyword" > class </ span > Optimizer;</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > </ div >
< div class = "foldopen" id = "foldopen00193" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00193" name = "l00193" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html" > 193</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1Rtabmap.html" > Rtabmap</ a ></ div >
< div class = "line" >< a id = "l00194" name = "l00194" ></ a >< span class = "lineno" > 194</ span > {</ div >
< div class = "line" >< a id = "l00195" name = "l00195" ></ a >< span class = "lineno" > 195</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "foldopen" id = "foldopen00197" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00197" name = "l00197" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c" > 197</ a ></ span > < span class = "keyword" > enum</ span > < a class = "code hl_enumeration" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c" > VhStrategy</ a > {</ div >
< div class = "line" >< a id = "l00198" name = "l00198" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b" > 198</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b" > kVhNone</ a > , </ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6" > 199</ a ></ span > < a class = "code hl_enumvalue" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6" > kVhEpipolar</ a > , </ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > kVhUndef </ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568cab2676e6cebdd6090d3c87a3237c3e83b" > 201</ a ></ span > };</ div >
</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > </ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < a class = "code hl_class" href = "classrtabmap_1_1Rtabmap.html" > Rtabmap</ a > ();</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1Rtabmap.html" > ~Rtabmap</ a > ();</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > </ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3" > 223</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3" > process</ a > (</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data,</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > odomPose,</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > < span class = "keyword" > const</ span > cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keyword" > const</ span > std::vector< float> & odomVelocity = std::vector< float> (),</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > < span class = "keyword" > const</ span > std::map< std::string, float> & externalStats = std::map< std::string, float> ());</ div >
< div class = "line" >< a id = "l00236" name = "l00236" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe" > 236</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe" > process</ a > (</ div >
< div class = "line" >< a id = "l00237" name = "l00237" ></ a >< span class = "lineno" > 237</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > & data,</ div >
< div class = "line" >< a id = "l00238" name = "l00238" ></ a >< span class = "lineno" > 238</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > odomPose,</ div >
< div class = "line" >< a id = "l00239" name = "l00239" ></ a >< span class = "lineno" > 239</ span > < span class = "keywordtype" > float</ span > odomLinearVariance,</ div >
< div class = "line" >< a id = "l00240" name = "l00240" ></ a >< span class = "lineno" > 240</ span > < span class = "keywordtype" > float</ span > odomAngularVariance,</ div >
< div class = "line" >< a id = "l00241" name = "l00241" ></ a >< span class = "lineno" > 241</ span > < span class = "keyword" > const</ span > std::vector< float> & odomVelocity = std::vector< float> (),</ div >
< div class = "line" >< a id = "l00242" name = "l00242" ></ a >< span class = "lineno" > 242</ span > < span class = "keyword" > const</ span > std::map< std::string, float> & externalStats = std::map< std::string, float> ());</ div >
< div class = "line" >< a id = "l00253" name = "l00253" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750" > 253</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750" > process</ a > (</ div >
< div class = "line" >< a id = "l00254" name = "l00254" ></ a >< span class = "lineno" > 254</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00255" name = "l00255" ></ a >< span class = "lineno" > 255</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > =0, < span class = "keyword" > const</ span > std::map< std::string, float> & externalStats = std::map< std::string, float> ());</ div >
< div class = "line" >< a id = "l00256" name = "l00256" ></ a >< span class = "lineno" > 256</ span > </ div >
< div class = "line" >< a id = "l00271" name = "l00271" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b" > 271</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b" > init</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters, < span class = "keyword" > const</ span > std::string & databasePath = < span class = "stringliteral" > "" </ span > , < span class = "keywordtype" > bool</ span > loadDatabaseParameters = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041" > 282</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041" > init</ a > (< span class = "keyword" > const</ span > std::string & configFile = < span class = "stringliteral" > "" </ span > , < span class = "keyword" > const</ span > std::string & databasePath = < span class = "stringliteral" > "" </ span > , < span class = "keywordtype" > bool</ span > loadDatabaseParameters = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > </ div >
< div class = "line" >< a id = "l00294" name = "l00294" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f" > 294</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f" > close</ a > (< span class = "keywordtype" > bool</ span > databaseSaved = < span class = "keyword" > true</ span > , < span class = "keyword" > const</ span > std::string & ouputDatabasePath = < span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00295" name = "l00295" ></ a >< span class = "lineno" > 295</ span > </ div >
< div class = "line" >< a id = "l00297" name = "l00297" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a" > 297</ a ></ span > < span class = "keyword" > const</ span > std::string & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a" > getWorkingDir</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _wDir;}</ div >
< div class = "line" >< a id = "l00299" name = "l00299" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1" > 299</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1" > isRGBDMode</ a > ()< span class = "keyword" > const </ span > { < span class = "keywordflow" > return</ span > _rgbdSlamMode; }</ div >
< div class = "line" >< a id = "l00301" name = "l00301" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197" > 301</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197" > getLoopClosureId</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _loopClosureHypothesis.first;}</ div >
< div class = "line" >< a id = "l00303" name = "l00303" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b" > 303</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b" > getLoopClosureValue</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _loopClosureHypothesis.second;}</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450" > 305</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450" > getHighestHypothesisId</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _highestHypothesis.first;}</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1" > 307</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1" > getHighestHypothesisValue</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _highestHypothesis.second;}</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd" > 309</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd" > getLastLocationId</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49" > 311</ a ></ span > std::list< int> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49" > getWM</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00313" name = "l00313" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438" > 313</ a ></ span > std::set< int> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438" > getSTM</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00315" name = "l00315" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff" > 315</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff" > getWMSize</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00317" name = "l00317" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467" > 317</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467" > getSTMSize</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00319" name = "l00319" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01" > 319</ a ></ span > std::map< int, int> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01" > getWeights</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00321" name = "l00321" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8" > 321</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8" > getTotalMemSize</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00323" name = "l00323" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0" > 323</ a ></ span > < span class = "keywordtype" > double</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0" > getLastProcessTime</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _lastProcessTime;};</ div >
< div class = "line" >< a id = "l00325" name = "l00325" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc" > 325</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc" > isInSTM</ a > (< span class = "keywordtype" > int</ span > locationId) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00327" name = "l00327" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8" > 327</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8" > isIDsGenerated</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c" > 329</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c" > getStatistics</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57" > 331</ a ></ span > < span class = "keyword" > const</ span > std::map< int, Transform> & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57" > getLocalOptimizedPoses</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _optimizedPoses;}</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750" > 333</ a ></ span > < span class = "keyword" > const</ span > std::multimap< int, Link> & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750" > getLocalConstraints</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _constraints;}</ div >
< div class = "line" >< a id = "l00337" name = "l00337" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0" > 337</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0" > getPose</ a > (< span class = "keywordtype" > int</ span > locationId) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00349" name = "l00349" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711" > 349</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711" > getMapCorrection</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _mapCorrection;}</ div >
< div class = "line" >< a id = "l00351" name = "l00351" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b" > 351</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b" > getMemory</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _memory;}</ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07" > 353</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07" > getGoalReachedRadius</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _goalReachedRadius;}</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306" > 355</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306" > getLocalRadius</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _localRadius;}</ div >
< div class = "line" >< a id = "l00363" name = "l00363" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b" > 363</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b" > getLastLocalizationPose</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _lastLocalizationPose;}</ div >
< div class = "line" >< a id = "l00364" name = "l00364" ></ a >< span class = "lineno" > 364</ span > </ div >
< div class = "line" >< a id = "l00369" name = "l00369" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8" > 369</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8" > getTimeThreshold</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _maxTimeAllowed;}</ div >
< div class = "line" >< a id = "l00383" name = "l00383" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d" > 383</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d" > setTimeThreshold</ a > (< span class = "keywordtype" > float</ span > maxTimeAllowed);</ div >
< div class = "line" >< a id = "l00388" name = "l00388" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5" > 388</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5" > getMemoryThreshold</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _maxMemoryAllowed;}</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c" > 399</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c" > setMemoryThreshold</ a > (< span class = "keywordtype" > int</ span > maxMemoryAllowed);</ div >
< div class = "line" >< a id = "l00400" name = "l00400" ></ a >< span class = "lineno" > 400</ span > </ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f" > 448</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f" > setInitialPose</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & initialPose);</ div >
< div class = "line" >< a id = "l00460" name = "l00460" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4" > 460</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4" > triggerNewMap</ a > ();</ div >
< div class = "line" >< a id = "l00465" name = "l00465" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b" > 465</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b" > labelLocation</ a > (< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > , < span class = "keyword" > const</ span > std::string & label);</ div >
< div class = "line" >< a id = "l00481" name = "l00481" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6" > 481</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6" > setUserData</ a > (< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > , < span class = "keyword" > const</ span > cv::Mat & data);</ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae" > 488</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae" > generateDOTGraph</ a > (< span class = "keyword" > const</ span > std::string & path, < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > =0, < span class = "keywordtype" > int</ span > margin=5);</ div >
< div class = "line" >< a id = "l00503" name = "l00503" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71" > 503</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71" > exportPoses</ a > (</ div >
< div class = "line" >< a id = "l00504" name = "l00504" ></ a >< span class = "lineno" > 504</ span > < span class = "keyword" > const</ span > std::string & path,</ div >
< div class = "line" >< a id = "l00505" name = "l00505" ></ a >< span class = "lineno" > 505</ span > < span class = "keywordtype" > bool</ span > optimized,</ div >
< div class = "line" >< a id = "l00506" name = "l00506" ></ a >< span class = "lineno" > 506</ span > < span class = "keywordtype" > bool</ span > global,</ div >
< div class = "line" >< a id = "l00507" name = "l00507" ></ a >< span class = "lineno" > 507</ span > < span class = "keywordtype" > int</ span > format</ div >
< div class = "line" >< a id = "l00508" name = "l00508" ></ a >< span class = "lineno" > 508</ span > );</ div >
< div class = "line" >< a id = "l00515" name = "l00515" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c" > 515</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c" > resetMemory</ a > ();</ div >
< div class = "line" >< a id = "l00517" name = "l00517" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb" > 517</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb" > dumpPrediction</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00519" name = "l00519" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc" > 519</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc" > dumpData</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00524" name = "l00524" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a" > 524</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a" > parseParameters</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & parameters);</ div >
< div class = "line" >< a id = "l00526" name = "l00526" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1" > 526</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1" > getParameters</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _parameters;}</ div >
< div class = "line" >< a id = "l00535" name = "l00535" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab" > 535</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab" > setWorkingDirectory</ a > (std::string path);</ div >
< div class = "line" >< a id = "l00544" name = "l00544" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3" > 544</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3" > rejectLastLoopClosure</ a > ();</ div >
< div class = "line" >< a id = "l00553" name = "l00553" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599" > 553</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599" > deleteLastLocation</ a > ();</ div >
< div class = "line" >< a id = "l00568" name = "l00568" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69" > 568</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69" > setOptimizedPoses</ a > (< span class = "keyword" > const</ span > std::map< int, Transform> & poses, < span class = "keyword" > const</ span > std::multimap< int, Link> & constraints);</ div >
< div class = "line" >< a id = "l00576" name = "l00576" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c" > 576</ a ></ span > < a class = "code hl_class" href = "classrtabmap_1_1Signature.html" > Signature</ a > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c" > getSignatureCopy</ a > (< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > , < span class = "keywordtype" > bool</ span > images, < span class = "keywordtype" > bool</ span > scan, < span class = "keywordtype" > bool</ span > userData, < span class = "keywordtype" > bool</ span > occupancyGrid, < span class = "keywordtype" > bool</ span > withWords, < span class = "keywordtype" > bool</ span > withGlobalDescriptors) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00581" name = "l00581" ></ a >< span class = "lineno" > 581</ span > RTABMAP_DEPRECATED</ div >
< div class = "line" >< a id = "l00582" name = "l00582" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3" > 582</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3" > get3DMap</ a > (std::map< int, Signature> & signatures,</ div >
< div class = "line" >< a id = "l00583" name = "l00583" ></ a >< span class = "lineno" > 583</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00584" name = "l00584" ></ a >< span class = "lineno" > 584</ span > std::multimap< int, Link> & constraints,</ div >
< div class = "line" >< a id = "l00585" name = "l00585" ></ a >< span class = "lineno" > 585</ span > < span class = "keywordtype" > bool</ span > optimized,</ div >
< div class = "line" >< a id = "l00586" name = "l00586" ></ a >< span class = "lineno" > 586</ span > < span class = "keywordtype" > bool</ span > global) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00603" name = "l00603" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3" > 603</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3" > getGraph</ a > (std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00604" name = "l00604" ></ a >< span class = "lineno" > 604</ span > std::multimap< int, Link> & constraints,</ div >
< div class = "line" >< a id = "l00605" name = "l00605" ></ a >< span class = "lineno" > 605</ span > < span class = "keywordtype" > bool</ span > optimized,</ div >
< div class = "line" >< a id = "l00606" name = "l00606" ></ a >< span class = "lineno" > 606</ span > < span class = "keywordtype" > bool</ span > global,</ div >
< div class = "line" >< a id = "l00607" name = "l00607" ></ a >< span class = "lineno" > 607</ span > std::map< int, Signature> * signatures = 0,</ div >
< div class = "line" >< a id = "l00608" name = "l00608" ></ a >< span class = "lineno" > 608</ span > < span class = "keywordtype" > bool</ span > withImages = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00609" name = "l00609" ></ a >< span class = "lineno" > 609</ span > < span class = "keywordtype" > bool</ span > withScan = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00610" name = "l00610" ></ a >< span class = "lineno" > 610</ span > < span class = "keywordtype" > bool</ span > withUserData = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00611" name = "l00611" ></ a >< span class = "lineno" > 611</ span > < span class = "keywordtype" > bool</ span > withGrid = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00612" name = "l00612" ></ a >< span class = "lineno" > 612</ span > < span class = "keywordtype" > bool</ span > withWords = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00613" name = "l00613" ></ a >< span class = "lineno" > 613</ span > < span class = "keywordtype" > bool</ span > withGlobalDescriptors = < span class = "keyword" > true</ span > ) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00624" name = "l00624" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648" > 624</ a ></ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648" > getNodesInRadius</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, < span class = "keywordtype" > float</ span > radius, < span class = "keywordtype" > int</ span > k=0, std::map< int, float> * distsSqr=0);</ div >
< div class = "line" >< a id = "l00635" name = "l00635" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974" > 635</ a ></ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974" > getNodesInRadius</ a > (< span class = "keywordtype" > int</ span > nodeId, < span class = "keywordtype" > float</ span > radius, < span class = "keywordtype" > int</ span > k=0, std::map< int, float> * distsSqr=0);</ div >
< div class = "line" >< a id = "l00663" name = "l00663" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea" > 663</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea" > detectMoreLoopClosures</ a > (</ div >
< div class = "line" >< a id = "l00664" name = "l00664" ></ a >< span class = "lineno" > 664</ span > < span class = "keywordtype" > float</ span > clusterRadiusMax = 0.5f,</ div >
< div class = "line" >< a id = "l00665" name = "l00665" ></ a >< span class = "lineno" > 665</ span > < span class = "keywordtype" > float</ span > clusterAngle = M_PI/6.0f,</ div >
< div class = "line" >< a id = "l00666" name = "l00666" ></ a >< span class = "lineno" > 666</ span > < span class = "keywordtype" > int</ span > iterations = 1,</ div >
< div class = "line" >< a id = "l00667" name = "l00667" ></ a >< span class = "lineno" > 667</ span > < span class = "keywordtype" > bool</ span > intraSession = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00668" name = "l00668" ></ a >< span class = "lineno" > 668</ span > < span class = "keywordtype" > bool</ span > interSession = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00669" name = "l00669" ></ a >< span class = "lineno" > 669</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > * state = 0,</ div >
< div class = "line" >< a id = "l00670" name = "l00670" ></ a >< span class = "lineno" > 670</ span > < span class = "keywordtype" > float</ span > clusterRadiusMin = 0.0f,</ div >
< div class = "line" >< a id = "l00671" name = "l00671" ></ a >< span class = "lineno" > 671</ span > < span class = "keywordtype" > int</ span > toFromMapId = -1);</ div >
< div class = "line" >< a id = "l00684" name = "l00684" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7" > 684</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7" > globalBundleAdjustment</ a > (</ div >
< div class = "line" >< a id = "l00685" name = "l00685" ></ a >< span class = "lineno" > 685</ span > < span class = "keywordtype" > int</ span > optimizerType = 1 < span class = "comment" > /*g2o*/</ span > ,</ div >
< div class = "line" >< a id = "l00686" name = "l00686" ></ a >< span class = "lineno" > 686</ span > < span class = "keywordtype" > bool</ span > rematchFeatures = < span class = "keyword" > true</ span > ,</ div >
< div class = "line" >< a id = "l00687" name = "l00687" ></ a >< span class = "lineno" > 687</ span > < span class = "keywordtype" > int</ span > iterations = 0,</ div >
< div class = "line" >< a id = "l00688" name = "l00688" ></ a >< span class = "lineno" > 688</ span > < span class = "keywordtype" > float</ span > pixelVariance = 0.0f);</ div >
< div class = "line" >< a id = "l00697" name = "l00697" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f" > 697</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f" > cleanupLocalGrids</ a > (</ div >
< div class = "line" >< a id = "l00698" name = "l00698" ></ a >< span class = "lineno" > 698</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & mapPoses,</ div >
< div class = "line" >< a id = "l00699" name = "l00699" ></ a >< span class = "lineno" > 699</ span > < span class = "keyword" > const</ span > cv::Mat & map,</ div >
< div class = "line" >< a id = "l00700" name = "l00700" ></ a >< span class = "lineno" > 700</ span > < span class = "keywordtype" > float</ span > xMin,</ div >
< div class = "line" >< a id = "l00701" name = "l00701" ></ a >< span class = "lineno" > 701</ span > < span class = "keywordtype" > float</ span > yMin,</ div >
< div class = "line" >< a id = "l00702" name = "l00702" ></ a >< span class = "lineno" > 702</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00703" name = "l00703" ></ a >< span class = "lineno" > 703</ span > < span class = "keywordtype" > int</ span > cropRadius = 1,</ div >
< div class = "line" >< a id = "l00704" name = "l00704" ></ a >< span class = "lineno" > 704</ span > < span class = "keywordtype" > bool</ span > filterScans = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00720" name = "l00720" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10" > 720</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10" > refineLinks</ a > ();</ div >
< div class = "line" >< a id = "l00729" name = "l00729" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5" > 729</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5" > addLink</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Link.html" > Link</ a > & link);</ div >
< div class = "line" >< a id = "l00735" name = "l00735" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc" > 735</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc" > getInformation</ a > (< span class = "keyword" > const</ span > cv::Mat & covariance) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00750" name = "l00750" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232" > 750</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232" > addNodesToRepublish</ a > (< span class = "keyword" > const</ span > std::vector< int> & ids);</ div >
< div class = "line" >< a id = "l00773" name = "l00773" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d" > 773</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d" > setDummyDictionary</ a > (< span class = "keywordtype" > bool</ span > enabled = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00774" name = "l00774" ></ a >< span class = "lineno" > 774</ span > </ div >
< div class = "line" >< a id = "l00776" name = "l00776" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b" > 776</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b" > getPathStatus</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _pathStatus;}</ div >
< div class = "line" >< a id = "l00781" name = "l00781" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103" > 781</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103" > clearPath</ a > (< span class = "keywordtype" > int</ span > status);</ div >
< div class = "line" >< a id = "l00794" name = "l00794" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df" > 794</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df" > computePath</ a > (< span class = "keywordtype" > int</ span > targetNode, < span class = "keywordtype" > bool</ span > global);</ div >
< div class = "line" >< a id = "l00803" name = "l00803" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49" > 803</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49" > computePath</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & targetPose, < span class = "keywordtype" > float</ span > tolerance = -1.0f);</ div >
< div class = "line" >< a id = "l00805" name = "l00805" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1" > 805</ a ></ span > < span class = "keyword" > const</ span > std::vector< std::pair< int, Transform> > & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1" > getPath</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _path;}</ div >
< div class = "line" >< a id = "l00807" name = "l00807" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be" > 807</ a ></ span > std::vector< std::pair< int, Transform> > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be" > getPathNextPoses</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00809" name = "l00809" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739" > 809</ a ></ span > std::vector< int> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739" > getPathNextNodes</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00811" name = "l00811" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c" > 811</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c" > getPathCurrentGoalId</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00813" name = "l00813" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84" > 813</ a ></ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84" > getPathCurrentIndex</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _pathCurrentIndex;}</ div >
< div class = "line" >< a id = "l00815" name = "l00815" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345" > 815</ a ></ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345" > getPathCurrentGoalIndex</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _pathGoalIndex;}</ div >
< div class = "line" >< a id = "l00817" name = "l00817" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5" > 817</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5" > getPathTransformToGoal</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _pathTransformToGoal;}</ div >
< div class = "line" >< a id = "l00818" name = "l00818" ></ a >< span class = "lineno" > 818</ span > </ div >
< div class = "line" >< a id = "l00843" name = "l00843" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872" > 843</ a ></ span > std::map< int, Transform> < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872" > getForwardWMPoses</ a > (< span class = "keywordtype" > int</ span > fromId, < span class = "keywordtype" > int</ span > maxNearestNeighbors, < span class = "keywordtype" > float</ span > radius, < span class = "keywordtype" > int</ span > maxDiffID) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00879" name = "l00879" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7" > 879</ a ></ span > std::map< int, std::map< int, Transform> > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7" > getPaths</ a > (< span class = "keyword" > const</ span > std::map< int, Transform> & poses, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & target, < span class = "keywordtype" > int</ span > maxGraphDepth = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00910" name = "l00910" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413" > 910</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413" > adjustLikelihood</ a > (std::map< int, float> & likelihood) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00911" name = "l00911" ></ a >< span class = "lineno" > 911</ span > </ div >
< div class = "line" >< a id = "l00912" name = "l00912" ></ a >< span class = "lineno" > 912</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00913" name = "l00913" ></ a >< span class = "lineno" > 913</ span > < span class = "keywordtype" > void</ span > optimizeCurrentMap(< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > ,</ div >
< div class = "line" >< a id = "l00914" name = "l00914" ></ a >< span class = "lineno" > 914</ span > < span class = "keywordtype" > bool</ span > lookInDatabase,</ div >
< div class = "line" >< a id = "l00915" name = "l00915" ></ a >< span class = "lineno" > 915</ span > std::map< int, Transform> & optimizedPoses,</ div >
< div class = "line" >< a id = "l00916" name = "l00916" ></ a >< span class = "lineno" > 916</ span > cv::Mat & covariance,</ div >
< div class = "line" >< a id = "l00917" name = "l00917" ></ a >< span class = "lineno" > 917</ span > std::multimap< int, Link> * constraints = 0,</ div >
< div class = "line" >< a id = "l00918" name = "l00918" ></ a >< span class = "lineno" > 918</ span > < span class = "keywordtype" > double</ span > * error = 0,</ div >
< div class = "line" >< a id = "l00919" name = "l00919" ></ a >< span class = "lineno" > 919</ span > < span class = "keywordtype" > int</ span > * iterationsDone = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00920" name = "l00920" ></ a >< span class = "lineno" > 920</ span > std::map< int, Transform> optimizeGraph(</ div >
< div class = "line" >< a id = "l00921" name = "l00921" ></ a >< span class = "lineno" > 921</ span > < span class = "keywordtype" > int</ span > fromId,</ div >
< div class = "line" >< a id = "l00922" name = "l00922" ></ a >< span class = "lineno" > 922</ span > < span class = "keyword" > const</ span > std::set< int> & ids,</ div >
< div class = "line" >< a id = "l00923" name = "l00923" ></ a >< span class = "lineno" > 923</ span > < span class = "keyword" > const</ span > std::map< int, Transform> & guessPoses,</ div >
< div class = "line" >< a id = "l00924" name = "l00924" ></ a >< span class = "lineno" > 924</ span > < span class = "keywordtype" > bool</ span > lookInDatabase,</ div >
< div class = "line" >< a id = "l00925" name = "l00925" ></ a >< span class = "lineno" > 925</ span > cv::Mat & covariance,</ div >
< div class = "line" >< a id = "l00926" name = "l00926" ></ a >< span class = "lineno" > 926</ span > std::multimap< int, Link> * constraints = 0,</ div >
< div class = "line" >< a id = "l00927" name = "l00927" ></ a >< span class = "lineno" > 927</ span > < span class = "keywordtype" > double</ span > * error = 0,</ div >
< div class = "line" >< a id = "l00928" name = "l00928" ></ a >< span class = "lineno" > 928</ span > < span class = "keywordtype" > int</ span > * iterationsDone = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00929" name = "l00929" ></ a >< span class = "lineno" > 929</ span > std::list< std::pair< int, int> > repairGraph(</ div >
< div class = "line" >< a id = "l00930" name = "l00930" ></ a >< span class = "lineno" > 930</ span > < a class = "code hl_struct" href = "structrtabmap_1_1graph_1_1MaxGraphErrors.html" > graph::MaxGraphErrors</ a > & maxGraphErrors,</ div >
< div class = "line" >< a id = "l00931" name = "l00931" ></ a >< span class = "lineno" > 931</ span > std::map< int, Transform> & poses,</ div >
< div class = "line" >< a id = "l00932" name = "l00932" ></ a >< span class = "lineno" > 932</ span > std::multimap< int, Link> & constraints,</ div >
< div class = "line" >< a id = "l00933" name = "l00933" ></ a >< span class = "lineno" > 933</ span > < span class = "keywordtype" > double</ span > & optimizationError,</ div >
< div class = "line" >< a id = "l00934" name = "l00934" ></ a >< span class = "lineno" > 934</ span > < span class = "keywordtype" > int</ span > & optimizationIterations,</ div >
< div class = "line" >< a id = "l00935" name = "l00935" ></ a >< span class = "lineno" > 935</ span > cv::Mat & optimizationCovariance);</ div >
< div class = "line" >< a id = "l00936" name = "l00936" ></ a >< span class = "lineno" > 936</ span > < span class = "keywordtype" > void</ span > updateGoalIndex();</ div >
< div class = "line" >< a id = "l00937" name = "l00937" ></ a >< span class = "lineno" > 937</ span > < span class = "keywordtype" > bool</ span > computePath(< span class = "keywordtype" > int</ span > targetNode, std::map< int, Transform> nodes, < span class = "keyword" > const</ span > std::multimap< int, rtabmap::Link> & constraints);</ div >
< div class = "line" >< a id = "l00938" name = "l00938" ></ a >< span class = "lineno" > 938</ span > </ div >
< div class = "line" >< a id = "l00939" name = "l00939" ></ a >< span class = "lineno" > 939</ span > < span class = "keywordtype" > void</ span > createGlobalScanMap();</ div >
< div class = "line" >< a id = "l00940" name = "l00940" ></ a >< span class = "lineno" > 940</ span > </ div >
< div class = "line" >< a id = "l00941" name = "l00941" ></ a >< span class = "lineno" > 941</ span > < span class = "keywordtype" > void</ span > setupLogFiles(< span class = "keywordtype" > bool</ span > overwrite = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00942" name = "l00942" ></ a >< span class = "lineno" > 942</ span > < span class = "keywordtype" > void</ span > flushStatisticLogs();</ div >
< div class = "line" >< a id = "l00943" name = "l00943" ></ a >< span class = "lineno" > 943</ span > </ div >
< div class = "line" >< a id = "l00944" name = "l00944" ></ a >< span class = "lineno" > 944</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00945" name = "l00945" ></ a >< span class = "lineno" > 945</ span > < span class = "comment" > // Modifiable parameters</ span ></ div >
< div class = "line" >< a id = "l00946" name = "l00946" ></ a >< span class = "lineno" > 946</ span > < span class = "keywordtype" > bool</ span > _publishStats;</ div >
< div class = "line" >< a id = "l00947" name = "l00947" ></ a >< span class = "lineno" > 947</ span > < span class = "keywordtype" > bool</ span > _publishLastSignatureData;</ div >
< div class = "line" >< a id = "l00948" name = "l00948" ></ a >< span class = "lineno" > 948</ span > < span class = "keywordtype" > bool</ span > _publishPdf;</ div >
< div class = "line" >< a id = "l00949" name = "l00949" ></ a >< span class = "lineno" > 949</ span > < span class = "keywordtype" > bool</ span > _publishLikelihood;</ div >
< div class = "line" >< a id = "l00950" name = "l00950" ></ a >< span class = "lineno" > 950</ span > < span class = "keywordtype" > bool</ span > _publishRAMUsage;</ div >
< div class = "line" >< a id = "l00951" name = "l00951" ></ a >< span class = "lineno" > 951</ span > < span class = "keywordtype" > bool</ span > _computeRMSE;</ div >
< div class = "line" >< a id = "l00952" name = "l00952" ></ a >< span class = "lineno" > 952</ span > < span class = "keywordtype" > bool</ span > _saveWMState;</ div >
< div class = "line" >< a id = "l00953" name = "l00953" ></ a >< span class = "lineno" > 953</ span > < span class = "keywordtype" > float</ span > _maxTimeAllowed; </ div >
< div class = "line" >< a id = "l00954" name = "l00954" ></ a >< span class = "lineno" > 954</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _maxMemoryAllowed; </ div >
< div class = "line" >< a id = "l00955" name = "l00955" ></ a >< span class = "lineno" > 955</ span > < span class = "keywordtype" > float</ span > _loopThr;</ div >
< div class = "line" >< a id = "l00956" name = "l00956" ></ a >< span class = "lineno" > 956</ span > < span class = "keywordtype" > float</ span > _loopRatio;</ div >
< div class = "line" >< a id = "l00957" name = "l00957" ></ a >< span class = "lineno" > 957</ span > < span class = "keywordtype" > float</ span > _aggressiveLoopThr;</ div >
< div class = "line" >< a id = "l00958" name = "l00958" ></ a >< span class = "lineno" > 958</ span > < span class = "keywordtype" > int</ span > _virtualPlaceLikelihoodRatio;</ div >
< div class = "line" >< a id = "l00959" name = "l00959" ></ a >< span class = "lineno" > 959</ span > < span class = "keywordtype" > float</ span > _maxLoopClosureDistance;</ div >
< div class = "line" >< a id = "l00960" name = "l00960" ></ a >< span class = "lineno" > 960</ span > < span class = "keywordtype" > bool</ span > _verifyLoopClosureHypothesis;</ div >
< div class = "line" >< a id = "l00961" name = "l00961" ></ a >< span class = "lineno" > 961</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _maxRetrieved;</ div >
< div class = "line" >< a id = "l00962" name = "l00962" ></ a >< span class = "lineno" > 962</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _maxLocalRetrieved;</ div >
< div class = "line" >< a id = "l00963" name = "l00963" ></ a >< span class = "lineno" > 963</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _maxRepublished;</ div >
< div class = "line" >< a id = "l00964" name = "l00964" ></ a >< span class = "lineno" > 964</ span > < span class = "keywordtype" > bool</ span > _rawDataKept;</ div >
< div class = "line" >< a id = "l00965" name = "l00965" ></ a >< span class = "lineno" > 965</ span > < span class = "keywordtype" > bool</ span > _statisticLogsBufferedInRAM;</ div >
< div class = "line" >< a id = "l00966" name = "l00966" ></ a >< span class = "lineno" > 966</ span > < span class = "keywordtype" > bool</ span > _statisticLogged;</ div >
< div class = "line" >< a id = "l00967" name = "l00967" ></ a >< span class = "lineno" > 967</ span > < span class = "keywordtype" > bool</ span > _statisticLoggedHeaders;</ div >
< div class = "line" >< a id = "l00968" name = "l00968" ></ a >< span class = "lineno" > 968</ span > < span class = "keywordtype" > bool</ span > _rgbdSlamMode;</ div >
< div class = "line" >< a id = "l00969" name = "l00969" ></ a >< span class = "lineno" > 969</ span > < span class = "keywordtype" > float</ span > _rgbdLinearUpdate;</ div >
< div class = "line" >< a id = "l00970" name = "l00970" ></ a >< span class = "lineno" > 970</ span > < span class = "keywordtype" > float</ span > _rgbdAngularUpdate;</ div >
< div class = "line" >< a id = "l00971" name = "l00971" ></ a >< span class = "lineno" > 971</ span > < span class = "keywordtype" > float</ span > _rgbdLinearSpeedUpdate;</ div >
< div class = "line" >< a id = "l00972" name = "l00972" ></ a >< span class = "lineno" > 972</ span > < span class = "keywordtype" > float</ span > _rgbdAngularSpeedUpdate;</ div >
< div class = "line" >< a id = "l00973" name = "l00973" ></ a >< span class = "lineno" > 973</ span > < span class = "keywordtype" > float</ span > _newMapOdomChangeDistance;</ div >
< div class = "line" >< a id = "l00974" name = "l00974" ></ a >< span class = "lineno" > 974</ span > < span class = "keywordtype" > bool</ span > _neighborLinkRefining;</ div >
< div class = "line" >< a id = "l00975" name = "l00975" ></ a >< span class = "lineno" > 975</ span > < span class = "keywordtype" > bool</ span > _proximityByTime;</ div >
< div class = "line" >< a id = "l00976" name = "l00976" ></ a >< span class = "lineno" > 976</ span > < span class = "keywordtype" > bool</ span > _proximityBySpace;</ div >
< div class = "line" >< a id = "l00977" name = "l00977" ></ a >< span class = "lineno" > 977</ span > < span class = "keywordtype" > bool</ span > _scanMatchingIdsSavedInLinks;</ div >
< div class = "line" >< a id = "l00978" name = "l00978" ></ a >< span class = "lineno" > 978</ span > < span class = "keywordtype" > bool</ span > _loopClosureIdentityGuess;</ div >
< div class = "line" >< a id = "l00979" name = "l00979" ></ a >< span class = "lineno" > 979</ span > < span class = "keywordtype" > float</ span > _localRadius;</ div >
< div class = "line" >< a id = "l00980" name = "l00980" ></ a >< span class = "lineno" > 980</ span > < span class = "keywordtype" > float</ span > _localImmunizationRatio;</ div >
< div class = "line" >< a id = "l00981" name = "l00981" ></ a >< span class = "lineno" > 981</ span > < span class = "keywordtype" > int</ span > _proximityMaxGraphDepth;</ div >
< div class = "line" >< a id = "l00982" name = "l00982" ></ a >< span class = "lineno" > 982</ span > < span class = "keywordtype" > int</ span > _proximityMaxPaths;</ div >
< div class = "line" >< a id = "l00983" name = "l00983" ></ a >< span class = "lineno" > 983</ span > < span class = "keywordtype" > int</ span > _proximityMaxNeighbors;</ div >
< div class = "line" >< a id = "l00984" name = "l00984" ></ a >< span class = "lineno" > 984</ span > < span class = "keywordtype" > float</ span > _proximityFilteringRadius;</ div >
< div class = "line" >< a id = "l00985" name = "l00985" ></ a >< span class = "lineno" > 985</ span > < span class = "keywordtype" > bool</ span > _proximityRawPosesUsed;</ div >
< div class = "line" >< a id = "l00986" name = "l00986" ></ a >< span class = "lineno" > 986</ span > < span class = "keywordtype" > float</ span > _proximityAngle;</ div >
< div class = "line" >< a id = "l00987" name = "l00987" ></ a >< span class = "lineno" > 987</ span > < span class = "keywordtype" > bool</ span > _proximityOdomGuess;</ div >
< div class = "line" >< a id = "l00988" name = "l00988" ></ a >< span class = "lineno" > 988</ span > < span class = "keywordtype" > double</ span > _proximityMergedScanCovFactor;</ div >
< div class = "line" >< a id = "l00989" name = "l00989" ></ a >< span class = "lineno" > 989</ span > std::string _databasePath;</ div >
< div class = "line" >< a id = "l00990" name = "l00990" ></ a >< span class = "lineno" > 990</ span > < span class = "keywordtype" > bool</ span > _optimizeFromGraphEnd;</ div >
< div class = "line" >< a id = "l00991" name = "l00991" ></ a >< span class = "lineno" > 991</ span > < span class = "keywordtype" > float</ span > _optimizationMaxError;</ div >
< div class = "line" >< a id = "l00992" name = "l00992" ></ a >< span class = "lineno" > 992</ span > < span class = "keywordtype" > float</ span > _optimizationMaxErrorRepairRadius;</ div >
< div class = "line" >< a id = "l00993" name = "l00993" ></ a >< span class = "lineno" > 993</ span > < span class = "keywordtype" > bool</ span > _startNewMapOnLoopClosure;</ div >
< div class = "line" >< a id = "l00994" name = "l00994" ></ a >< span class = "lineno" > 994</ span > < span class = "keywordtype" > bool</ span > _startNewMapOnGoodSignature;</ div >
< div class = "line" >< a id = "l00995" name = "l00995" ></ a >< span class = "lineno" > 995</ span > < span class = "keywordtype" > float</ span > _goalReachedRadius; </ div >
< div class = "line" >< a id = "l00996" name = "l00996" ></ a >< span class = "lineno" > 996</ span > < span class = "keywordtype" > bool</ span > _goalsSavedInUserData;</ div >
< div class = "line" >< a id = "l00997" name = "l00997" ></ a >< span class = "lineno" > 997</ span > < span class = "keywordtype" > int</ span > _pathStuckIterations;</ div >
< div class = "line" >< a id = "l00998" name = "l00998" ></ a >< span class = "lineno" > 998</ span > < span class = "keywordtype" > float</ span > _pathLinearVelocity;</ div >
< div class = "line" >< a id = "l00999" name = "l00999" ></ a >< span class = "lineno" > 999</ span > < span class = "keywordtype" > float</ span > _pathAngularVelocity;</ div >
< div class = "line" >< a id = "l01000" name = "l01000" ></ a >< span class = "lineno" > 1000</ span > < span class = "keywordtype" > bool</ span > _forceOdom3doF;</ div >
< div class = "line" >< a id = "l01001" name = "l01001" ></ a >< span class = "lineno" > 1001</ span > < span class = "keywordtype" > bool</ span > _restartAtOrigin;</ div >
< div class = "line" >< a id = "l01002" name = "l01002" ></ a >< span class = "lineno" > 1002</ span > < span class = "keywordtype" > bool</ span > _loopCovLimited;</ div >
< div class = "line" >< a id = "l01003" name = "l01003" ></ a >< span class = "lineno" > 1003</ span > < span class = "keywordtype" > bool</ span > _loopGPS;</ div >
< div class = "line" >< a id = "l01004" name = "l01004" ></ a >< span class = "lineno" > 1004</ span > < span class = "keywordtype" > int</ span > _maxOdomCacheSize;</ div >
< div class = "line" >< a id = "l01005" name = "l01005" ></ a >< span class = "lineno" > 1005</ span > < span class = "keywordtype" > bool</ span > _localizationSmoothing;</ div >
< div class = "line" >< a id = "l01006" name = "l01006" ></ a >< span class = "lineno" > 1006</ span > < span class = "keywordtype" > double</ span > _localizationPriorInf;</ div >
< div class = "line" >< a id = "l01007" name = "l01007" ></ a >< span class = "lineno" > 1007</ span > < span class = "keywordtype" > bool</ span > _localizationSecondTryWithoutProximityLinks;</ div >
< div class = "line" >< a id = "l01008" name = "l01008" ></ a >< span class = "lineno" > 1008</ span > < span class = "keywordtype" > bool</ span > _createGlobalScanMap;</ div >
< div class = "line" >< a id = "l01009" name = "l01009" ></ a >< span class = "lineno" > 1009</ span > < span class = "keywordtype" > float</ span > _markerPriorsLinearVariance;</ div >
< div class = "line" >< a id = "l01010" name = "l01010" ></ a >< span class = "lineno" > 1010</ span > < span class = "keywordtype" > float</ span > _markerPriorsAngularVariance;</ div >
< div class = "line" >< a id = "l01011" name = "l01011" ></ a >< span class = "lineno" > 1011</ span > </ div >
< div class = "line" >< a id = "l01012" name = "l01012" ></ a >< span class = "lineno" > 1012</ span > std::pair< int, float> _loopClosureHypothesis;</ div >
< div class = "line" >< a id = "l01013" name = "l01013" ></ a >< span class = "lineno" > 1013</ span > std::pair< int, float> _highestHypothesis;</ div >
< div class = "line" >< a id = "l01014" name = "l01014" ></ a >< span class = "lineno" > 1014</ span > < span class = "keywordtype" > double</ span > _lastProcessTime;</ div >
< div class = "line" >< a id = "l01015" name = "l01015" ></ a >< span class = "lineno" > 1015</ span > < span class = "keywordtype" > bool</ span > _someNodesHaveBeenTransferred;</ div >
< div class = "line" >< a id = "l01016" name = "l01016" ></ a >< span class = "lineno" > 1016</ span > < span class = "keywordtype" > float</ span > _distanceTravelled;</ div >
< div class = "line" >< a id = "l01017" name = "l01017" ></ a >< span class = "lineno" > 1017</ span > < span class = "keywordtype" > float</ span > _distanceTravelledSinceLastLocalization;</ div >
< div class = "line" >< a id = "l01018" name = "l01018" ></ a >< span class = "lineno" > 1018</ span > < span class = "keywordtype" > bool</ span > _optimizeFromGraphEndChanged;</ div >
< div class = "line" >< a id = "l01019" name = "l01019" ></ a >< span class = "lineno" > 1019</ span > </ div >
< div class = "line" >< a id = "l01020" name = "l01020" ></ a >< span class = "lineno" > 1020</ span > < span class = "comment" > // Abstract classes containing all loop closure</ span ></ div >
< div class = "line" >< a id = "l01021" name = "l01021" ></ a >< span class = "lineno" > 1021</ span > < span class = "comment" > // strategies for a type of signature or configuration.</ span ></ div >
< div class = "line" >< a id = "l01022" name = "l01022" ></ a >< span class = "lineno" > 1022</ span > < a class = "code hl_class" href = "classrtabmap_1_1EpipolarGeometry.html" > EpipolarGeometry</ a > * _epipolarGeometry;</ div >
< div class = "line" >< a id = "l01023" name = "l01023" ></ a >< span class = "lineno" > 1023</ span > < a class = "code hl_class" href = "classrtabmap_1_1BayesFilter.html" > BayesFilter</ a > * _bayesFilter;</ div >
< div class = "line" >< a id = "l01024" name = "l01024" ></ a >< span class = "lineno" > 1024</ span > < a class = "code hl_class" href = "classrtabmap_1_1Optimizer.html" > Optimizer</ a > * _graphOptimizer;</ div >
< div class = "line" >< a id = "l01025" name = "l01025" ></ a >< span class = "lineno" > 1025</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > _parameters;</ div >
< div class = "line" >< a id = "l01026" name = "l01026" ></ a >< span class = "lineno" > 1026</ span > </ div >
< div class = "line" >< a id = "l01027" name = "l01027" ></ a >< span class = "lineno" > 1027</ span > < a class = "code hl_class" href = "classrtabmap_1_1Memory.html" > Memory</ a > * _memory;</ div >
< div class = "line" >< a id = "l01028" name = "l01028" ></ a >< span class = "lineno" > 1028</ span > </ div >
< div class = "line" >< a id = "l01029" name = "l01029" ></ a >< span class = "lineno" > 1029</ span > FILE* _foutFloat;</ div >
< div class = "line" >< a id = "l01030" name = "l01030" ></ a >< span class = "lineno" > 1030</ span > FILE* _foutInt;</ div >
< div class = "line" >< a id = "l01031" name = "l01031" ></ a >< span class = "lineno" > 1031</ span > std::list< std::string> _bufferedLogsF;</ div >
< div class = "line" >< a id = "l01032" name = "l01032" ></ a >< span class = "lineno" > 1032</ span > std::list< std::string> _bufferedLogsI;</ div >
< div class = "line" >< a id = "l01033" name = "l01033" ></ a >< span class = "lineno" > 1033</ span > </ div >
< div class = "line" >< a id = "l01034" name = "l01034" ></ a >< span class = "lineno" > 1034</ span > < a class = "code hl_class" href = "classrtabmap_1_1Statistics.html" > Statistics</ a > statistics_;</ div >
< div class = "line" >< a id = "l01035" name = "l01035" ></ a >< span class = "lineno" > 1035</ span > </ div >
< div class = "line" >< a id = "l01036" name = "l01036" ></ a >< span class = "lineno" > 1036</ span > std::string _wDir;</ div >
< div class = "line" >< a id = "l01037" name = "l01037" ></ a >< span class = "lineno" > 1037</ span > </ div >
< div class = "line" >< a id = "l01038" name = "l01038" ></ a >< span class = "lineno" > 1038</ span > std::map< int, Transform> _optimizedPoses;</ div >
< div class = "line" >< a id = "l01039" name = "l01039" ></ a >< span class = "lineno" > 1039</ span > std::multimap< int, Link> _constraints;</ div >
< div class = "line" >< a id = "l01040" name = "l01040" ></ a >< span class = "lineno" > 1040</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > _mapCorrection;</ div >
< div class = "line" >< a id = "l01041" name = "l01041" ></ a >< span class = "lineno" > 1041</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > _mapCorrectionBackup; </ div >
< div class = "line" >< a id = "l01042" name = "l01042" ></ a >< span class = "lineno" > 1042</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > _lastLocalizationPose; </ div >
< div class = "line" >< a id = "l01043" name = "l01043" ></ a >< span class = "lineno" > 1043</ span > < span class = "keywordtype" > int</ span > _lastLocalizationNodeId; </ div >
< div class = "line" >< a id = "l01044" name = "l01044" ></ a >< span class = "lineno" > 1044</ span > cv::Mat _localizationCovariance;</ div >
< div class = "line" >< a id = "l01045" name = "l01045" ></ a >< span class = "lineno" > 1045</ span > std::map< int, std::pair< cv::Point3d, Transform> > _gpsGeocentricCache;</ div >
< div class = "line" >< a id = "l01046" name = "l01046" ></ a >< span class = "lineno" > 1046</ span > < span class = "keywordtype" > bool</ span > _currentSessionHasGPS;</ div >
< div class = "line" >< a id = "l01047" name = "l01047" ></ a >< span class = "lineno" > 1047</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > _globalScanMap;</ div >
< div class = "line" >< a id = "l01048" name = "l01048" ></ a >< span class = "lineno" > 1048</ span > std::map< int, Transform> _globalScanMapPoses;</ div >
< div class = "line" >< a id = "l01049" name = "l01049" ></ a >< span class = "lineno" > 1049</ span > std::map< int, Transform> _odomCachePoses; </ div >
< div class = "line" >< a id = "l01050" name = "l01050" ></ a >< span class = "lineno" > 1050</ span > std::multimap< int, Link> _odomCacheConstraints; </ div >
< div class = "line" >< a id = "l01051" name = "l01051" ></ a >< span class = "lineno" > 1051</ span > std::map< int, Transform> _markerPriors;</ div >
< div class = "line" >< a id = "l01052" name = "l01052" ></ a >< span class = "lineno" > 1052</ span > std::pair< int, int> _lastRejectedLoopClosureIds;</ div >
< div class = "line" >< a id = "l01053" name = "l01053" ></ a >< span class = "lineno" > 1053</ span > </ div >
< div class = "line" >< a id = "l01054" name = "l01054" ></ a >< span class = "lineno" > 1054</ span > std::set< int> _nodesToRepublish;</ div >
< div class = "line" >< a id = "l01055" name = "l01055" ></ a >< span class = "lineno" > 1055</ span > </ div >
< div class = "line" >< a id = "l01056" name = "l01056" ></ a >< span class = "lineno" > 1056</ span > < span class = "comment" > // Planning stuff</ span ></ div >
< div class = "line" >< a id = "l01057" name = "l01057" ></ a >< span class = "lineno" > 1057</ span > < span class = "keywordtype" > int</ span > _pathStatus;</ div >
< div class = "line" >< a id = "l01058" name = "l01058" ></ a >< span class = "lineno" > 1058</ span > std::vector< std::pair< int,Transform> > _path;</ div >
< div class = "line" >< a id = "l01059" name = "l01059" ></ a >< span class = "lineno" > 1059</ span > std::set< unsigned int> _pathUnreachableNodes;</ div >
< div class = "line" >< a id = "l01060" name = "l01060" ></ a >< span class = "lineno" > 1060</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _pathCurrentIndex;</ div >
< div class = "line" >< a id = "l01061" name = "l01061" ></ a >< span class = "lineno" > 1061</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > _pathGoalIndex;</ div >
< div class = "line" >< a id = "l01062" name = "l01062" ></ a >< span class = "lineno" > 1062</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > _pathTransformToGoal;</ div >
< div class = "line" >< a id = "l01063" name = "l01063" ></ a >< span class = "lineno" > 1063</ span > < span class = "keywordtype" > int</ span > _pathStuckCount;</ div >
< div class = "line" >< a id = "l01064" name = "l01064" ></ a >< span class = "lineno" > 1064</ span > < span class = "keywordtype" > float</ span > _pathStuckDistance;</ div >
< div class = "line" >< a id = "l01065" name = "l01065" ></ a >< span class = "lineno" > 1065</ span > </ div >
< div class = "line" >< a id = "l01066" name = "l01066" ></ a >< span class = "lineno" > 1066</ span > < span class = "keywordtype" > bool</ span > _dummyDictionary;</ div >
< div class = "line" >< a id = "l01067" name = "l01067" ></ a >< span class = "lineno" > 1067</ span > };</ div >
</ div >
< div class = "line" >< a id = "l01068" name = "l01068" ></ a >< span class = "lineno" > 1068</ span > </ div >
< div class = "line" >< a id = "l01069" name = "l01069" ></ a >< span class = "lineno" > 1069</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
< div class = "line" >< a id = "l01070" name = "l01070" ></ a >< span class = "lineno" > 1070</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* RTABMAP_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1BayesFilter_html" >< div class = "ttname" >< a href = "classrtabmap_1_1BayesFilter.html" > rtabmap::BayesFilter</ a ></ div >< div class = "ttdoc" > Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00081" > BayesFilter.h:82</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1EpipolarGeometry_html" >< div class = "ttname" >< a href = "classrtabmap_1_1EpipolarGeometry.html" > rtabmap::EpipolarGeometry</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EpipolarGeometry_8h_source.html#l00049" > EpipolarGeometry.h:50</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Link_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Link.html" > rtabmap::Link</ a ></ div >< div class = "ttdoc" > Directed constraint between two nodes in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Link_8h_source.html#l00054" > Link.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_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 >
2026-08-10 00:39:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1Optimizer_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Optimizer.html" > rtabmap::Optimizer</ a ></ div >< div class = "ttdoc" > Abstract base for pose-graph and bundle-adjustment optimizers.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Optimizer_8h_source.html#l00090" > Optimizer.h:91</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1ProgressState_html" >< div class = "ttname" >< a href = "classrtabmap_1_1ProgressState.html" > rtabmap::ProgressState</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "ProgressState_8h_source.html#l00035" > ProgressState.h:36</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html" > rtabmap::Rtabmap</ a ></ div >< div class = "ttdoc" > Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00193" > Rtabmap.h:194</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a037ddb5d737e0466d7610b88d8429bd6" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a037ddb5d737e0466d7610b88d8429bd6" > rtabmap::Rtabmap::setUserData</ a ></ div >< div class = "ttdeci" > bool setUserData(int id, const cv::Mat & data)</ div >< div class = "ttdoc" > Attaches user data to signature id, compressing it on the fly if needed.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a08adb5e0b8019c1dbd4f571099d2d46b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a08adb5e0b8019c1dbd4f571099d2d46b" > rtabmap::Rtabmap::getMemory</ a ></ div >< div class = "ttdeci" > const Memory * getMemory() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00351" > Rtabmap.h:351</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a0d2caf505525f635bda914e73aa59232" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a0d2caf505525f635bda914e73aa59232" > rtabmap::Rtabmap::addNodesToRepublish</ a ></ div >< div class = "ttdeci" > void addNodesToRepublish(const std::vector< int > & ids)</ div >< div class = "ttdoc" > Marks node ids whose data should be re-emitted on the next process().</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a14d5c84b61386e95071e90aba406ff49" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a14d5c84b61386e95071e90aba406ff49" > rtabmap::Rtabmap::computePath</ a ></ div >< div class = "ttdeci" > bool computePath(const Transform & targetPose, float tolerance=-1.0f)</ div >< div class = "ttdoc" > Plans a path in the current optimized map toward a metric goal pose.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a1a6498f60f52f65ffbed2d89d7c20648" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a1a6498f60f52f65ffbed2d89d7c20648" > rtabmap::Rtabmap::getNodesInRadius</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > getNodesInRadius(const Transform & pose, float radius, int k=0, std::map< int, float > *distsSqr=0)</ div >< div class = "ttdoc" > Returns optimized poses within a metric radius of pose.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a203a18eb60f6c057518fd5129bbc32ff" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a203a18eb60f6c057518fd5129bbc32ff" > rtabmap::Rtabmap::getWMSize</ a ></ div >< div class = "ttdeci" > int getWMSize() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a25028c3e8d8018c03f47f06150d76eab" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a25028c3e8d8018c03f47f06150d76eab" > rtabmap::Rtabmap::setWorkingDirectory</ a ></ div >< div class = "ttdeci" > void setWorkingDirectory(std::string path)</ div >< div class = "ttdoc" > Sets the working directory used for dumps, logs and temporary files.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a25bfb157aa3be3bd3c8a1d4200329041" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a25bfb157aa3be3bd3c8a1d4200329041" > rtabmap::Rtabmap::init</ a ></ div >< div class = "ttdeci" > void init(const std::string & configFile="" , const std::string & databasePath="" , bool loadDatabaseParameters=false)</ div >< div class = "ttdoc" > Initializes Rtabmap from a configuration file and a database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a2bc8eecb690ec1e36955119cd2c1a197" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a2bc8eecb690ec1e36955119cd2c1a197" > rtabmap::Rtabmap::getLoopClosureId</ a ></ div >< div class = "ttdeci" > int getLoopClosureId() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00301" > Rtabmap.h:301</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a2d2efac02d4a6d1d7bbc505d94fd634b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a2d2efac02d4a6d1d7bbc505d94fd634b" > rtabmap::Rtabmap::getLastLocalizationPose</ a ></ div >< div class = "ttdeci" > const Transform & getLastLocalizationPose() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00363" > Rtabmap.h:363</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a353361aeeece3ce8c799d168a5798a01" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a353361aeeece3ce8c799d168a5798a01" > rtabmap::Rtabmap::getWeights</ a ></ div >< div class = "ttdeci" > std::map< int, int > getWeights() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a35cf8fd93f77d1c148ae6d3107725750" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a35cf8fd93f77d1c148ae6d3107725750" > rtabmap::Rtabmap::process</ a ></ div >< div class = "ttdeci" > bool process(const cv::Mat & image, int id=0, const std::map< std::string, float > & externalStats=std::map< std::string, float > ())</ div >< div class = "ttdoc" > Appearance-only convenience overload (loop-closure detection without odometry).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a38db1c80ae583e255dd6174ba6d41ffc" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a38db1c80ae583e255dd6174ba6d41ffc" > rtabmap::Rtabmap::dumpData</ a ></ div >< div class = "ttdeci" > void dumpData() const</ div >< div class = "ttdoc" > Dumps the Memory state (signatures, words, dictionary) to the working directory.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a3c32f64acd943c676a9b11c7dbd3a5ae" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a3c32f64acd943c676a9b11c7dbd3a5ae" > rtabmap::Rtabmap::generateDOTGraph</ a ></ div >< div class = "ttdeci" > void generateDOTGraph(const std::string & path, int id=0, int margin=5)</ div >< div class = "ttdoc" > Writes a Graphviz DOT file of the pose graph.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a456fa0c95770f052d78f6d9f745fa1e3" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3" > rtabmap::Rtabmap::getGraph</ a ></ div >< div class = "ttdeci" > void getGraph(std::map< int, Transform > & poses, std::multimap< int, Link > & constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const</ div >< div class = "ttdoc" > Extracts a full snapshot of the current pose graph.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a45addb0848702b39c67c2394dd62f739" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a45addb0848702b39c67c2394dd62f739" > rtabmap::Rtabmap::getPathNextNodes</ a ></ div >< div class = "ttdeci" > std::vector< int > getPathNextNodes() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a49adc83991d6b95c7911f41330cbd467" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a49adc83991d6b95c7911f41330cbd467" > rtabmap::Rtabmap::getSTMSize</ a ></ div >< div class = "ttdeci" > int getSTMSize() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a4ab6de2be120bbda75577911d52346d4" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a4ab6de2be120bbda75577911d52346d4" > rtabmap::Rtabmap::triggerNewMap</ a ></ div >< div class = "ttdeci" > int triggerNewMap()</ div >< div class = "ttdoc" > Starts a new map session (next process() will create a fresh map id).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a4d1e329f0c0fcc341d14f6853ec86750" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a4d1e329f0c0fcc341d14f6853ec86750" > rtabmap::Rtabmap::getLocalConstraints</ a ></ div >< div class = "ttdeci" > const std::multimap< int, Link > & getLocalConstraints() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00333" > Rtabmap.h:333</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a4d351e3f5ef809460afbb5a7702a500d" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a4d351e3f5ef809460afbb5a7702a500d" > rtabmap::Rtabmap::setDummyDictionary</ a ></ div >< div class = "ttdeci" > void setDummyDictionary(bool enabled=true)</ div >< div class = "ttdoc" > Loads the visual word dictionary as ids only, without descriptors.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a530c87cda2cd010e384178bced6611a1" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a530c87cda2cd010e384178bced6611a1" > rtabmap::Rtabmap::getHighestHypothesisValue</ a ></ div >< div class = "ttdeci" > float getHighestHypothesisValue() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00307" > Rtabmap.h:307</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a589cd696bffe53a5e00898631e7d9103" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a589cd696bffe53a5e00898631e7d9103" > rtabmap::Rtabmap::clearPath</ a ></ div >< div class = "ttdeci" > void clearPath(int status)</ div >< div class = "ttdoc" > Clears the current path and sets its terminal status.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a596ea3fbeb22c90db9530f6752900ecc" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a596ea3fbeb22c90db9530f6752900ecc" > rtabmap::Rtabmap::isInSTM</ a ></ div >< div class = "ttdeci" > bool isInSTM(int locationId) const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5a461ed88e83d2dbebee819ab6690e7a" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5a461ed88e83d2dbebee819ab6690e7a" > rtabmap::Rtabmap::parseParameters</ a ></ div >< div class = "ttdeci" > void parseParameters(const ParametersMap & parameters)</ div >< div class = "ttdoc" > Re-parses parameters and propagates them to owned sub-objects (Memory, BayesFilter,...</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5d18002c7eb7cee234471686413d201c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5d18002c7eb7cee234471686413d201c" > rtabmap::Rtabmap::getStatistics</ a ></ div >< div class = "ttdeci" > const Statistics & getStatistics() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5e0b2eada8ae885e45df23165bb91d2f" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5e0b2eada8ae885e45df23165bb91d2f" > rtabmap::Rtabmap::close</ a ></ div >< div class = "ttdeci" > void close(bool databaseSaved=true, const std::string & ouputDatabasePath="" )</ div >< div class = "ttdoc" > Closes Rtabmap and releases the underlying Memory.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5e85283c6421dcf9afb6961662e501b8" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5e85283c6421dcf9afb6961662e501b8" > rtabmap::Rtabmap::isIDsGenerated</ a ></ div >< div class = "ttdeci" > bool isIDsGenerated() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5f886101463229fcd79bf3dd6418aa5c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5f886101463229fcd79bf3dd6418aa5c" > rtabmap::Rtabmap::getPathCurrentGoalId</ a ></ div >< div class = "ttdeci" > int getPathCurrentGoalId() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a5fe89ac87283a92258d27f42eb7b13f1" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a5fe89ac87283a92258d27f42eb7b13f1" > rtabmap::Rtabmap::getPath</ a ></ div >< div class = "ttdeci" > const std::vector< std::pair< int, Transform > > & getPath() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00805" > Rtabmap.h:805</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a600d86ab2a67fa08d6a1e726380948ea" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a600d86ab2a67fa08d6a1e726380948ea" > rtabmap::Rtabmap::detectMoreLoopClosures</ a ></ div >< div class = "ttdeci" > int detectMoreLoopClosures(float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f, int toFromMapId=-1)</ div >< div class = "ttdoc" > Post-processing: searches for additional loop closures over the existing graph.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a6098155788f6e9ccaa636e26f8881c07" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07" > rtabmap::Rtabmap::getGoalReachedRadius</ a ></ div >< div class = "ttdeci" > float getGoalReachedRadius() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00353" > Rtabmap.h:353</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a61bc4dce59a1da8b904a7dbe39e5038a" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a61bc4dce59a1da8b904a7dbe39e5038a" > rtabmap::Rtabmap::getWorkingDir</ a ></ div >< div class = "ttdeci" > const std::string & getWorkingDir() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00297" > Rtabmap.h:297</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a6650c241bd6a89f66718ce7a227dfe10" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a6650c241bd6a89f66718ce7a227dfe10" > rtabmap::Rtabmap::refineLinks</ a ></ div >< div class = "ttdeci" > int refineLinks()</ div >< div class = "ttdoc" > Re-runs registration on every link of the current graph and updates the ones that converge.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a6915ee0137b949837addcb5d3ac1646c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a6915ee0137b949837addcb5d3ac1646c" > rtabmap::Rtabmap::setMemoryThreshold</ a ></ div >< div class = "ttdeci" > void setMemoryThreshold(int maxMemoryAllowed)</ div >< div class = "ttdoc" > Sets the maximum number of signatures kept in WM (0 = unbounded).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a691de75b6964ab48d7f1ea53ea40f4c1" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a691de75b6964ab48d7f1ea53ea40f4c1" > rtabmap::Rtabmap::isRGBDMode</ a ></ div >< div class = "ttdeci" > bool isRGBDMode() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00299" > Rtabmap.h:299</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a6a4c533659621ccb1f6a5ddbc8149306" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a6a4c533659621ccb1f6a5ddbc8149306" > rtabmap::Rtabmap::getLocalRadius</ a ></ div >< div class = "ttdeci" > float getLocalRadius() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00355" > Rtabmap.h:355</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a711c479925db2c9f8201aacffe70281b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a711c479925db2c9f8201aacffe70281b" > rtabmap::Rtabmap::init</ a ></ div >< div class = "ttdeci" > void init(const ParametersMap & parameters, const std::string & databasePath="" , bool loadDatabaseParameters=false)</ div >< div class = "ttdoc" > Initializes Rtabmap with parameters and a database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a7133d8efa98410eaec68e0199ff98a0c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a7133d8efa98410eaec68e0199ff98a0c" > rtabmap::Rtabmap::getSignatureCopy</ a ></ div >< div class = "ttdeci" > Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const</ div >< div class = "ttdoc" > Returns a copy of signature id with optional payloads attached.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a781713c190497d5f25d7e12112ae4345" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a781713c190497d5f25d7e12112ae4345" > rtabmap::Rtabmap::getPathCurrentGoalIndex</ a ></ div >< div class = "ttdeci" > unsigned int getPathCurrentGoalIndex() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00815" > Rtabmap.h:815</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a7a841702b925777620714fce7b41fd69" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a7a841702b925777620714fce7b41fd69" > rtabmap::Rtabmap::setOptimizedPoses</ a ></ div >< div class = "ttdeci" > void setOptimizedPoses(const std::map< int, Transform > & poses, const std::multimap< int, Link > & constraints)</ div >< div class = "ttdoc" > Replaces the current optimized poses and constraints with externally provided ones.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a7b71f70a20f1ef42a65fa9571e254711" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711" > rtabmap::Rtabmap::getMapCorrection</ a ></ div >< div class = "ttdeci" > Transform getMapCorrection() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00349" > Rtabmap.h:349</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a809673c3d0e6d8fb05ebb4a52218d438" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a809673c3d0e6d8fb05ebb4a52218d438" > rtabmap::Rtabmap::getSTM</ a ></ div >< div class = "ttdeci" > std::set< int > getSTM() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a80add8fadd488d0c7781c249abea0d5d" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a80add8fadd488d0c7781c249abea0d5d" > rtabmap::Rtabmap::setTimeThreshold</ a ></ div >< div class = "ttdeci" > void setTimeThreshold(float maxTimeAllowed)</ div >< div class = "ttdoc" > Sets the per-iteration time budget (ms).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a8400ccecd090cb438d16178930fe0872" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872" > rtabmap::Rtabmap::getForwardWMPoses</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const</ div >< div class = "ttdoc" > Returns optimized poses of WM nodes located in front of fromId.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a876d3599c76de815bee4b278a087cfa5" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a876d3599c76de815bee4b278a087cfa5" > rtabmap::Rtabmap::getMemoryThreshold</ a ></ div >< div class = "ttdeci" > int getMemoryThreshold() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00388" > Rtabmap.h:388</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a88ffdd1ba70707e5969deab4f6ee66a0" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a88ffdd1ba70707e5969deab4f6ee66a0" > rtabmap::Rtabmap::getLastProcessTime</ a ></ div >< div class = "ttdeci" > double getLastProcessTime() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00323" > Rtabmap.h:323</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a91cedf4574a557cadf6daded489e4dbe" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a91cedf4574a557cadf6daded489e4dbe" > rtabmap::Rtabmap::process</ a ></ div >< div class = "ttdeci" > bool process(const SensorData & data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > & odomVelocity=std::vector< float > (), const std::map< std::string, float > & externalStats=std::map< std::string, float > ())</ div >< div class = "ttdoc" > Convenience overload: builds a diagonal covariance from scalar variances.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a9406c710b7af988dda1868a3efa8f1dd" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a9406c710b7af988dda1868a3efa8f1dd" > rtabmap::Rtabmap::getLastLocationId</ a ></ div >< div class = "ttdeci" > int getLastLocationId() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a94eecd89994fc02a913b1eb087d85c84" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a94eecd89994fc02a913b1eb087d85c84" > rtabmap::Rtabmap::getPathCurrentIndex</ a ></ div >< div class = "ttdeci" > unsigned int getPathCurrentIndex() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00813" > Rtabmap.h:813</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a9a9321531773f37cd5d7740495ede47f" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a9a9321531773f37cd5d7740495ede47f" > rtabmap::Rtabmap::setInitialPose</ a ></ div >< div class = "ttdeci" > void setInitialPose(const Transform & initialPose)</ div >< div class = "ttdoc" > Sets the localization prior pose used to seed the next process() call (localization mode only).</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a9ac5900cbc165df1c501606f79c65ec1" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a9ac5900cbc165df1c501606f79c65ec1" > rtabmap::Rtabmap::getParameters</ a ></ div >< div class = "ttdeci" > const ParametersMap & getParameters() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00526" > Rtabmap.h:526</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_a9bd263bbcdbc6f41119f8532131db974" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#a9bd263bbcdbc6f41119f8532131db974" > rtabmap::Rtabmap::getNodesInRadius</ a ></ div >< div class = "ttdeci" > std::map< int, Transform > getNodesInRadius(int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)</ div >< div class = "ttdoc" > Returns optimized poses within a metric radius of node nodeId.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aad648f09bb04b193907528987ccda413" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aad648f09bb04b193907528987ccda413" > rtabmap::Rtabmap::adjustLikelihood</ a ></ div >< div class = "ttdeci" > void adjustLikelihood(std::map< int, float > & likelihood) const</ div >< div class = "ttdoc" > Applies the standard RTAB-Map likelihood adjustment.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ab04bd616db9107a705faf5b3395a73d3" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ab04bd616db9107a705faf5b3395a73d3" > rtabmap::Rtabmap::rejectLastLoopClosure</ a ></ div >< div class = "ttdeci" > void rejectLastLoopClosure()</ div >< div class = "ttdoc" > Removes the loop-closure link added at the last process() iteration.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ab1044f290653749990018ca5722f00c7" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ab1044f290653749990018ca5722f00c7" > rtabmap::Rtabmap::globalBundleAdjustment</ a ></ div >< div class = "ttdeci" > bool globalBundleAdjustment(int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)</ div >< div class = "ttdoc" > Runs a global bundle adjustment over the optimized graph.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ab11a50751ab17717f567934e7cb2c450" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450" > rtabmap::Rtabmap::getHighestHypothesisId</ a ></ div >< div class = "ttdeci" > int getHighestHypothesisId() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00305" > Rtabmap.h:305</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ab44f1bca06eec4beb8dfebeed9ed5ce8" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ab44f1bca06eec4beb8dfebeed9ed5ce8" > rtabmap::Rtabmap::getTotalMemSize</ a ></ div >< div class = "ttdeci" > int getTotalMemSize() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ab797f7f5bb73a507ba4d4672cd5476df" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ab797f7f5bb73a507ba4d4672cd5476df" > rtabmap::Rtabmap::computePath</ a ></ div >< div class = "ttdeci" > bool computePath(int targetNode, bool global)</ div >< div class = "ttdoc" > Plans a path from the current location to node targetNode.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ac430e0adb75dc4aec3b7ba77053aabd0" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ac430e0adb75dc4aec3b7ba77053aabd0" > rtabmap::Rtabmap::getPose</ a ></ div >< div class = "ttdeci" > Transform getPose(int locationId) const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ac7de2278aa53a315a63bec05c1f0a15f" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ac7de2278aa53a315a63bec05c1f0a15f" > rtabmap::Rtabmap::cleanupLocalGrids</ a ></ div >< div class = "ttdeci" > int cleanupLocalGrids(const std::map< int, Transform > & mapPoses, const cv::Mat & map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)</ div >< div class = "ttdoc" > Filters spurious obstacles from every node's local grid using a reference 2D map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ad0c040e54bbca27dffc46346d96c57cb" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ad0c040e54bbca27dffc46346d96c57cb" > rtabmap::Rtabmap::dumpPrediction</ a ></ div >< div class = "ttdeci" > void dumpPrediction() const</ div >< div class = "ttdoc" > Dumps the Bayes-filter prediction matrix to a file in the working directory.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ad314edf995555480a2db1aceb7fd2ee7" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ad314edf995555480a2db1aceb7fd2ee7" > rtabmap::Rtabmap::getPaths</ a ></ div >< div class = "ttdeci" > std::map< int, std::map< int, Transform > > getPaths(const std::map< int, Transform > & poses, const Transform & target, int maxGraphDepth=0) const</ div >< div class = "ttdoc" > Segments a set of optimized poses into paths connected by neighbor links.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ad7f085b6ae0fd3c7077c500c028fd5c3" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3" > rtabmap::Rtabmap::process</ a ></ div >< div class = "ttdeci" > bool process(const SensorData & data, Transform odomPose, const cv::Mat & odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > & odomVelocity=std::vector< float > (), const std::map< std::string, float > & externalStats=std::map< std::string, float > ())</ div >< div class = "ttdoc" > Main RTAB-Map iteration: ingests one sensor frame and updates the map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_adc87cbb6adde3027b8c20bbba25fec7b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#adc87cbb6adde3027b8c20bbba25fec7b" > rtabmap::Rtabmap::getLoopClosureValue</ a ></ div >< div class = "ttdeci" > float getLoopClosureValue() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00303" > Rtabmap.h:303</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ae3d40ed4ee48954e70d45e0779c24a49" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ae3d40ed4ee48954e70d45e0779c24a49" > rtabmap::Rtabmap::getWM</ a ></ div >< div class = "ttdeci" > std::list< int > getWM() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_ae617c65a0ba6f95a321b8c0c3a18b0e3" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#ae617c65a0ba6f95a321b8c0c3a18b0e3" > rtabmap::Rtabmap::get3DMap</ a ></ div >< div class = "ttdeci" > RTABMAP_DEPRECATED void get3DMap(std::map< int, Signature > & signatures, std::map< int, Transform > & poses, std::multimap< int, Link > & constraints, bool optimized, bool global) const</ div >< div class = "ttdoc" > Deprecated: use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGri...</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aebe0bf9364ff8952d041f57c6a1c1d57" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aebe0bf9364ff8952d041f57c6a1c1d57" > rtabmap::Rtabmap::getLocalOptimizedPoses</ a ></ div >< div class = "ttdeci" > const std::map< int, Transform > & getLocalOptimizedPoses() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00331" > Rtabmap.h:331</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aedf5dce175ee325822ab7b7772c8d4f5" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aedf5dce175ee325822ab7b7772c8d4f5" > rtabmap::Rtabmap::getPathTransformToGoal</ a ></ div >< div class = "ttdeci" > const Transform & getPathTransformToGoal() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00817" > Rtabmap.h:817</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aee23115b4bd02bce5d1721418a0f7599" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aee23115b4bd02bce5d1721418a0f7599" > rtabmap::Rtabmap::deleteLastLocation</ a ></ div >< div class = "ttdeci" > void deleteLastLocation()</ div >< div class = "ttdoc" > Deletes the most recent (non-intermediate) location from the map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aeea47830776fe57c456ae6a673069ddc" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aeea47830776fe57c456ae6a673069ddc" > rtabmap::Rtabmap::getInformation</ a ></ div >< div class = "ttdeci" > cv::Mat getInformation(const cv::Mat & covariance) const</ div >< div class = "ttdoc" > Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when ...</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aef03c0d6ee1ef5646ba11be5dbe9faa5" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aef03c0d6ee1ef5646ba11be5dbe9faa5" > rtabmap::Rtabmap::addLink</ a ></ div >< div class = "ttdeci" > bool addLink(const Link & link)</ div >< div class = "ttdoc" > Adds an external link to the map.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_aeffdfc811a178ba2e55205b746a6ea71" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#aeffdfc811a178ba2e55205b746a6ea71" > rtabmap::Rtabmap::exportPoses</ a ></ div >< div class = "ttdeci" > void exportPoses(const std::string & path, bool optimized, bool global, int format)</ div >< div class = "ttdoc" > Exports the current pose graph to a text file.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_af12ae46226f33adf8c4cafbe1bcf544c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c" > rtabmap::Rtabmap::resetMemory</ a ></ div >< div class = "ttdeci" > void resetMemory()</ div >< div class = "ttdoc" > Clears all in-memory state and resets the database.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_af1fe8ed393237bc9ffa1ea93adf0ec9b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#af1fe8ed393237bc9ffa1ea93adf0ec9b" > rtabmap::Rtabmap::labelLocation</ a ></ div >< div class = "ttdeci" > bool labelLocation(int id, const std::string & label)</ div >< div class = "ttdoc" > Assigns or clears a label on signature id.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_af7fa0cbd1ef027f8bb2af11364487df8" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#af7fa0cbd1ef027f8bb2af11364487df8" > rtabmap::Rtabmap::getTimeThreshold</ a ></ div >< div class = "ttdeci" > float getTimeThreshold() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00369" > Rtabmap.h:369</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_af81fe33ef45e1ad1838bc97d6a73a8be" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#af81fe33ef45e1ad1838bc97d6a73a8be" > rtabmap::Rtabmap::getPathNextPoses</ a ></ div >< div class = "ttdeci" > std::vector< std::pair< int, Transform > > getPathNextPoses() const</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568c" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568c" > rtabmap::Rtabmap::VhStrategy</ a ></ div >< div class = "ttdeci" > VhStrategy</ div >< div class = "ttdoc" > Loop-closure verification strategy.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00197" > Rtabmap.h:197</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568ca1b458648c7dc4ea000ca53e0e384e3c6" > rtabmap::Rtabmap::kVhEpipolar</ a ></ div >< div class = "ttdeci" > @ kVhEpipolar</ div >< div class = "ttdoc" > Epipolar geometry verification (mostly historical, RGB-only mode).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00199" > Rtabmap.h:199</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#afa134603fb0835b84f269e48e7ab568caea5e55cc106979d91f695c064a78926b" > rtabmap::Rtabmap::kVhNone</ a ></ div >< div class = "ttdeci" > @ kVhNone</ div >< div class = "ttdoc" > No verification: the highest hypothesis above threshold is accepted.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00198" > Rtabmap.h:198</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Rtabmap_html_afe4aa4f9a67ba85b60c7dfda86d0131b" >< div class = "ttname" >< a href = "classrtabmap_1_1Rtabmap.html#afe4aa4f9a67ba85b60c7dfda86d0131b" > rtabmap::Rtabmap::getPathStatus</ a ></ div >< div class = "ttdeci" > int getPathStatus() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Rtabmap_8h_source.html#l00776" > Rtabmap.h:776</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Signature_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Signature.html" > rtabmap::Signature</ a ></ div >< div class = "ttdoc" > Represents a node in RTAB-Map's pose graph.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Signature_8h_source.html#l00083" > Signature.h:84</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Statistics_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Statistics.html" > rtabmap::Statistics</ a ></ div >< div class = "ttdoc" > Collects and manages runtime statistics for RTAB-Map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Statistics_8h_source.html#l00107" > Statistics.h:108</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "anamespacertabmap_html_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 >
< 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 >
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